CN219831378U - Laser radar and carrier - Google Patents

Abstract

The utility model specifically discloses a laser radar and a carrier, wherein the laser radar comprises a transmitting module, a receiving module, a reflecting mirror module and a reversing mirror group, and the transmitting module is used for transmitting laser beams; the receiving module is used for receiving the laser beam; the reflecting mirror module is used for outputting the laser beam emitted by the emitting module to the tested object, and can reflect the laser beam reflected by the tested object to the receiving module; the reversing mirror group is arranged on one side of the reflecting mirror module and used for transmitting the laser beam output by the reflecting mirror module to an object to be measured, and comprises a driver group, a first reversing lens and a second reversing lens, wherein the first reversing lens and the second reversing lens are arranged at intervals, and the driver group is used for respectively driving the first reversing lens and the second reversing lens to rotate so as to change the transmission direction of the laser beam. The utility model can increase the view field angle of the laser radar, so that the laser radar can detect and image a larger range.

Description

Laser radar and carrier

Technical Field

The utility model relates to the technical field of detection, in particular to a laser radar and a carrier.

Background

The lidar is a radar system that detects a characteristic quantity such as a position, a speed, etc. of a target by emitting a laser beam. The laser radar works in the principle that a laser beam is emitted to a target, and then the received laser beam reflected from the target is compared with the emitted laser beam, so that the related information of the target can be obtained, and the target is detected and imaged.

However, the existing lidar often has a fixed angle of field, i.e. only a region in a certain direction can be detected, which results in a smaller detectable range of the existing lidar and a larger limitation.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a lidar and a vehicle capable of increasing the angle of view.

According to a first aspect of the present utility model, there is provided a laser radar including an emission module for emitting a laser beam, a reception module, a mirror module, and a reversing mirror group; the receiving module is used for receiving the laser beam; the reflecting mirror module is used for outputting the laser beam emitted by the emitting module to the tested object, and reflecting the laser beam reflected by the tested object to the receiving module; the reversing mirror group is arranged on one side of the reflecting mirror module and used for transmitting the laser beam output by the reflecting mirror module to an object to be measured, the reversing mirror group comprises a driver group, a first reversing lens and a second reversing lens, the first reversing lens and the second reversing lens are arranged at intervals, and the driver group is used for respectively driving the first reversing lens and the second reversing lens to rotate so as to change the transmission direction of the laser beam.

The laser radar provided by the embodiment of the utility model has at least the following beneficial effects:

according to the embodiment of the utility model, the first reversing lens and the second reversing lens are respectively driven to rotate by the driver, so that the light path can be changed, the transmission direction of the laser beam from the reflecting mirror module can be changed, the first reversing lens and the second reversing lens can be rotated by the laser radar according to actual conditions, objects to be detected at different positions can be detected, the view field angle of the laser radar is increased, the view field blind area of the laser radar is reduced, the laser radar can detect and image a larger range, the accuracy and the comprehensiveness of laser radar detection are improved, the imaging quality of the laser radar is improved, and the use experience of a user is improved.

According to some embodiments of the utility model, the first reversing lens comprises a first incident surface and a first emergent surface, the second reversing lens comprises a second incident surface and a second emergent surface, a first included angle is formed between the first incident surface and the first emergent surface, a second included angle is formed between the second incident surface and the second emergent surface, and the first emergent surface and the second incident surface are oppositely arranged.

According to some embodiments of the utility model, the first and second reversing lenses are rotatable about a first axis that is parallel to the laser beam output by the mirror module to the object under test.

According to some embodiments of the utility model, the first and second steering lenses are rotatable about a second axis forming an angle with the laser beam output by the mirror module to the object under test.

According to some embodiments of the utility model, the lidar comprises a sensor for detecting rotational speeds of the first and second reversing lenses, respectively.

According to some embodiments of the utility model, the laser radar includes a galvanometer disposed on a side of the reversing mirror set facing away from the mirror module, the galvanometer being configured to reflect the laser beam to the object.

According to some embodiments of the utility model, the galvanometer comprises a frame and a mirror body which are connected with each other, wherein the mirror body is arranged on the frame, and the mirror body can rotate reciprocally in the frame around a first direction and/or around a second direction, and an included angle is formed between the first direction and the second direction.

According to some embodiments of the utility model, the lidar comprises a third driver for driving the mirror to rotate reciprocally about the first direction and/or about the second direction.

According to some embodiments of the utility model, the mirror module includes a collimating lens, a partially transmissive mirror, and a focusing lens, the scanning mirror includes a transmissive portion and a reflective portion, the emitting module, the collimating lens, the transmissive portion form an emitting light path for emitting the laser beam, and the reflective portion, the focusing lens, and the receiving module form a receiving light path for receiving the laser beam.

According to a second aspect of the present utility model there is provided a carrier comprising a lidar as disclosed in the first aspect of the present utility model.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic view of an optical path of an initial state in a lidar embodiment of the present utility model;

FIG. 2 is a schematic view of an optical path of a first state in a lidar embodiment of the present utility model;

FIG. 3 is a schematic view of an optical path of a second state in an embodiment of the laser radar according to the present utility model;

FIG. 4 is a schematic diagram of a galvanometer in an embodiment of the utility model;

FIG. 5 is a schematic diagram of a steering mirror assembly in a lidar embodiment of the present utility model;

fig. 6 is a schematic diagram of a steering mirror set in another laser radar embodiment of the present utility model.

Reference numerals:

a lidar 1000;

a transmitting module 100;

a receiving module 200;

a mirror module 300; a collimator lens 310; a partially light transmissive mirror 320; a light transmitting portion 321; a reflection portion 322; a focusing lens 330;

a reversing mirror assembly 400; a first reversing lens 410; a first incident surface 411; a first exit face 412; a second reversing lens 420;

a second incident surface 421; a second exit face 422;

vibrating mirror 500; a mirror 510; a frame 520;

the object 2000.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that references to orientation, such as the orientation or positional relationship indicated above, below, inside, outside, etc., are based on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

In the description of the present utility model, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

With the development and application of optical technology, many laser radar systems for detecting the position, speed, etc. of a target object by emitting laser beams have appeared, and the laser radar systems have been widely used in various fields, for example, ranging, tracking measurement of low flying objects, weapon guidance, atmosphere monitoring, mapping, early warning, traffic management, etc., and particularly in the field of automatic driving, the laser radar systems are often used to realize field detection and imaging of the surrounding environment of a vehicle.

However, the existing lidar usually only has a fixed view field angle, namely, only can detect a region in a certain direction, so that the detectable range of the existing lidar is smaller, a larger view field blind area exists, the detection comprehensiveness and the integrity are limited greatly, and the detection accuracy and the imaging quality of the lidar are affected very.

To this end, some embodiments of the present utility model provide a lidar 1000, particularly shown with reference to fig. 1-6 of the drawings of the specification.

Referring to fig. 1, in an embodiment of the present utility model, a laser radar 1000 includes a transmitting module 100, a receiving module 200, a reflecting mirror module 300, and a reversing mirror set 400, the transmitting module 100 being configured to transmit a laser beam; the receiving module 200 is used for receiving the laser beam; the mirror module 300 is configured to output the laser beam emitted by the emission module 100 to the object 2000, and the mirror module 300 is configured to reflect the laser beam reflected by the object 2000 to the receiving module 200; the reversing mirror set 400 is disposed at one side of the mirror module 300, the reversing mirror set 400 is used for transmitting the laser beam output by the mirror module 300 to the object 2000 to be measured, the reversing mirror set 400 includes a driver set, a first reversing lens 410 and a second reversing lens 420, the first reversing lens 410 and the second reversing lens 420 are disposed at intervals, and the driver set is used for driving the first reversing lens 410 and the second reversing lens 420 to rotate respectively so as to change the transmission direction of the laser beam.

Referring to fig. 1, in an embodiment of the present utility model, a mirror module 300 may be disposed between a transmitting module 100 and a steering mirror group 400, and between a receiving module 200 and the steering mirror group 400. The emission module 100, the mirror module 300, and the reversing mirror set 400 may form a laser emission path, along which a laser beam may be emitted to the surface of the object 2000. The reversing mirror set 400, the reflecting mirror module 300 and the receiving module 200 can form a laser receiving light path, and the laser beam reflected by the object 2000 can be arranged on the receiving module 200 along the laser receiving light path. In this embodiment, the emitting module 100 may include a plurality of laser generators, and laser beams generated by the plurality of laser generators are angled to each other, that is, the emitting module 100 can emit a plurality of laser beams. The mirror module 300 may serve as a medium for transmitting the laser beam as a component forming the optical path.

Referring to fig. 2 or 3, the first and second reversing lenses 410 and 420 may be disposed at intervals along the emission light path, and after rotating by a certain angle, the first and second reversing lenses 410 and 420 may change the transmission direction of the laser beam, thereby emitting the laser beam to the measured object 2000 at different positions. In the present embodiment, the directions of the rotation axes of the first and second diverting lenses 410 and 420 may be horizontal or inclined, and those skilled in the art may be able to follow the actual situation.

It should be noted that, in the embodiment of the present utility model, the rotation of the first reversing lens 410 and the second reversing lens 420 are independent and do not interfere with each other, that is, when the direction of the laser needs to be changed, the first reversing lens 410 may be driven to rotate a certain angle alone, the second reversing lens 420 may be driven to rotate a certain angle alone (as shown in fig. 2), and the first reversing lens 410 and the second reversing lens 420 may be driven to rotate a certain angle simultaneously (as shown in fig. 3).

In an embodiment of the present utility model, the driver set may include a first driver and a second driver. The first driver may be connected to the first reversing lens 410 to drive the first reversing lens 410 to rotate; the second driver may be connected to the second reversing lens 420 to drive the second reversing lens 420 to rotate. In this embodiment, the first driver and the second driver may be motors or cylinders. Other driving devices are also possible, and those skilled in the art may set the driving device according to actual situations, which is not limited in this embodiment.

According to the embodiment of the utility model, the first reversing lens 410 and the second reversing lens 420 are respectively driven to rotate by the driver, so that the light path can be changed, the transmission direction of the laser beam from the reflecting mirror module 300 is changed, the first reversing lens 410 and the second reversing lens 420 can be rotated by the laser radar 1000 according to actual conditions, the measured object 2000 at different positions can be detected, the view angle of the laser radar 1000 is increased, the view blind area of the laser radar 1000 is reduced, the laser radar 1000 can detect and image a larger range, the detection accuracy and the detection comprehensiveness of the laser radar 1000 are improved, the imaging quality of the laser radar 1000 is improved, and the use experience of a user is improved.

Referring to fig. 1, in the embodiment of the present utility model, the first reversing lens 410 includes a first incident surface 411 and a first exit surface 412, the second reversing lens 420 includes a second incident surface 421 and a second exit surface 422, a first included angle is formed between the first incident surface 411 and the first exit surface 412, a second included angle is formed between the second incident surface 421 and the second exit surface 422, and the first exit surface 412 and the second incident surface 421 are disposed opposite to each other.

Referring to fig. 1, in the embodiment of the present utility model, a first included angle is formed between the first incident surface 411 and the first exit surface 412, so that the incident angle and the exit angle of the laser beam when passing through the first reversing lens 410 can be different, that is, the direction of the laser beam is changed by the first incident surface 411 and the first exit surface 412, and similarly, a second included angle is formed between the second incident surface 421 and the second exit surface 422, so that the incident angle and the exit angle of the laser beam when passing through the second reversing lens 420 can be different. In the present embodiment, the exit angle of the first reversing lens 410 is the incident angle of the second reversing lens 420, so that the incident angle of the second reversing lens 420 can be changed to change the direction of the laser. In this embodiment, the outgoing angle of the first reversing lens 410 may be changed by rotating the first reversing lens 410, so as to change the incident angle of the second reversing lens 420, thereby changing the laser emission direction; the incident angle of the second diverting lens 420 can also be directly changed by rotating the second diverting lens 420, thereby changing the laser light direction.

Referring to fig. 5, in the embodiment of the present utility model, the first and second steering lenses 410 and 420 are rotatable about a first axial direction, which is parallel to the laser beam output from the mirror module 300 to the object 2000.

Referring to fig. 5, in the embodiment of the present utility model, the first and second steering lenses 410 and 420 can rotate around a first axial direction, wherein the first axial direction may be parallel to the laser beam output from the mirror module 300 to the object 2000, i.e., the first axial direction may be parallel to the incident angle of the laser beam of the first steering lens 410, so as to change the direction of the laser beam.

Referring to fig. 6, in the embodiment of the present utility model, the first and second steering lenses 410 and 420 are rotatable about a second axis, which forms an angle with the laser beam output from the mirror module 300 to the object 2000.

Referring to fig. 6, in the embodiment of the present utility model, the first and second steering lenses 410 and 420 are rotatable about a second axis, wherein the second axis may form an angle with the laser beam output from the mirror module 300 to the object 2000, that is, the second axis may form an angle with the incident angle of the laser light of the first steering lens 410, thereby changing the direction of the laser light. In this embodiment, the angle between the second axis and the laser beam output from the mirror module 300 to the object 2000 can be selected and set by those skilled in the art according to the shapes of the first reversing lens 410 and the second reversing lens 420, and the embodiment is not limited thereto.

In an embodiment of the present utility model, the lidar 1000 includes a sensor for detecting rotational speeds of the first and second steering lenses 410 and 420, respectively.

In the embodiment of the present utility model, a sensor may be provided, where the sensor may detect the rotational speeds of the first reversing lens 410 and the second reversing lens 420, respectively, so that the rotational angles of the first reversing lens 410 and the second reversing lens 420 may be known, thereby greatly improving the accuracy of gesture control of the first reversing lens 410 and the second reversing lens 420. In this embodiment, the sensor may be a rotation speed sensor, a visual sensor, or other types of sensing elements, which may be selected and set by those skilled in the art according to actual situations, and this embodiment is not limited thereto.

Referring to fig. 1, in an embodiment of the present utility model, a laser radar 1000 includes a galvanometer 500, where the galvanometer 500 is disposed on a side of the reversing lens set 400 facing away from the mirror module 300, and the galvanometer 500 is used to divergently reflect a laser beam to a measured object 2000.

Referring to fig. 1, in an embodiment of the present utility model, a galvanometer 500 may be disposed at a side of the second reversing lens 420 facing away from the first reversing lens 410, and the galvanometer 500 may be disposed at a distance from the second reversing lens 420. The galvanometer 500 can divergently radiate the laser beam irradiated on the surface thereof to the object 2000 through vibration, so that the number of a small number of laser beams can be increased, thereby sufficiently irradiating the laser beam on each portion of the object 2000, and improving the accuracy and the comprehensiveness of the detection of the radar.

Referring to fig. 1, in the embodiment of the present utility model, in an initial state, after the laser beam sequentially passes through the first and second reversing lenses 410 and 420, the laser beam can be irradiated to the middle region of the galvanometer 500, and the galvanometer 500 diverges and reflects the laser beam to the object 2000 positioned above the middle region. Referring to fig. 2, in the embodiment of the present utility model, in the first state, the second steering lens 420 is rotated, and the laser beam sequentially passes through the first steering lens 410 and the second steering lens 420, and then can be irradiated onto the bottom region of the galvanometer 500, and the galvanometer 500 diverges and reflects the laser beam to the object 2000 positioned above the bottom region. Referring to fig. 3, in the second state, the first and second reversing lenses 410 and 420 are rotated, and the laser beam sequentially passes through the first and second reversing lenses 410 and 420 and then can be irradiated onto the top region of the galvanometer 500, and the galvanometer 500 diverges and reflects the laser beam to the object 2000 positioned above the top region. The object 2000 above the bottom region of the vibrating mirror 500 is located on the left side of the object 2000 above the middle region of the vibrating mirror 500, and the object 2000 above the top region of the vibrating mirror 500 is located on the right side of the object 2000 above the middle region of the vibrating mirror 500.

Referring to fig. 4, in the embodiment of the present utility model, the galvanometer 500 includes a frame 520 and a mirror body 510 connected to each other, the mirror body 510 is disposed on the frame 520, and the mirror body 510 can reciprocally rotate in the frame 520 around a first direction and/or around a second direction, and an included angle is formed between the first direction and the second direction.

Referring to fig. 4, in an embodiment of the present utility model, the frame 520 may be used as a carrier of the mirror 510, and the mirror 510 may reflect laser light. The mirror body 510 can simultaneously reciprocate in the frame 520 around the first direction and around the second direction, so as to realize the divergent reflection of the laser beam to the object 2000. The first direction and the second direction may be perpendicular to each other, or may be other angles, which is not limited in this embodiment.

Referring to fig. 1-2, in an embodiment of the present utility model, lidar 1000 includes a third driver for driving mirror 510 to reciprocate about the first direction and/or about the second direction, respectively.

In the embodiment of the utility model, the third driver may be a motor or a cylinder. Other driving devices are also possible, and those skilled in the art may set the driving device according to actual situations, which is not limited in this embodiment.

Referring to fig. 1, in an embodiment of the present utility model, a mirror module 300 includes a collimating lens 310, a partial transmitting mirror 320, and a focusing lens 330, a scanning mirror includes a transmitting portion 321 and a reflecting portion 322, the transmitting module 100, the collimating lens 310, and the transmitting portion 321 form a transmitting light path for transmitting a laser beam, and the reflecting portion 322, the focusing lens 330, and the receiving module 200 form a receiving light path for receiving the laser beam.

In the embodiment of the present utility model, the collimating lens 310 may be used to adjust the laser beams emitted by the emitting module 100 in different directions into the laser beams parallel to each other, and the focusing lens 330 may be used to converge the laser beams into the receiving module 200, so as to ensure that the receiving module 200 can receive all the reflected laser beams. In the present embodiment, the collimator lens 310 may be a ball lens, a cylindrical lens, a ball lens group, a cylindrical lens group, or the like, and the focusing lens 330 may be a plano-convex lens, a positive-concave lens, or an aspherical lens, or the like, which is not limited in this embodiment. In addition, the collimator lens 310 may be a collimator lens group, and the focusing lens 330 may be a focusing lens group, i.e., the collimator lens 310 and the focusing lens 330 may be composed of a plurality of lenses.

The embodiment of the utility model also provides a carrier, which comprises the laser radar 1000 of the embodiment.

For example, in the embodiment of the present utility model, the lidar 1000 may be applied to a vehicle such as an automobile or an autopilot, and the embodiment is not limited thereto.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, and finally, it should be described that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present utility model.

Claims (10)

1. A lidar, comprising:

an emission module for emitting a laser beam;

a receiving module for receiving the laser beam;

the reflecting mirror module is used for outputting the laser beam emitted by the emitting module to the tested object, and reflecting the laser beam reflected by the tested object to the receiving module;

the reversing mirror group is arranged on one side of the reflecting mirror module and used for transmitting the laser beam output by the reflecting mirror module to an object to be measured, and comprises a driver group, a first reversing lens and a second reversing lens, wherein the first reversing lens and the second reversing lens are arranged at intervals, and the driver group is used for respectively driving the first reversing lens and the second reversing lens to rotate so as to change the transmission direction of the laser beam.

2. The lidar of claim 1, wherein the first reversing lens comprises a first entrance surface and a first exit surface, the second reversing lens comprises a second entrance surface and a second exit surface, a first angle is formed between the first entrance surface and the first exit surface, a second angle is formed between the second entrance surface and the second exit surface, and the first exit surface and the second entrance surface are arranged opposite to each other.

3. The lidar of claim 1, wherein the first and second reversing lenses are rotatable about a first axis that is parallel to the laser beam output by the mirror module to the object under test.

4. The lidar of claim 1, wherein the first and second reversing lenses are rotatable about a second axis that forms an angle with the laser beam output by the mirror module to the object under test.

5. The lidar according to claim 1, wherein the lidar comprises a sensor for detecting rotational speeds of the first and the second reversing lenses, respectively.

6. The lidar according to claim 1, wherein the lidar comprises a galvanometer, which is arranged at a side of the reversing mirror set facing away from the mirror module, and which is configured to reflect the laser beam to the object under test.

7. The lidar according to claim 6, wherein the galvanometer comprises a frame and a mirror body connected to each other, the mirror body being provided in the frame, the mirror body being capable of reciprocating rotation in the frame about a first direction and/or about a second direction, the first direction and the second direction forming an angle therebetween.

8. The lidar according to claim 7, wherein the lidar comprises a third driver for driving the mirror to rotate reciprocally around the first direction and/or around the second direction.

9. The lidar according to claim 1, wherein the mirror module comprises a collimator lens, a partially light-transmitting mirror, and a focusing lens, the partially light-transmitting mirror comprises a light-transmitting portion and a reflecting portion, the transmitting module, the collimator lens, the light-transmitting portion form a transmitting light path for transmitting the laser beam, and the reflecting portion, the focusing lens, and the receiving module form a receiving light path for receiving the laser beam.

10. A vehicle comprising a lidar according to any of claims 1 to 9.