CN112147597A - Area coverage scanning laser radar device - Google Patents
Area coverage scanning laser radar device Download PDFInfo
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- CN112147597A CN112147597A CN202011211914.4A CN202011211914A CN112147597A CN 112147597 A CN112147597 A CN 112147597A CN 202011211914 A CN202011211914 A CN 202011211914A CN 112147597 A CN112147597 A CN 112147597A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an area coverage scanning laser radar device which comprises a transparent outer cover, an upper mounting plate, a motor mounting seat, a lower mounting seat, a light path component and a driving component, wherein the power of the driving component is provided by only one driving motor, and the driving component is used for controlling the action of the light path component so that laser emitted by a light source passes through the light path component to realize area coverage scanning. The invention has the beneficial effects that: the invention can realize three-dimensional coverage scanning of the inner circumference within a certain angle range by adopting one motor drive, greatly reduces the cost, has small volume and simple and ingenious structure, improves the reliability of the laser radar, and can realize three-dimensional scanning of the laser radar in the civil consumption field such as a sweeping robot and the like.
Description
Technical Field
The invention relates to the field of laser ranging radar and optical scanning, in particular to an area coverage scanning laser radar device.
Background
The laser radar is a radar system for detecting characteristic quantities such as position, speed and the like of a target by emitting laser beams, wherein the laser scanning system is an important component of the laser radar, a single-line laser radar is additionally provided with a two-dimensional scanning system to realize two-dimensional scanning in order to acquire more environmental information, and a three-dimensional scanning system is additionally provided to realize three-dimensional scanning, the existing three-dimensional scanning system needs two motors to drive to realize three-dimensional scanning, the three-dimensional scanning obtains more comprehensive and complete surrounding information but greatly increases the radar cost and volume, and simultaneously increases the motor load and control difficulty and reduces the scanning efficiency, for example, the domestic patent application with the application number of CN201780084116.X, the patent publication proposes that two coaxial rotating refractors are adopted to realize regional three-dimensional coverage scanning, the patent publication with the application number of CN201520363911.0 proposes that two galvanometer motors are adopted to drive two reflectors to realize regional three-dimensional coverage scanning, the invention of a three-dimensional laser scanning head is proposed in application No. CN201721786563.3, and the three-dimensional scanning solution proposed in the patent publication requires two driving motors to achieve horizontal scanning and vertical scanning.
Therefore, after intensive research, the present inventors have now proposed a technical solution for an area coverage scanning lidar device, which is a breakthrough technical improvement made by the present inventors to the previously proposed solution.
Disclosure of Invention
In order to solve the problems in the background art, the invention discloses an area coverage scanning laser radar device, which comprises a transparent outer cover, an upper mounting plate, a motor mounting seat, a lower mounting seat, a light path component and a driving component, wherein the power of the driving component is provided by only one driving motor, and the driving component is used for controlling the action of the light path component so as to realize area coverage scanning after laser emitted by a light source passes through the light path component.
Including transparent dustcoat, last mounting panel, motor mount pad, lower mount pad, light path subassembly and drive assembly, its characterized in that, drive assembly includes controller, coding disc, coding sensor, driving motor, driving belt, driving pulley, driven pulley, horizontal rotation support, planetary gear transmission group, vertical pivot, vertical transmission shaft, drive bevel gear, driven bevel gear, planetary gear transmission group is including fixed ring gear, planetary gear, sun gear, the light path subassembly includes, light source, receiving sensor, light source mounting bracket, semi-transparent half-reflecting mirror, polygon prism.
The transparent outer cover is fixedly arranged on the upper mounting plate, the upper mounting plate is fixedly connected with the motor mounting seat, the motor mounting seat is detachably connected with the lower mounting seat, the fixed gear ring of the planetary gear transmission set is arranged on the upper mounting plate, the coding sensor is fixedly arranged on the upper mounting plate, the driving motor of the driving assembly is fixedly arranged on the motor mounting seat, the horizontal rotating bracket of the driving assembly is rotatably connected with the upper mounting plate, the coding disc is fixedly arranged with the horizontal rotating bracket, the driving belt pulley of the driving assembly is fixedly arranged on the shaft of the driving motor, the driven belt pulley of the driving assembly is fixedly arranged on the horizontal rotating bracket, the planetary gear of the planetary gear transmission set is rotatably arranged on the driven belt pulley, and the rotating axial lead of the horizontal rotating bracket is arranged into a through hole structure, the vertical transmission shaft is rotatably arranged in the through hole of the horizontal rotating support, the rotating axis of the sun gear is set to be of a through hole structure, one end of the vertical transmission shaft is fixedly installed with the driving bevel gear, the other end of the vertical transmission shaft is installed in the through hole of the sun gear, the rotating axis of the vertical transmission shaft is set to be of a through hole structure, the driven bevel gear is fixedly connected with the vertical rotating shaft, and the driven bevel gear is in meshing transmission with the driving bevel gear.
Light path subassembly light source fixed mounting in on the light source mounting bracket, the light source mounting bracket with the connection can be dismantled to the mount pad down, receiving sensor with the connection can be dismantled to the mount pad down, the semi-transparent half-reflecting mirror slope of light path subassembly install in on the light source mounting bracket, polygon prism fixed mounting in vertical rotating shaft, vertical rotating shaft with horizontal rotation support rotatable coupling states driving motor and realizes polygon prism's revolution circular scanning. And meanwhile, the rotation scanning of the multi-facet prism is realized, so that the area coverage scanning of the laser radar is realized.
Still disclose regional scanning laser radar device that covers, include transparent dustcoat, go up mounting panel, motor mount pad, light path subassembly and drive assembly down, drive assembly includes controller, coding disc, coding sensor, driving motor, driving belt, drive pulley, driven pulley, horizontal rotation support, planetary gear transmission group, vertical rotating shaft, vertical transmission shaft, drive bevel gear, driven bevel gear, planetary gear transmission group is including fixed ring gear, planetary gear, sun gear, planetary gear holder, the light path subassembly includes, light source, receiving transducer, light source mounting bracket, semi-transparent half-reflecting mirror, polygon prism, refraction lens.
The transparent outer cover is fixedly arranged on the upper mounting plate, the upper mounting plate is fixedly connected with the motor mounting seat, the motor mounting seat is detachably connected with the lower mounting seat, the fixed gear ring of the planetary gear transmission set is arranged on the upper mounting plate, the coding sensor is fixedly arranged on the upper mounting plate, the driving motor of the driving assembly is fixedly arranged on the motor mounting seat, the horizontal rotating bracket of the driving assembly is rotatably connected with the upper mounting plate, the coding disc is fixedly arranged with the horizontal rotating bracket, the driving belt pulley of the driving assembly is fixedly arranged on the shaft of the driving motor, the driven belt pulley of the driving assembly is fixedly arranged on the horizontal rotating bracket, the planetary gear of the planetary gear transmission set is rotatably arranged on the driven belt pulley, planetary gear holder with driven pulley fixed connection, horizontal rotation support rotation axis line sets up to the through-hole structure, vertical transmission shaft is rotatable set up in the horizontal rotation support through-hole, the sun gear rotation axis line sets up to the through-hole structure, vertical transmission shaft one end fixed mounting drive bevel gear, the other end is installed in the sun gear through-hole, vertical transmission shaft rotation axis line sets up to the through-hole structure, driven bevel gear with vertical pivot fixed connection, driven bevel gear with the transmission of initiative bevel gear meshing.
Light path subassembly light source fixed mounting in on the light source mounting bracket, the light source mounting bracket with the connection can be dismantled to the mount pad down, the receiving sensor with the connection can be dismantled to the mount pad down, the semi-transparent half-reflection mirror slope of light path subassembly install in on the light source mounting bracket, planetary gear holder rotation axis lead is provided with the through-hole, refractive lens is fixed in the star gear holder through-hole, polyhedral prism fixed mounting in vertical rotating shaft, vertical rotating shaft with horizontal rotation support rotatable coupling, driving motor realizes polyhedral prism with refractive lens constant speed revolution circumference scanning realizes simultaneously polyhedral prism rotation scanning to realize laser radar's regional coverage scanning.
Still disclose regional scanning laser radar device that covers, include transparent dustcoat, go up mounting panel, motor mount pad, light path subassembly and drive assembly down, drive assembly includes controller, coding disc, coding sensor, driving motor, driving belt, drive pulley, driven pulley, horizontal rotation support, planetary gear transmission group, vertical pivot, planetary gear transmission group is including fixed ring gear, planetary gear, sun gear, the light path subassembly includes, light source, receiving transducer, light source mounting bracket, half mirror, refraction lens, full mirror.
The transparent outer cover is fixedly arranged on the upper mounting plate, the upper mounting plate is fixedly connected with the motor mounting seat, and the motor mounting seat is detachably connected with the lower mounting seat; the fixed ring gear of planetary gear drive subassembly install in on going up the mounting panel, coding sensor fixed mounting in go up on the mounting panel, drive assembly's driving motor fixed mounting in on the motor mount pad, drive assembly's horizontal rotation support with go up mounting panel rotatable coupling, the coding dish with horizontal rotation support fixed mounting, drive assembly's drive pulley fixed mounting in on the driving motor shaft, drive assembly's driven pulley fixed mounting in on the horizontal rotation support, the planetary gear rotatable mounting of planetary gear drive group in on the driven pulley.
Light path subassembly light source fixed mounting in on the light source mounting bracket, the light source mounting bracket with the connection can be dismantled to the mount pad down, receiving sensor with the connection can be dismantled to the mount pad down, the semi-transparent semi-reflection mirror of light path subassembly install in on the light source mounting bracket, planetary gear transmission group sun gear rotation axial lead is provided with logical unthreaded hole, refraction lens fixed mounting in it is downthehole that planetary gear transmission group sun gear leads to the unthreaded, full reflection mirror fixed mounting in vertical pivot, vertical pivot adjustable angle install in on the horizontal rotation support, driving motor realizes full reflection mirror with the circumference scanning of refraction lens realizes simultaneously refraction lens for the rotatory scanning of full reflection mirror to realize laser radar's regional coverage scanning.
The vertical rotating shaft axis is perpendicular to but not intersected with the rotating axis space of the horizontal rotating bracket to form a certain distance.
The driven belt pulley is evenly provided with a plurality of columnar bosses, and the planetary gear of the planetary gear transmission set can be rotatably arranged on the driven belt pulley.
The semi-transparent semi-reflecting mirror is obliquely arranged on the light source fixing and mounting frame.
When the transmission ratio is not an integer, the scanning track pattern obtained by the first horizontal scanning for one circle is not overlapped with the scanning track pattern obtained by the second horizontal scanning, and when the transmission ratio is an infinite loop or an infinite loop decimal, the scanning track patterns are never overlapped.
The pulse light emitted by the light source is reflected back by an obstacle after passing through the plurality of optical elements such as the semi-transparent and semi-reflective mirror, is detected by the receiving sensor after passing through the plurality of optical elements such as the semi-transparent and semi-reflective mirror, and generates an electric signal.
The invention adopts a motor to drive, thus realizing three-dimensional scanning of the inner circumference within a certain angle range, greatly reducing the cost, having small volume and simple structure, skillfully improving the reliability of the laser radar, and realizing the three-dimensional scanning of the laser radar in the civil consumption field such as a sweeping robot.
Drawings
Fig. 1 is a schematic view of the overall structure of embodiment 1, embodiment 2, and embodiment 3.
FIG. 2 is a sectional view of example 1.
Fig. 3 is an exploded view of example 1.
Fig. 4 is a partial sectional view of an optical path component according to embodiment 1.
Fig. 5 is a schematic view of a part of the driving assembly of embodiment 1.
Fig. 6 is a partial side view of the drive assembly of example 1.
Fig. 7 is a partial exploded view of the drive assembly of example 1.
FIG. 8 is a sectional view of example 2.
Fig. 9 is an exploded view of example 2.
Fig. 10 is a partial sectional view of an optical path component according to embodiment 2.
Fig. 11 is a partial exploded view of the drive assembly of example 2.
Fig. 12 is a schematic view of scanning tracks in embodiments 1 and 2.
FIG. 13 is a sectional view of example 3.
Fig. 14 is an exploded view of example 3.
Fig. 15 is a partial sectional view of an optical path component according to embodiment 3.
Fig. 16 is a partial exploded view of the drive assembly of example 3.
FIG. 17 is a schematic view of a scanning track according to embodiment 3.
Detailed Description
The following detailed description of the embodiments of the present invention is provided to enable those skilled in the art to more easily understand the advantages and features of the present invention, and to clearly define the scope of the present invention.
Example 1
Referring to fig. 1-5, the area coverage scanning lidar device comprises a transparent outer cover a1, an upper mounting plate a2, a motor mounting seat A3, a lower mounting seat a4, a light path component B1 and a driving component C1, wherein the driving component C1 comprises a controller, a code disc X11, a code sensor X22, a driving motor C001, a transmission belt C002, a driving pulley C003, a driven pulley C004, a horizontal rotating bracket C005, a planetary gear transmission set C006, a vertical rotating shaft C007, a vertical driving shaft C008, a driving bevel gear C009 and a driven bevel gear C010, the planetary gear transmission set C006 comprises a fixed gear ring C111, a planetary gear C112 and a sun gear C113, and the light path component B1 comprises a light source B001, a receiving sensor B002, a light source mounting seat B003, a half-mirror B004 and a polygon mirror B005.
The horizontal rotation support C005 axis of rotation is the through-hole structure, the axis of rotation of the planet gear transmission group C006 sun gear C113 is the through-hole structure, the axis of rotation of vertical transmission shaft C008 is provided with through light hole T11.
A plurality of cylindrical bosses T22 are uniformly arranged on the driven pulley C004, and the driven pulley C004 is also a planet carrier of the planetary gear transmission set C006.
The axial lead of the vertical rotating shaft C007 is perpendicular to the rotating axial lead of the horizontal rotating bracket C005 in space but does not intersect with the rotating axial lead, so that a certain distance, namely offset, is formed.
The transparent outer cover A1 is fixedly mounted on the upper mounting plate A2, the upper mounting plate A2 is fixedly connected with the motor mounting seat A3, the motor mounting seat A3 is detachably connected with the lower mounting seat A4, the fixed gear ring C111 of the planetary gear transmission set C006 is mounted on the upper mounting plate A2, the encoder sensor X22 is fixedly mounted on the upper mounting plate A2, the driving motor C001 of the driving component C1 is fixedly mounted on the motor mounting seat A3, the horizontal rotating bracket C005 of the driving component C1 is rotatably connected with the upper mounting plate A2, the encoder disc X11 is fixedly mounted with the horizontal rotating bracket C005, the driving pulley C003 of the driving component C1 is fixedly mounted on the driving motor shaft C001, the driven pulley C004 of the driving component C1 is fixedly mounted on the horizontal rotating bracket C005, the planetary gear C112 of the planetary gear transmission set C006 is rotatably mounted on the driven pulley C004T 22, vertical transmission shaft C008 with horizontal rotation support C005 rotatable coupling, vertical transmission shaft C008 one end fixed mounting drive bevel gear C009, the other end is installed on sun gear C113, driven bevel gear C010 with vertical pivot C007 fixed connection, driven bevel gear C010 with the transmission of initiative bevel gear C009 meshing.
Light path subassembly B1 light source B001 fixed mounting in on the light source mounting bracket B003, light source mounting bracket B003 with mount pad A4 can dismantle the connection down, receive sensor B002 with mount pad A4 can dismantle the connection down, light path subassembly B1's half mirror B004 slope install in on the light source mounting bracket B003, faceted prism B115 fixed mounting in on the vertical rotating shaft C007, vertical rotating shaft C007 with horizontal rotation support C005 rotatable coupling.
The light source B001 is electrically connected with the controller, the coded sensor X22 is electrically connected with the controller, the receiving sensor B002 is electrically connected with the controller, and the driving motor C001 is electrically connected with the controller
The working principle is as follows: the light source B001 emits a beam of pulse light, the pulse light passes through the half mirror B004, part of the light is reflected out, the pulse light passes through a light through hole T11 formed in the rotation axis of the vertical transmission shaft C008 and reaches the polygon prism B115, the polygon prism B115 reflects incident light out, the incident light passes through the transparent outer cover A1 and is emitted to a detected object at a distance, the detected object reflects part of the light, the part of the reflected light is emitted to the half mirror B004 through the polygon prism B115, part of the light is emitted to the receiving sensor B002 through the half mirror B004, the receiving sensor B002 receives the light and generates an electric signal, the distance of the detected object is obtained through conversion of the controller, and single-point laser ranging is achieved.
When the driving motor C001 moves, power is transmitted to the driven pulley C004 through the driving pulley C003 and the transmission belt C002, the planetary gear C112 can be rotatably installed on the columnar boss T22 of the driven pulley C004, the driven pulley C004 drives the planetary gear C112 to move, meanwhile, as the horizontal rotating support C005 is fixedly installed on the driven pulley C004, the horizontal rotating support C005 and the driven pulley C004 rotate at the same speed, the vertical rotating shaft C007 of the horizontal rotating support C005 also rotates together, the multi-face prism B115 on the vertical rotating shaft C007 also rotates together and has the same rotating speed as that of the driven pulley C004, as the gear ring C111 of the planetary gear transmission set C006 is fixed, the planetary gear C112 transmits the motion to the sun gear C113, the sun gear C113 realizes the homodromous motion, at the moment, the rotating speed of the sun gear C113 is greater than that of the planet carrier is also the rotating speed of the driven pulley C004, and as one end, at the moment, the rotating speed of a vertical transmission shaft C008 is greater than the rotating speed of a driven pulley C004 and is also greater than the rotating speed of a horizontal rotating support C005, a driving bevel gear C009 is fixed at the other end of the vertical transmission shaft C008, the driving bevel gear C009 drives a driven bevel gear C010 meshed with the driving bevel gear C009 to move, the driven bevel gear C010 is fixed on a vertical rotating shaft C007, a polygon prism B115 is fixed on the vertical rotating shaft C007, and the driven bevel gear C010 drives the polygon prism B115 to rotate through the vertical rotating shaft C007, at the moment, if a light source B001 continuously emits pulsed light, a laser scanning track emitted by the polygon prism B115 presents a plurality of equidistant inclined straight lines, a proper transmission ratio of a planetary gear C112 and a sun gear C113 is selected, a plurality of equidistant inclined straight line scanning tracks with different angles and lengths can be obtained by the corresponding transmission ratio of the polygon prism B005 and the rotation, the scanning track pattern obtained by the first horizontal scanning for one circle is not overlapped with the track pattern obtained by the second horizontal scanning, and when the transmission ratio is infinite loop or infinite loop decimal, the scanning track patterns are never overlapped.
Example 2
Referring to fig. 5 to 10, the area coverage scanning lidar device differs from embodiment 1 in that a driving portion C1 is additionally provided with a planetary gear holder Z22, the planetary gear holder Z22 is fixed to the driven pulley C004, while the optical path portion B1 is additionally provided with a refractive lens Z11, the refractive lens Z11 is fixedly mounted on the planetary gear holder Z22, while the axis of the horizontal rotary holder C005 is perpendicularly intersected with the axis of the vertical rotary shaft C007.
The operation principle is different from that of embodiment 1 in that the driving motor C001 performs revolution circular scanning of the polygon mirror B005 and the refractive lens Z11 at a constant speed while performing rotation scanning of the polygon mirror B005 so as to perform area coverage scanning of the laser radar.
Example 3
Referring to fig. 10-15, the area coverage scanning lidar device comprises a transparent outer cover a1, an upper mounting plate a2, a motor mounting seat A3, a lower mounting seat a4, a light path component B1 and a driving component C1, wherein the driving component C1 comprises a controller, a code disc X11, a code sensor X22, a driving motor C001, a transmission belt C002, a driving pulley C003, a driven pulley C004, a horizontal rotating bracket C005, a planetary gear transmission group C006 and a vertical rotating shaft C007, the planetary gear transmission group C006 comprises a fixed gear ring C111, a planetary gear C112 and a sun gear C113, and the light path component B1 comprises a light source B001, a receiving sensor B002, a light source mounting bracket B003, a half-transmission half-reflection mirror B004, a refraction lens B116 and a full-reflection mirror B115.
The rotating axis of the sun gear C113 of the planetary gear transmission set C006 is provided with a light through hole T1, and the rotating axis of the horizontal rotating bracket C005 is provided with a light through hole T2.
A plurality of cylindrical bosses T3 are uniformly arranged on the driven pulley C004, and the driven pulley C004 is also a planet carrier of the planetary gear transmission set C006.
The axis of the vertical rotating shaft C007 is perpendicular to the rotating axis of the horizontal rotating bracket C005.
The reflecting surface of the total reflection mirror B115 is superposed with the axis of the vertical rotating shaft C007.
The transparent outer cover A1 is fixedly mounted on an upper mounting plate A2, the upper mounting plate A2 is fixedly connected with the motor mounting seat A3, and the motor mounting seat A3 is detachably connected with the lower mounting seat A4; the fixed ring gear C111 of the planetary gear transmission set C006 is mounted on an upper mounting plate A2, the encoding sensor X22 is fixedly mounted on an upper mounting plate A2, the driving motor C001 of the driving assembly C1 is fixedly mounted on a motor mounting seat A3, the horizontal rotating bracket C005 and the upper mounting plate A2 of the driving assembly C1 are rotatably connected, the encoding disc X11 is fixedly mounted with the horizontal rotating bracket C005, the driving pulley C003 of the driving assembly C1 is fixedly mounted on a shaft of the driving motor C001, the driven pulley C004 of the driving assembly C1 is fixedly mounted on the horizontal rotating bracket C005, and the plurality of planetary gears C112 of the planetary gear transmission set C006 are rotatably mounted on a column-shaped boss T3 of the driven pulley C004.
Light path subassembly B1 light source B001 fixed mounting is on light source mounting bracket B003, light source mounting bracket B003 can be dismantled with lower mount pad A4 and be connected, receive sensor B002 and can dismantle with lower mount pad A4 and be connected, light path subassembly B1's half mirror B004 slope is installed on light source mounting bracket B003, refractor B116 fixed mounting leads to in unthreaded hole T1 in planetary gear transmission group C006 sun gear C113, full mirror B115 fixed mounting is on vertical pivot C007, vertical pivot C007 adjustable angle is installed on horizontal rotation support C005.
The light source B001 is electrically connected with the controller, the coded sensor X22 is electrically connected with the controller, the receiving sensor B002 is electrically connected with the controller, and the driving motor C001 is electrically connected with the controller
The working principle is as follows: a light source B001 emits a beam of pulse light, the pulse light passes through a half mirror B004, part of light is reflected to a refractive lens B116, the input light is refracted to a certain angle through the refractive lens B116 and then emitted to a full mirror B115, the incident light is reflected by the full mirror B115 and passes through a transparent outer cover A1 and then emitted to a distant detected object, the detected object reflects part of light, the part of reflected light is emitted to the refractive lens B116 through the full mirror B115 and then emitted to the half mirror B004 through the refractive lens B116, part of light is emitted to a receiving sensor B002 through the half mirror B004, the receiving sensor B002 receives the light and generates an electric signal, the distance of the detected object is obtained through conversion of a controller, and single-point laser ranging is realized.
When the driving motor C001 moves, the driving pulley C003 and the driving belt C002 transmit power to the driven pulley C004, because the planetary gear C112 is rotatably mounted on the column-shaped boss T3 of the driven pulley C004, the driven pulley C004 drives the planetary gear C112 to move, meanwhile, because the horizontal rotating bracket C005 is fixedly mounted on the driven pulley C004, the horizontal rotating bracket C005 and the driven pulley C004 rotate at the same speed, the vertical rotating shaft C007 of the horizontal rotating bracket C005 also rotates together, the full-reflection mirror B115 on the vertical rotating shaft C007 also rotates together and has the same rotating speed as that of the driven pulley C004, because the gear ring C111 of the planetary gear transmission set C006 is fixed, the planetary gear C112 transmits the motion to the sun gear C113, the sun gear C113 realizes the homodromous motion, at this time, the rotating speed of the sun gear C113 is greater than that of the planet carrier, namely the driven pulley C004, because the refraction lens B116 is mounted, at the moment, the rotating speed of the refraction lens B116 is greater than that of the driven pulley C004 and is also greater than that of the full-reflection mirror B115, if the light source B001 continuously emits pulsed light, a laser scanning track emitted by the full-reflection mirror B115 presents a specific image, a proper transmission ratio of the planetary gear C112 and the sun gear C113 is selected, different scanning track patterns and effects can be obtained according to the transmission ratio of the full-reflection mirror B115 to the refraction lens B116, when the transmission ratio is not an integer, the scanning track pattern obtained by one-time horizontal scanning is not overlapped with the scanning track pattern obtained by the second-time scanning, and when the transmission ratio is an infinite cycle or an infinite non-cycle decimal, the scanning track patterns are not overlapped.
The invention adopts a motor to drive, thus realizing three-dimensional scanning of the inner circumference within a certain angle range, greatly reducing the cost, having small volume and simple and ingenious structure, improving the service life and reliability of the laser radar and realizing the three-dimensional scanning of the laser radar in the civil consumption field such as a sweeping robot.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (8)
1. Regional coverage scanning laser radar device, including transparent dustcoat, last mounting panel, motor mount pad, light path subassembly and drive assembly down, its characterized in that, drive assembly's power only provides through a driving motor, drive assembly is used for control the action of light path subassembly to the laser process of light source transmission realizes regional coverage scanning behind the light path subassembly.
2. The area coverage scanning lidar device of claim 1, comprising a transparent housing, an upper mounting plate, a motor mounting seat, a lower mounting seat, a light path component and a driving component, wherein the driving component comprises a controller, a coding disc, a coding sensor, a driving motor, a driving belt pulley, a driven belt pulley, a horizontal rotating bracket, a planetary gear transmission set, a vertical rotating shaft, a vertical driving shaft, a driving bevel gear and a driven bevel gear, the planetary gear transmission set comprises a fixed gear ring, a planetary gear and a sun gear, and the light path component comprises a light source, a receiving sensor, a light source mounting bracket, a half-mirror and a polygon prism;
the transparent outer cover is fixedly arranged on the upper mounting plate, the upper mounting plate is fixedly connected with the motor mounting seat, the motor mounting seat is detachably connected with the lower mounting seat, the fixed gear ring of the planetary gear transmission set is arranged on the upper mounting plate, the coding sensor is fixedly arranged on the upper mounting plate, the driving motor of the driving assembly is fixedly arranged on the motor mounting seat, the horizontal rotating bracket of the driving assembly is rotatably connected with the upper mounting plate, the coding disc is fixedly arranged with the horizontal rotating bracket, the driving belt pulley of the driving assembly is fixedly arranged on the shaft of the driving motor, the driven belt pulley of the driving assembly is fixedly arranged on the horizontal rotating bracket, the planetary gear of the planetary gear transmission set is rotatably arranged on the driven belt pulley, and the rotating axial lead of the horizontal rotating bracket is arranged into a through hole structure, the vertical transmission shaft is rotatably arranged in the through hole of the horizontal rotating support, the rotating axis of the sun gear is arranged to be a through hole structure, one end of the vertical transmission shaft is fixedly provided with the driving bevel gear, the other end of the vertical transmission shaft is arranged in the through hole of the sun gear, the rotating axis of the vertical transmission shaft is arranged to be a through hole structure, the driven bevel gear is fixedly connected with the vertical rotating shaft, and the driven bevel gear is in meshing transmission with the driving bevel gear;
light path subassembly light source fixed mounting in on the light source mounting bracket, the light source mounting bracket with the connection can be dismantled to the mount pad down, receiving sensor with the connection can be dismantled to the mount pad down, the semi-transparent half-reflection mirror slope of light path subassembly install in on the light source mounting bracket, polygon prism fixed mounting in the vertical rotating shaft, vertical rotating shaft with horizontal rotation support rotatable coupling states driving motor and realizes polygon prism's revolution circular scanning, realizes simultaneously polygon prism rotation scanning to realize laser radar's regional coverage scanning.
3. The area coverage scanning lidar device of claim 1, comprising a transparent housing, an upper mounting plate, a motor mounting seat, a lower mounting seat, a light path component and a driving component, wherein the driving component comprises a controller, a coding disc, a coding sensor, a driving motor, a driving belt pulley, a driven belt pulley, a horizontal rotating bracket, a planetary gear transmission set, a vertical rotating shaft, a vertical driving shaft, a driving bevel gear and a driven bevel gear, the planetary gear transmission set comprises a fixed gear ring, a planetary gear, a sun gear and a planetary gear holder, and the light path component comprises a light source, a receiving sensor, a light source mounting bracket, a half-mirror, a polygon prism and a refraction lens;
the transparent outer cover is fixedly arranged on the upper mounting plate, the upper mounting plate is fixedly connected with the motor mounting seat, the motor mounting seat is detachably connected with the lower mounting seat, the fixed gear ring of the planetary gear transmission set is arranged on the upper mounting plate, the coding sensor is fixedly arranged on the upper mounting plate, the driving motor of the driving assembly is fixedly arranged on the motor mounting seat, the horizontal rotating bracket of the driving assembly is rotatably connected with the upper mounting plate, the coding disc is fixedly arranged with the horizontal rotating bracket, the driving belt pulley of the driving assembly is fixedly arranged on the shaft of the driving motor, the driven belt pulley of the driving assembly is fixedly arranged on the horizontal rotating bracket, the planetary gear of the planetary gear transmission set is rotatably arranged on the driven belt pulley, the planetary gear holder is fixedly connected with the driven belt pulley, the rotating axis of the horizontal rotating support is set to be a through hole structure, the vertical transmission shaft is rotatably arranged in the through hole of the horizontal rotating support, the rotating axis of the sun gear is set to be a through hole structure, one end of the vertical transmission shaft is fixedly provided with the driving bevel gear, the other end of the vertical transmission shaft is arranged in the through hole of the sun gear, the rotating axis of the vertical transmission shaft is set to be a through hole structure, the driven bevel gear is fixedly connected with the vertical rotating shaft, and the driven bevel gear is in meshing transmission with the driving bevel gear;
light path subassembly light source fixed mounting in on the light source mounting bracket, the light source mounting bracket with the connection can be dismantled to the mount pad down, the receiving sensor with the connection can be dismantled to the mount pad down, the semi-transparent half-reflection mirror slope of light path subassembly install in on the light source mounting bracket, planetary gear holder rotation axis lead is provided with the through-hole, refractive lens is fixed in the star gear holder through-hole, polyhedral prism fixed mounting in vertical rotating shaft, vertical rotating shaft with horizontal rotation support rotatable coupling, driving motor realizes polyhedral prism with refractive lens constant speed revolution circumference scanning realizes simultaneously polyhedral prism rotation scanning to realize laser radar's regional coverage scanning.
4. The area coverage scanning lidar device of claim 1, comprising a transparent housing, an upper mounting plate, a motor mounting seat, a lower mounting seat, a light path assembly and a driving assembly, wherein the driving assembly comprises a controller, an encoding disc, an encoding sensor, a driving motor, a driving belt pulley, a driven belt pulley, a horizontal rotating bracket, a planetary gear transmission set and a vertical rotating shaft, the planetary gear transmission set comprises a fixed gear ring, a planetary gear and a sun gear, and the light path assembly comprises a light source, a receiving sensor, a light source mounting seat, a half-transmitting and half-reflecting mirror, a refractive lens and a full-reflecting mirror;
the transparent outer cover is fixedly arranged on the upper mounting plate, the upper mounting plate is fixedly connected with the motor mounting seat, and the motor mounting seat is detachably connected with the lower mounting seat; the fixed gear ring of the planetary gear transmission assembly is mounted on the upper mounting plate, the coding sensor is fixedly mounted on the upper mounting plate, the driving motor of the driving assembly is fixedly mounted on the motor mounting seat, the horizontal rotating bracket of the driving assembly is rotatably connected with the upper mounting plate, the coding disc is fixedly mounted with the horizontal rotating bracket, the driving pulley of the driving assembly is fixedly mounted on the shaft of the driving motor, the driven pulley of the driving assembly is fixedly mounted on the horizontal rotating bracket, and the planetary gear of the planetary gear transmission set is rotatably mounted on the driven pulley;
light path subassembly light source fixed mounting in on the light source mounting bracket, the light source mounting bracket with the connection can be dismantled to the mount pad down, receiving sensor with the connection can be dismantled to the mount pad down, the semi-transparent semi-reflection mirror of light path subassembly install in on the light source mounting bracket, planetary gear transmission group sun gear rotation axial lead is provided with logical unthreaded hole, refraction lens fixed mounting in it is downthehole that planetary gear transmission group sun gear leads to the unthreaded, full reflection mirror fixed mounting in vertical pivot, vertical pivot adjustable angle install in on the horizontal rotation support, driving motor realizes full reflection mirror with the circumference scanning of refraction lens realizes simultaneously refraction lens for the rotatory scanning of full reflection mirror to realize laser radar's regional coverage scanning.
5. The area coverage scanning lidar device of claim 2, wherein the vertical pivot axis is spatially perpendicular to but does not intersect the horizontal pivot axis at a distance.
6. The area coverage scanning lidar device according to any of claims 2-5, wherein a plurality of cylindrical bosses are uniformly disposed on the driven pulley, and the planetary gear of the planetary gear transmission set is rotatably mounted on the driven pulley.
7. The area coverage scanning lidar device of any of claims 2-5, wherein the half mirror is mounted on the light source mounting bracket at an angle.
8. The area coverage scanning lidar device according to any of claims 2-5, wherein different scanning track patterns and effects are obtained by selecting suitable transmission ratios of the planetary gear and the sun gear, wherein when the transmission ratio is not an integer, the scanning track pattern obtained by one horizontal scanning is not overlapped with the scanning track pattern obtained by the second horizontal scanning, and when the transmission ratio is an infinite loop or an infinite non-loop decimal, the scanning track patterns are never overlapped.
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| CN202011211914.4A CN112147597A (en) | 2020-11-03 | 2020-11-03 | Area coverage scanning laser radar device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011211914.4A CN112147597A (en) | 2020-11-03 | 2020-11-03 | Area coverage scanning laser radar device |
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| CN112147597A true CN112147597A (en) | 2020-12-29 |
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| CN115166695A (en) * | 2022-09-06 | 2022-10-11 | 深圳力策科技有限公司 | High-safety laser radar scanning device |
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