CN208255403U - Laser radar optical system - Google Patents
Laser radar optical system Download PDFInfo
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- CN208255403U CN208255403U CN201820207384.8U CN201820207384U CN208255403U CN 208255403 U CN208255403 U CN 208255403U CN 201820207384 U CN201820207384 U CN 201820207384U CN 208255403 U CN208255403 U CN 208255403U
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Abstract
Laser radar optical system provided by the utility model, by using transmitting terminal, receiving end, collimation lens set, correction mirror and optics window；Transmitting terminal is for generating outgoing beam, and outgoing beam is projected by collimation lens set and correction mirror from optics window, and directive measured target；The echo beam that measured target returns is incident from optics window, injects receiving end by collimation lens set and correction mirror；Wherein, laser radar optical system focal length in the horizontal direction is identical as the focal length in vertical direction.It can be used for adjusting the correction mirror of the focal length of outgoing beam and echo beam in particular directions by using setting, to avoid the echo beam that receives of receiving end of the outgoing beam and laser radar optical system that project from the laser radar optical system problem inconsistent with the focal length of vertical direction in the horizontal direction, and then aberration is avoided, improve detectivity.
Description
Technical field
The utility model relates to laser application techniques, and in particular to a kind of laser radar optical system.
Background technique
Laser radar is received by the reflected return laser beam in target area by target area outgoing laser beams
Light beam obtains the three-dimensional information in space to be measured according to the flight time of laser beam.Since laser radar has, resolution is high,
The advantages that measurement accuracy is high, strong antijamming capability, is widely used in such as unmanned field, and become these fields must
Indispensable sensor.Laser radar optical system is laser radar " eyes ", and quality directly affects the measurement of laser
Precision and detectivity.
Existing laser radar optical system is made of optical elements such as optics window, colimated light system and laser sources
, wherein the optics window of laser radar optical system is located at the outermost of entire laser radar optical system, plays protection
The effect of other parts in optical system.
But in order to meet the scanning demand of laser radar and aesthetic requirements, the shape of optics window is generally cylinder
Shape or cambered surface, so that a direction is spread wherein by itself light beam, which results in outgoing beams to pass through for meeting
Horizontal direction is different with the focal length on vertical direction when crossing optics window, forms aberration.Such aberration can to work as emergent light
When beam reaches space to be measured, optical energy density of the outgoing beam in the direction spread is reduced, the energy of the echo beam received
Amount is also corresponding to be reduced, so that the three-dimensional information for obtaining space to be measured is inaccurate, in turn results in the detectivity of entire laser radar
Decline.
Utility model content
It is made to solve the laser beam existing in the prior art due to after collimation by being spread when optics window
At optical energy density reduce, laser radar detection ability decline the problem of, the utility model provides a kind of laser radar light
System.
The utility model provides a kind of laser radar optical system, comprising:
Transmitting terminal, receiving end, collimation lens set, correction mirror and optics window；
The transmitting terminal passes through the collimation lens set and the correction mirror for generating outgoing beam, the outgoing beam
It is projected from the optics window, and directive measured target；
The echo beam that the measured target returns is incident from the optics window, by the collimation lens set and described
Correction mirror injects the receiving end；
Wherein, laser radar optical system focal length in the horizontal direction is identical as the focal length in vertical direction.
The embodiment is matched by the diopter of one correction mirror of setting and the correction mirror with the diopter of optics window, should
Correction mirror can be used for adjusting the focal length of outgoing beam and echo beam in particular directions, so that laser radar optical system is in water
Square to focal length it is identical as the focal length in vertical direction, thus avoid from the laser radar optical system project emergent light
The echo beam that the receiving end of beam and laser radar optical system receives is different with the focal length of vertical direction in the horizontal direction
The problem of cause, and then aberration is avoided, improve detectivity.
In a kind of wherein optional embodiment, the laser radar optical system is calculated in level according to formula (1)
Focal length f on directionHFocal length f in the vertical directionV:
Wherein, the Q1,HFor the diopter of optics window in the horizontal direction, the Q1,VIt is optics window in vertical side
Upward diopter, the Q2,HFor the diopter of collimation lens set in the horizontal direction, the Q2, VIt is collimation lens set perpendicular
The upward diopter of histogram, the Q3,HFor the diopter of the correction mirror in the horizontal direction, the Q3,VFor the correction mirror
Diopter in the vertical direction, the d12For the spacing between the optics window and the collimation lens set, the d23For
Spacing between the collimation lens set and the correction mirror.
In this embodiment, according between the diopter of optics window, collimation lens set and correction mirror and each element
Distance, it may be determined that the focal length of laser radar optical system, thus realize to laser radar optical system in the horizontal direction and
Focussing on vertical direction, to improve the detectivity of entire laser radar optical system.
In a kind of wherein optional embodiment, the laser radar optical system focal length in the horizontal direction with perpendicular
Histogram to focal length it is identical, comprising:
Determine the correction mirror in level with the diopter on vertical direction in the horizontal direction according to the optics window
On direction and vertical direction on diopter so that laser radar optical system diopter in the horizontal direction with vertical
The diopter in direction is identical.
In this embodiment, it by the diopter according to optics window in the horizontal and vertical directions, determines simultaneously
The diopter of correction mirror in the horizontal and vertical directions is adjusted, so that laser radar optical system dioptric in the horizontal direction
Spend it is identical with the diopter in vertical direction, and then guarantee optical radar optical system diopter in the horizontal direction with vertical square
Upward focal length is identical, and aberration is accurate and is effectively compensated.
In a kind of wherein optional embodiment, the collimation lens set includes at least a piece of positive lens and at least a piece of
Negative lens.
In this embodiment, collimation lens set may include multi-disc lens, specifically can by least a piece of positive lens and extremely
Few a piece of negative lens group is at, can be to outgoing using the collimation lens set of multi-disc lens compared to the collimation lens of simple lens formula
Light beam and echo beam carry out more effective collimating effect, further decrease the picture of light beam in the horizontal and vertical directions
Difference improves the detectivity of laser radar optical system.
In a kind of wherein optional embodiment, the correction mirror is lens.
In a kind of wherein optional embodiment, the correction mirror is cylindrical mirror.
In a kind of wherein optional embodiment, the correction mirror is reflecting mirror.
In the above-described embodiment, according to the design requirement of the type of light beam and optical path, correction mirror specifically be can be used
Mirror structure, can also be used reflecting mirror, can be further according to specific design requirement determination and demand by using such mode
Matched correction mirror, effectively compensates aberration.
In a kind of wherein optional embodiment, when the correction mirror is lens, the interspersed setting of the correction mirror exists
Between the lens of the collimation lens set.
In this embodiment, if correction mirror is lens, the setting position of correction mirror can be plugged in collimation lens set
Between lens, it may also be arranged in the optical path other than collimation lens set.
In a kind of wherein optional embodiment, the laser radar optical system further include: beam splitter；
The beam splitter is for changing the echo beam and/or the transmission direction of the outgoing beam.
In this embodiment, by the way that beam splitter is arranged, so as to the transmission direction to outgoing beam or echo beam
It alters course, so that the spacing relative compact of each element in laser radar optical system, reduces laser radar optics
The volume of system.
In a kind of wherein optional embodiment, the laser radar optical system further include: processing unit；
The processing unit is connect with the transmitting terminal and the receiving end respectively, for according to the outgoing beam and institute
State the information that echo beam determines the measured target.
In this embodiment, by the way that the processing unit connecting respectively with transmitting terminal and receiving end is arranged, so that processing
Unit obtains the optical information of outgoing beam and echo beam, and optical information is calculated and handled, to obtain measured target
Information.
Laser radar optical system provided by the utility model by using transmitting terminal, receiving end, collimation lens set, is rectified
Telescope direct and optics window；Transmitting terminal passes through collimation lens set and correction mirror from optical window for generating outgoing beam, outgoing beam
Piece projects, and directive measured target；The echo beam that measured target returns is incident from optics window, by collimation lens set and rectifys
Telescope direct injects receiving end；Wherein, light beam by correction mirror present first deflection, light beam by the optics window present with it is described
First deflects identical second deflection of contrary and angle.It can be used for adjusting outgoing beam and echo beam by using setting
The correction mirror of focal length in particular directions, to avoid the outgoing beam and laser thunder that project from laser radar optical system
The echo beam received up to the receiving end of optical system the problem inconsistent with the focal length of vertical direction in the horizontal direction, in turn
Aberration is avoided, detectivity is improved.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of structural schematic diagram for laser radar optical system that the utility model embodiment one provides；
Fig. 2 is that a kind of hot spot for laser radar optical system that the utility model embodiment one provides changes schematic diagram；
The optical path for another laser radar optical system that Fig. 3 provides for the utility model embodiment one is in the horizontal direction
Diagrammatic cross-section；
The optical path for another laser radar optical system that Fig. 4 provides for the utility model embodiment one is in the vertical direction
Diagrammatic cross-section；
Fig. 5 is a kind of structural schematic diagram for laser radar optical system that the utility model embodiment two provides；
The optical path for another laser radar optical system that Fig. 6 provides for the utility model embodiment two is in the horizontal direction
Diagrammatic cross-section；
The optical path for another laser radar optical system that Fig. 7 provides for the utility model embodiment two is in the vertical direction
Diagrammatic cross-section.
Appended drawing reference:
10- transmitting terminal；The receiving end 20-；
30- collimation lens set；40- correction mirror；
50- optics window；60- processing module；
70- beam splitter；800- optical axis.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described.
Laser radar is received by the reflected return laser beam in target area by target area outgoing laser beams
Light beam obtains the three-dimensional information in space to be measured according to the flight time of laser beam.Since laser radar has, resolution is high,
The advantages that measurement accuracy is high, strong antijamming capability, is widely used in such as unmanned field, and become these fields must
Indispensable sensor.Laser radar optical system is laser radar " eyes ", and quality directly affects the measurement of laser
Precision and detectivity.
Existing laser radar optical system is made of optical elements such as optics window, colimated light system and laser sources
, wherein the optics window of laser radar optical system is located at the outermost of entire laser radar optical system, plays protection
The effect of other parts in optical system.
But in order to meet the scanning demand of laser radar and aesthetic requirements, the shape of optics window is generally cylinder
Shape or cambered surface, so that a direction is spread wherein by itself light beam, which results in outgoing beams to pass through for meeting
Horizontal direction is different with the focal length on vertical direction when crossing optics window, forms aberration.Such aberration can to work as emergent light
When beam reaches space to be measured, optical energy density of the outgoing beam in the direction spread is reduced, the energy of the echo beam received
Amount is also corresponding to be reduced, so that the three-dimensional information for obtaining space to be measured is inaccurate, in turn results in the detectivity of entire laser radar
Decline.
It should be noted that example embodiments are described in detail here, the example is illustrated in the accompanying drawings.Under
When the description in face is related to attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Below
Embodiment described in exemplary embodiment does not represent all implementations consistent with this disclosure.On the contrary, they
It is only the example of the device and method consistent with some aspects as detailed in the attached claim, the disclosure.
How to be solved with technical solution of the specifically embodiment to the technical solution of the utility model and the application below
Above-mentioned technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar
Concept or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiments of the present invention are carried out
Description.
Fig. 1 is a kind of structural schematic diagram for laser radar optical system that the utility model embodiment one provides.
As shown in Figure 1, the laser radar optical system, comprising: transmitting terminal 10, receiving end 20, collimation lens set 30, correction
Mirror 40 and optics window 50；Wherein, transmitting terminal 10 passes through the collimation lens set for generating outgoing beam, the outgoing beam
30 and the correction mirror 40 projected from the optics window 50, and directive measured target；The echo light that the measured target returns
Beam is incident from the optics window 50, injects the receiving end 20 by the collimation lens set 30 and the correction mirror 40,
In, laser radar optical system focal length in the horizontal direction is identical as the focal length in vertical direction.
Specifically, the first deflection is presented by correction mirror due to light beam, light beam is presented second by the optics window
Deflection, by first deflection to second deflection compensate so that laser radar optical system focal length in the horizontal direction with
The focal length of vertical direction keeps identical, wherein when second is deflected in the horizontal direction converge light beam, the first deflection can
To dissipate in the horizontal direction light beam, and when the second deflection is when vertical direction is to dissipate light beam, first is deflected
It can be to dissipate in the horizontal direction light beam.
Wherein, in a kind of wherein optional embodiment, the outgoing beam and the echo beam pass through correction mirror
The first deflection, the outgoing beam and the echo beam are presented after 40, second is presented after the optics window 50 partially
Turn, first deflection is identical as the contrary deflection angle of deflection of second deflection.
Furthermore, it is understood that first deflection and second deflection deflection direction and deflection angle, respectively with correction mirror 40 and light
The diopter for learning window 50 is related, and the present embodiment is not limited this.
In the technical solution that structure shown in Fig. 1 provides, it can be used for adjusting out by the way that the correction mirror correction mirror 40 is arranged
The focal length of irradiating light beam and echo beam in particular directions, to avoid the emergent light projected from the laser radar optical system
The echo beam that the receiving end of beam and laser radar optical system receives is different with the focal length of vertical direction in the horizontal direction
The problem of cause, and then aberration is avoided, improve detectivity.
Wherein it should be noted that in the present embodiment first, the relative position of correction mirror 40 and collimation lens set 30 is closed
System can be as shown in Figure 1, can also be used other modes, and the utility model is not limited this.
In a kind of wherein optional embodiment, the laser radar optical system is calculated in level according to formula (1)
Focal length f on directionHFocal length f in the vertical directionV:
Wherein, the Q1,HFor the diopter of optics window in the horizontal direction, the Q1,VIt is optics window in vertical side
Upward diopter, the Q2,HFor the diopter of collimation lens set in the horizontal direction, the Q2, VIt is collimation lens set perpendicular
The upward diopter of histogram, the Q3,HFor the diopter of the correction mirror in the horizontal direction, the Q3,VFor the correction mirror
Diopter in the vertical direction, the d12For the spacing between the optics window and the collimation lens set, the d23For
Spacing between the collimation lens set and the correction mirror.
In this embodiment, according between the diopter of optics window, collimation lens set and correction mirror and each element
Distance, it may be determined that the focal length of laser radar optical system, thus realize to laser radar optical system in the horizontal direction and
Focussing on vertical direction, to improve the detectivity of entire laser radar optical system.
In a kind of wherein optional embodiment, the laser radar optical system focal length in the horizontal direction with perpendicular
Histogram to focal length it is identical, comprising: institute is determined with the diopter on vertical direction in the horizontal direction according to the optics window
State correction mirror in the horizontal direction with the diopter on vertical direction so that the laser radar optical system is in the horizontal direction
Diopter is identical as the diopter in vertical direction.
Furthermore, it is understood that in the present embodiment, by taking the diopter Q1, H=0 of optical mirror slip in the horizontal direction as an example,
Meeting fH=fVIn the case where there are two kinds of achievable modes:
The diopter of one of correction mirror may be expressed as:
In this embodiment, the diopter of optics window and correction mirror in the horizontal direction is 0.
And the diopter of another correction mirror may be expressed as:
In this embodiment, the diopter of optics window in the horizontal direction be 0 and correction mirror in the vertical direction
Diopter is 0.
In this embodiment, it by the diopter according to optics window in the horizontal and vertical directions, determines simultaneously
The diopter of correction mirror in the horizontal and vertical directions is adjusted, so that laser radar optical system dioptric in the horizontal direction
Spend it is identical with the diopter in vertical direction, and then guarantee optical radar optical system diopter in the horizontal direction with vertical square
Upward focal length is identical, and aberration is accurate and is effectively compensated.
In order to further illustrate the scheme of the present embodiment one, Fig. 2 is a kind of laser that the utility model embodiment one provides
The hot spot of radar optics system changes schematic diagram.Hot spot variation schematic diagram shown in Fig. 2 with optics window 50 in the horizontal direction
Outgoing beam is diffused, correction mirror 40 for correct for the light beam of outgoing beam and echo beam in the horizontal direction into
Row explanation.
As shown in Fig. 2, the L in Fig. 2 indicates observation position, f0For the coke of laser radar optical system after addition correction mirror 40
Away from fHFor the laser radar optical system of the correction mirror 40 focal length in the horizontal direction is not added.
The hot spot metamorphosis observed when correction mirror 40 is not added in first behavior: as L < f0When, convergence hot spot is bigger,
And horizontal direction is greater than vertical direction.Work as L=f0When, convergence hot spot converges minimum in the vertical direction, but in level side
To still very greatly.Work as f0<L<fHWhen, spot size of the convergence hot spot on vertically and horizontally is of substantially equal, but light
Spot entirety size is larger.Work as L=fHWhen, convergence hot spot converges minimum in the horizontal direction, but still very big in vertical direction.
As L > fHWhen, convergence hot spot becomes larger, and vertical direction is greater than horizontal direction.
Second behavior observes the variation of hot spot form after correction mirror 40 is added, compared with the first row hot spot, in L from small
In f0It rises and is gradually increased until being greater than fHChange procedure in, the variation of hot spot in the horizontal and vertical directions is kept substantially
It unanimously, is not in the very big situation of the convergent point of hot spot in one direction, that is to say, that hot spot is in the horizontal direction and vertically
The convergence situation in direction is always consistent.Simultaneously, it is obvious that in L=f0When, hot spot is in the horizontal direction and vertical square
To minimum is converged to simultaneously, receiving end can be placed in the position and convergence hot spot in this position is detected or detected, with
Obtain measured target information.
In order to further illustrate laser radar optical system provided by the present embodiment one, Fig. 3 is the utility model implementation
The diagrammatic cross-section of the optical path for another laser radar optical system that example one provides in the horizontal direction, Fig. 4 are that this is practical new
The diagrammatic cross-section of the optical path for another laser radar optical system that type embodiment one provides in the vertical direction.
As shown in Figure 3 and Figure 4, laser radar optical system, comprising: transmitting terminal, collimation lens set 30, is rectified receiving end
Telescope direct 40 and optics window 50；Wherein, transmitting terminal passes through the collimation lens set for generating outgoing beam, the outgoing beam
30 and the correction mirror 40 projected from the optics window 50, and directive measured target；The echo light that the measured target returns
Beam is incident from the optics window 50, injects the receiving end by the collimation lens set 30 and the correction mirror 40, wherein
The first deflection is presented by correction mirror in light beam, and light beam presents by the optics window and deflects contrary and angle with described first
Spend identical second deflection.Wherein, as shown in figure 3, collimation lens set 30, correction mirror 40 can be to be arranged in pairs, i.e., for outgoing
One group of collimation lens set 30 and a correction mirror 40 is arranged in light beam, and one group of 30 He of collimation lens set is equally arranged for echo beam
One correction mirror 40.Wherein, since receiving end and transmitting terminal are generally arranged in parallel along the horizontal plane, the optical path on vertical plane will
It is overlapped.
In addition, collimation lens set 30 includes at least a piece of positive lens and at least a piece of negative lens.Specifically, collimation lens set
30 may include multi-disc lens, specifically can be by least a piece of positive lens and at least a piece of negative lens group at compared to simple lens formula
Collimation lens, outgoing beam and echo beam can more effectively be collimated using the collimation lens set 30 of multi-disc lens
Effect, further decreases aberration of the light beam in the horizontal direction or on vertical direction, improves the detection energy of laser radar optical system
Power.
In addition, in this application, lens specifically can be used in correction mirror according to the design requirement of the type of light beam and optical path
Reflecting mirror can also be used in structure, the structure of lens and arrangement of mirrors can also be used, furthermore cylindrical mirror also can be used in correction mirror.
In figs. 3 and 4, in order to cooperate light path design, correction mirror 40 is set as lens, wherein a kind of optional implementation
In mode, correction mirror 40 be may be provided in the optical path other than collimation lens set 30, and such as setting is in collimation lens set 30 close to transmitting
In the optical path of end or receiving end side (as shown in Figure 3), or it is arranged in collimation lens set 30 far from transmitting terminal or receiving end side
Optical path on, certainly, correction mirror 40, which can also be interted, to be arranged between the positive and negative lenses of collimation lens set 30, this is practical new
Type is not limited this.
Meanwhile optionally, when correction mirror 40 is lens, correction mirror 40 can be also cylindrical mirror, and wherein correction mirror 40 is close
The one side of transmitting terminal or receiving end is the convex surface of cylindrical mirror.In this embodiment, if correction mirror 40 is lens, correction mirror 40
Cylindrical lens structure can be used, wherein in order to be compensated to optics window 50, it can be by correction mirror 40 close to transmitting terminal or transmitting terminal
The convex surface for being set as cylindrical mirror on one side, to be only adjusted to the focal length of the light beam of specific direction.
Furthermore, it is understood that the front surface of optics window 50 in the vertical direction is cutd open in Fig. 3 and optical path shown in Fig. 4
Face is plane, i.e., optics window 50 does not work (as shown in Figure 4) to light beam in the vertical direction；Optics window 50 is in level side
The section of upward front surface is cambered surface, i.e. optics window 50 plays hair to outgoing beam and echo beam in the horizontal direction
Dissipate effect (as shown in Figure 3).Based on this, correction mirror 40 is convex in the section of level side's line in the side surface close to focal length point
Cylindrical surface (as shown in Figure 3), be plane (as shown in Figure 4) in the section of vertical direction, correction mirror 40 is right in the horizontal direction
Light beam plays the role of convergence.Therefore, correction mirror 40 can effective compensation since optics window 50 is to outgoing beam and echo beam
Disperse function, be overlapped focus of the outgoing beam on vertically and horizontally more preferably.
The laser radar optical system that the utility model embodiment one provides, it is saturating by using transmitting terminal, receiving end, collimation
Microscope group, correction mirror and optics window；Transmitting terminal for generating outgoing beam, outgoing beam by collimation lens set and correction mirror from
Optics window projects, and directive measured target；The echo beam that measured target returns is incident from optics window, by collimation lens
Group and correction mirror inject receiving end；Wherein, laser radar optical system focal length in the horizontal direction and the focal length in vertical direction
It is identical.It can be used for adjusting the correction mirror of the focal length of outgoing beam and echo beam in particular directions by using setting, thus
The echo for avoiding the receiving end of the outgoing beam and laser radar optical system that project from laser radar optical system from receiving
The light beam problem inconsistent with the focal length of vertical direction in the horizontal direction, and then aberration is avoided, improve detectivity.
Furthermore, it is understood that in order to preferably describe laser radar optical system provided in this embodiment, implementation shown in Fig. 1
On the basis of example, the utility model embodiment two provides a kind of laser radar optical system, similar with structure shown in Fig. 1
Being includes: transmitting terminal 10, receiving end 20, collimation lens set 30, correction mirror 40 in the laser radar optical system in embodiment two
With optics window 50；Wherein, transmitting terminal 10 passes through 30 He of collimation lens set for generating outgoing beam, the outgoing beam
The correction mirror 40 is projected from the optics window 50, and directive measured target；The echo beam that the measured target returns from
The optics window 50 is incident, injects the receiving end 20 by the collimation lens set 30 and the correction mirror 40, wherein swash
Optical radar optical system focal length in the horizontal direction is identical as the focal length in vertical direction.
What is different from the first embodiment is that the laser radar optical system in the present embodiment two further include: beam splitter 70,
And/or processing module 80.
Specifically, laser radar optical system may also include that beam splitter 70.
The beam splitter 70 for changing light beam transmission direction so that in the overall space of laser radar optical system
In limited situation, echo beam transmission direction changes through beam splitter 70 and is accurately incident to receiving end 20, and/or,
The transmission direction of outgoing beam changes through beam splitter 70 and is accurately emitted from optics window 50.
In addition, it is optional, in laser radar optical system further include: processing unit 60；The processing unit 60 respectively with
The transmitting terminal 10 and the receiving end 20 connect, described tested for being determined according to the outgoing beam and the echo beam
The information of target.In this embodiment, by the way that the processing unit 60 connecting respectively with transmitting terminal 10 and receiving end 20 is arranged, with
So that processing unit 60 obtains the optical information of outgoing beam and echo beam, and optical information is calculated and handled, to obtain
The information of measured target.
In order to further illustrate the laser radar optical system in the present embodiment two, Fig. 5 is the utility model embodiment two
A kind of structural schematic diagram of the laser radar optical system provided.Wherein, it is shown in Fig. 5 in the laser radar optical system
The optical transmission direction of middle outgoing beam and echo beam.
Specifically, in structure shown in Fig. 5, material and plating membrane property based on beam splitter 70 will not change
Become the transmission direction of outgoing beam, and only changes the transmission direction of echo beam.
In addition, the position of beam splitter 70 and quantity can be configured according to the actual situation, and according to beam splitter 70
Corresponding variation will also occur for the difference of position and quantity, the optical path in laser radar optical system.That is, in other knots
In structure, beam splitter 70 can also be used for changing transmission direction of the transmission direction of outgoing beam without changing echo beam；Alternatively,
Change the transmission direction of outgoing beam and the transmission direction of echo beam respectively using two beam splitters 70.Preferably
In, by being provided with beam splitter 70, so as to outgoing beam, and/or, the transmission direction of echo beam alters course, from
And make the spacing relative compact of each element in laser radar optical system, reduce the volume of laser radar optical system.
Furthermore, it is understood that Fig. 6 is the optical path for another laser radar optical system that the utility model embodiment two provides
Diagrammatic cross-section in the horizontal direction；Fig. 7 is another laser radar optical system that the utility model embodiment two provides
Optical path diagrammatic cross-section in the vertical direction.
In order to compensate for optics window 50 in particular directions to the disperse function of light beam, correction mirror 40 is arranged to reflect
Mirror, and a correction mirror 40 can be each configured with for outgoing beam and echo beam.Furthermore, it is understood that when correction mirror 40 is reflection
When mirror, then concave surface can be set by the reflecting surface of correction mirror 40, so that only the focal length of the light beam of specific direction is adjusted, it is real
The function that now optics window is compensated.
By taking the optical path in Fig. 6 and structure shown in Fig. 7 as an example, passing through optical window for outgoing beam and echo beam
It is dissipated in the horizontal direction when 50, can be used and the correction mirror 40, one of one group of collimation lens set 30, one light splitting member is respectively set
Part 70, collimation lens set 30 therein are combined by positive and negative lenses, and correction mirror 40 is reflecting mirror, and beam splitter 70 is complete
The mode of anti-mirror is to realize the compensation to light beam.Wherein, since receiving end and transmitting terminal are generally arranged in parallel along the horizontal plane,
Optical path on vertical plane will be overlapped.
Specifically, the section of the front surface of optics window 50 in the vertical direction is plane (as shown in Figure 7), i.e. optics
Window 50 does not in the vertical direction work to echo beam and transmitting light beam；The front surface of optics window 50 in the horizontal direction
Section be cambered surface (as shown in Figure 6), i.e., optics window 50 in the horizontal direction to echo beam and emit light beam play hair
Dissipate effect.Based on this, the reflecting surface of the correction mirror 40 in the present embodiment two is concave surface (such as Fig. 6 institute in the section of level side's line
Show), vertical direction section be plane (as shown in Figure 7) its playing the role of convergence in the horizontal direction.Therefore, correction mirror
40 can effective compensation due to optics window 50 to echo beam and transmitting light beam disperse function, make echo beam and transmitting light beam
Focus on vertically and horizontally is more preferably overlapped.
Furthermore, it is understood that outgoing beam successively passes through the change transmission direction of the compensation of correction mirror 40, beam splitter 70, and
It is incident to collimation lens set 30, the outgoing beam after collimated collimation will be emitted from optics window 50 and be transmitted to measured target,
In echo process, and it is focused from the collimated lens group 30 of echo beam that optics window 50 is injected, then by beam splitter 70
The transmission direction of echo beam is changed, so that the echo beam is incident upon the reflecting surface of correction mirror 40 and is compensated, the benefit
Echo beam after repaying finally is reflected onto receiving end.It should be noted that the relative position of correction mirror 40 and beam splitter 70
Self-setting, the present embodiment its relative position can also be not limited according to the actual situation as is seen in fig. 6 or fig. 7.
Optionally, the collimation lens set 30 in above embodiment is including at least a piece of positive lens and at least a piece of negative saturating
Mirror.Specifically, collimation lens set 30 may include multi-disc lens, it specifically can be by least a piece of positive lens and at least a piece of negative lens
Composition, can be to outgoing beam and echo using the collimation lens set 30 of multi-disc lens compared to the collimation lens of simple lens formula
Light beam carries out more effective collimating effect, further decreases aberration of the light beam in the horizontal direction or on vertical direction, improves laser
The detectivity of radar optics system.
The laser radar optical system that the utility model embodiment two provides, it is saturating by using transmitting terminal, receiving end, collimation
Microscope group, correction mirror and optics window；Transmitting terminal for generating outgoing beam, outgoing beam by collimation lens set and correction mirror from
Optics window projects, and directive measured target；The echo beam that measured target returns is incident from optics window, by collimation lens
Group and correction mirror inject receiving end；Wherein, laser radar optical system focal length in the horizontal direction and the focal length in vertical direction
It is identical.It can be used for adjusting the correction mirror of the focal length of outgoing beam and echo beam in particular directions by using setting, thus
The echo for avoiding the receiving end of the outgoing beam and laser radar optical system that project from laser radar optical system from receiving
The light beam problem inconsistent with the focal length of vertical direction in the horizontal direction, and then aberration is avoided, improve detectivity.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of laser radar optical system characterized by comprising transmitting terminal, receiving end, collimation lens set, correction mirror and
Optics window；
The transmitting terminal passes through the collimation lens set and the correction mirror from institute for generating outgoing beam, the outgoing beam
State the injection of optics window, and directive measured target；
The echo beam that the measured target returns is incident from the optics window, by the collimation lens set and the correction
Mirror enters the receiving end；
Wherein, laser radar optical system focal length in the horizontal direction is identical as the focal length in vertical direction.
2. laser radar optical system according to claim 1, which is characterized in that further include: institute is calculated according to formula (1)
State the focal length f of laser radar optical system in the horizontal directionHFocal length f in the vertical directionV:
Wherein, the Q1,HFor the diopter of optics window in the horizontal direction, the Q1,VIn the vertical direction for optics window
Diopter, the Q2,HFor the diopter of collimation lens set in the horizontal direction, the Q2, VIt is collimation lens set in vertical side
Upward diopter, the Q3,HFor the diopter of the correction mirror in the horizontal direction, the Q3,VIt is the correction mirror perpendicular
The upward diopter of histogram, the d12For the spacing between the optics window and the collimation lens set, the d23It is described
Spacing between collimation lens set and the correction mirror.
3. laser radar optical system according to claim 2, which is characterized in that the laser radar optical system is in water
Square to focal length it is identical as the focal length in vertical direction, comprising:
The correction mirror is determined in the horizontal direction with the diopter on vertical direction in the horizontal direction according to the optics window
Diopter on upper and vertical direction, so that laser radar optical system diopter in the horizontal direction and in vertical direction
Diopter it is identical.
4. laser radar optical system according to claim 1, feature is being, the collimation lens set includes at least
A piece of positive lens and at least a piece of negative lens.
5. laser radar optical system according to claim 4, which is characterized in that the correction mirror is lens.
6. laser radar optical system according to claim 5, which is characterized in that when the correction mirror is lens, institute
State that correction mirror is interspersed to be arranged between the lens of the collimation lens set.
7. laser radar optical system according to claim 4, which is characterized in that the correction mirror is cylindrical mirror.
8. laser radar optical system according to claim 4, which is characterized in that the correction mirror is reflecting mirror.
9. laser radar optical system according to claim 1-8, which is characterized in that further include: beam splitter；
The beam splitter is for changing the echo beam and/or the transmission direction of the outgoing beam.
10. laser radar optical system according to claim 1-8, which is characterized in that further include: processing is single
Member；
The processing unit is connect with the transmitting terminal and the receiving end respectively, for according to the outgoing beam and described time
Glistening light of waves beam determines the information of the measured target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820207384.8U CN208255403U (en) | 2018-02-06 | 2018-02-06 | Laser radar optical system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820207384.8U CN208255403U (en) | 2018-02-06 | 2018-02-06 | Laser radar optical system |
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| CN208255403U true CN208255403U (en) | 2018-12-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226901A (en) * | 2018-02-06 | 2018-06-29 | 北京万集科技股份有限公司 | Laser radar optical system |
| WO2023040376A1 (en) * | 2021-09-15 | 2023-03-23 | 上海禾赛科技有限公司 | Laser radar |
-
2018
- 2018-02-06 CN CN201820207384.8U patent/CN208255403U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226901A (en) * | 2018-02-06 | 2018-06-29 | 北京万集科技股份有限公司 | Laser radar optical system |
| CN108226901B (en) * | 2018-02-06 | 2024-03-01 | 武汉万集光电技术有限公司 | Laser radar optical system |
| WO2023040376A1 (en) * | 2021-09-15 | 2023-03-23 | 上海禾赛科技有限公司 | Laser radar |
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