CN112180344A - Laser radar optical system - Google Patents
Laser radar optical system Download PDFInfo
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- CN112180344A CN112180344A CN201910600778.9A CN201910600778A CN112180344A CN 112180344 A CN112180344 A CN 112180344A CN 201910600778 A CN201910600778 A CN 201910600778A CN 112180344 A CN112180344 A CN 112180344A
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- Prior art keywords
- scanning
- prism
- laser
- galvanometer
- optical system
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
本申请涉及激光雷达光学领域，尤其涉及一种激光雷达光学系统。本申请一种激光雷达光学系统，包括测距模块、扫描模块，所述的测距模块用于出射、接收激光，所述的扫描模块用于在水平方向、垂直方向上进行扫描，所述的扫描模块包括反射镜、振镜、棱镜，其中：所述的反射镜用于调整光路方向；所述的振镜用于将激光垂直偏转，实现垂直方向扫描；所述的棱镜可水平旋转，用于将激光水平反射，实现水平方向扫描。本申请实施例通过振镜将激光垂直偏转，实现垂直方向扫描；通过棱镜水平旋转实现水平方向扫描，扫描范围、扫描频率由振镜、棱镜的扫描范围、扫描频率决定，扫描范围大、扫描频率高。同时使用的元件少，结构简单。
The present application relates to the field of laser radar optics, and in particular, to a laser radar optical system. A laser radar optical system of the present application includes a ranging module and a scanning module. The ranging module is used for emitting and receiving laser light, and the scanning module is used for scanning in the horizontal and vertical directions. The scanning module includes a reflector, a galvanometer, and a prism, wherein: the reflector is used to adjust the direction of the optical path; the galvanometer is used to vertically deflect the laser to achieve vertical scanning; the prism can be rotated horizontally, and the It is used to reflect the laser horizontally to achieve horizontal scanning. In the embodiment of the present application, the laser is vertically deflected by the galvanometer to realize vertical scanning; the horizontal rotation of the prism is used to realize horizontal scanning, and the scanning range and scanning frequency are determined by the scanning range and scanning frequency of the galvanometer and prism. high. There are few components used at the same time, and the structure is simple.
Description
Technical Field
The invention relates to the field of laser radar optics, in particular to a laser radar optical system.
Background
One of optical paths adopted by the currently common remote high-resolution laser radar is a multi-line mechanical rotation radar, one path of emission corresponds to one path of reception, for example, 16 pairs of transmitting and receiving modules exist in 16 lines, and 64 pairs of transmitting and receiving modules exist in 64 lines; one is an MEMS scanning optical path, which can realize biaxial scanning by matching two single-axis MEMS or can realize biaxial scanning by a single double-axis MEMS.
The biggest problem of the multi-line mechanical rotation radar is installation and adjustment, one-way transmission is to receiving all the way, and the optical axis of how many lines need to be adjusted by how many lines, and the angle resolution is guaranteed through installation and adjustment simultaneously, and this puts forward very high requirements to installation and adjustment, and the degree of difficulty is big to the yield and output efficiency all constitutes very big influence.
Although the MEMS scanning optical path simplifies and greatly reduces the difficulty of optical axis adjustment, the existing MEMS scanning mirror has the main problems: small scanning angle, low scanning frequency, small mirror size and poor reliability.
Disclosure of Invention
The embodiment of the application provides a laser radar optical system, and solves the problems that in the prior art, the assembly is simple, the scanning range is large, and the scanning frequency is high.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
on the one hand, a laser radar optical system, includes range module, scanning module, range module be used for the outgoing, receive laser, scanning module be used for scanning on horizontal direction, vertical direction, scanning module include speculum, galvanometer, prism, wherein:
the reflecting mirror is used for adjusting the direction of the light path;
the galvanometer is used for vertically deflecting the laser to realize vertical scanning;
the prism can rotate horizontally and is used for horizontally reflecting the laser and realizing horizontal scanning.
In one possible implementation, the prism is rotated by 0 to 90 °.
In a possible implementation manner, the prism is an n-prism, and n is greater than or equal to 3.
In a possible implementation mode, the galvanometer is a swept plane mirror with a light-passing diameter of 0-20 mm.
In a possible implementation manner, the deflection angle of the galvanometer is 0-90 degrees.
In a possible implementation manner, the galvanometer frequency is 0-100hz, and the prism rotation frequency is 0-100 hz.
In a possible implementation mode, the galvanometer deflects the laser to be incident on the reflecting surface of the prism by an angle of 0-80 degrees.
In a possible implementation mode, the galvanometer deflects the laser to be incident on the reflecting surface of the prism by an angle of 10-50 degrees.
In a possible implementation manner, the distance measuring module comprises a collimating mirror, a perforated reflecting mirror and a receiving lens, wherein the collimating mirror is used for collimating laser, the perforated reflecting mirror is used for reflecting return light to the receiving lens through emergent light, and the receiving lens is used for receiving the return light.
In a possible implementation manner, the angle of the perforated mirror relative to the optical path is 45 degrees, and the angle of the mirror relative to the optical path is 45 degrees.
In the embodiment of the application, the laser is vertically deflected through the galvanometer, so that vertical scanning is realized; the prism horizontally rotates to realize horizontal scanning, the scanning range and the scanning frequency are determined by the galvanometer, the scanning range and the scanning frequency of the prism, and the scanning range and the scanning frequency are large. Meanwhile, the used elements are few, and the structure is simple.
Drawings
Fig. 1 is a schematic diagram of a scanning module according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a ranging module according to an embodiment of the present application.
In the figure: 1. a mirror; 2. a galvanometer; 3. a prism; 4. a collimating mirror; 5. a mirror with a hole; 6. a mirror; 7. a receiving lens.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
The embodiment of the application.
As shown in fig. 1, a laser radar optical system includes a distance measuring module and a scanning module, the distance measuring module is used for emitting and receiving laser, the scanning module is used for scanning in the horizontal direction and the vertical direction, the scanning module includes a reflector 1, a galvanometer 2, and a prism 3, wherein:
the reflector 1 is used for adjusting the direction of the light path;
the galvanometer 2 is used for vertically deflecting 3 the laser to realize vertical direction scanning;
the prism 3 can rotate horizontally and is used for reflecting the laser horizontally to realize horizontal scanning.
The reflector 1 reflects the emergent laser of the distance measuring module to the vibrating mirror 2, the vibrating mirror 2 deflects the laser vertically to the prism 3, and the reciprocating vibration of the vibrating mirror 2 enables the laser to scan in the vertical direction because the position of the prism 3 is unchanged in the vertical direction; the prism 3 can be rotated horizontally, and the laser light deflected by the vibrating mirror 2 is reflected on the prism 3, and the deflected laser light is scanned in the horizontal direction because the prism 3 is rotated horizontally.
The rotation angle of the prism 3 is 0-90 degrees.
The horizontal scanning angle of the scanning module is determined by the rotation angle of the prism 3 and is 0-90 degrees.
The prism 3 is an n prism, and n is greater than or equal to 3.
The vibrating mirror 2 is a swept plane mirror with the light transmission diameter of 0-20 mm.
The light transmission diameter is 0-20mm, and on the basis of meeting the light transmission quantity of the laser radar optical system, the volume of the vibrating mirror 2 is small, and the volume of the whole device is small.
The deflection angle of the galvanometer 2 is 0-90 degrees.
The vertical scanning angle of the scanning module is determined by the deflection angle of the galvanometer 2 and is 0-90 degrees.
The frequency of the vibrating mirror 2 is 0-100hz, and the rotation frequency of the prism 2 is 0-100 hz.
The vertical scanning frequency of the scanning module is determined by the frequency of the galvanometer 2, and the horizontal scanning frequency is determined by the rotation frequency of the prism 3 and is 0-100 hz.
The angle of the laser reflected by the vibrating mirror 2 and incident to the reflecting surface of the prism 3 is 0-80 degrees.
The angle of the laser reflected by the vibrating mirror 2 and incident to the reflecting surface of the prism 3 is 10-50 degrees.
The incidence angle is in the range, and the laser radar throughput is guaranteed.
The range finding module include collimating mirror 5, foraminiferous speculum 6, receiving lens 7, collimating mirror 5 be used for carrying out the collimation to laser, foraminiferous speculum 6 be used for through the emergent light and with return light reflection to receiving lens 7, receiving lens 7 is used for receiving return light.
In the distance measurement process, laser emitted by a laser source (not shown in the figure) is collimated by a collimating mirror 5 and then irradiates a reflecting mirror 1 of a scanning module through a perforation of a reflecting mirror 6 with a hole, the reflecting mirror 1 reflects the laser emitted by the distance measurement module to a vibrating mirror 2, the vibrating mirror 2 vertically deflects the laser to a prism 3, and the laser is scanned in the vertical direction due to the reciprocating vibration of the vibrating mirror 2 because the position of the prism 3 in the vertical direction is unchanged; the prism 3 can be rotated horizontally, and the laser light deflected by the vibrating mirror 2 is reflected on the prism 3, and the deflected laser light is scanned in the horizontal direction because the prism 3 is rotated horizontally. The target return light is returned to the holed mirror 6 as it is, which reflects the return light to the receiving lens 7.
The angle of the reflector 6 with the hole relative to the light path is 45 degrees, and the angle of the reflector relative to the light path is 45 degrees.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (10)
1. The utility model provides a laser radar optical system, its characterized in that includes range module, scanning module, range module be used for outgoing, receive laser, scanning module be used for scanning on horizontal direction, vertical direction, scanning module include speculum, galvanometer, prism, wherein:
the reflecting mirror is used for adjusting the direction of the light path;
the galvanometer is used for vertically deflecting the laser to realize vertical scanning;
the prism can rotate horizontally and is used for horizontally reflecting the laser and realizing horizontal scanning.
2. The lidar optical system of claim 1, wherein the prism is rotated at an angle of 0-90 °.
3. The lidar optical system of claim 2, wherein the prism is an n-prism, and n is greater than or equal to 3.
4. The lidar optical system according to claim 3, wherein the galvanometer is a swept plane mirror with a clear diameter of 0-20 mm.
5. The lidar optical system according to claim 4, wherein the galvanometer deflection angle is 0-90 °.
6. The lidar optical system of claim 5, wherein the galvanometer frequency is 0-100hz and the prism rotation frequency is 0-100 hz.
7. The lidar optical system of claim 6, wherein the galvanometer deflects the laser light to an angle of 0-80 ° with respect to the prism reflective surface.
8. The lidar optical system of claim 7, wherein the galvanometer deflects the laser light to an angle of 10-50 ° with respect to the prism reflective surface.
9. The lidar optical system according to claim 8, wherein the ranging module comprises a collimator for collimating the laser light, a perforated mirror for passing the outgoing light and reflecting the returning light to the receiving lens, and a receiving lens for receiving the returning light.
10. The lidar optics system of claim 9, wherein the perforated mirror is at a 45 degree angle with respect to the optical path and the mirror is at a 45 degree angle with respect to the optical path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600778.9A CN112180344A (en) | 2019-07-04 | 2019-07-04 | Laser radar optical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600778.9A CN112180344A (en) | 2019-07-04 | 2019-07-04 | Laser radar optical system |
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| Publication Number | Publication Date |
|---|---|
| CN112180344A true CN112180344A (en) | 2021-01-05 |
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| CN201910600778.9A Pending CN112180344A (en) | 2019-07-04 | 2019-07-04 | Laser radar optical system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114265041A (en) * | 2021-12-14 | 2022-04-01 | 北醒（北京）光子科技有限公司 | Scanning device and scanning method |
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| US20080143979A1 (en) * | 2006-12-15 | 2008-06-19 | Konica Minolta Opto, Inc. | Laser projection device |
| CN109031244A (en) * | 2018-08-16 | 2018-12-18 | 北醒（北京）光子科技有限公司 | A kind of laser radar coaxial optical system and laser radar |
| CN109343029A (en) * | 2018-12-04 | 2019-02-15 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system and scan method |
| CN109709572A (en) * | 2019-02-01 | 2019-05-03 | 西安知微传感技术有限公司 | A kind of half coaxial optical path reception laser radar system |
| CN109828259A (en) * | 2019-02-14 | 2019-05-31 | 昂纳信息技术（深圳）有限公司 | A kind of laser radar and array sweeping device |
| CN210775832U (en) * | 2019-07-04 | 2020-06-16 | 北醒（北京）光子科技有限公司 | Laser radar optical system |
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2019
- 2019-07-04 CN CN201910600778.9A patent/CN112180344A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080143979A1 (en) * | 2006-12-15 | 2008-06-19 | Konica Minolta Opto, Inc. | Laser projection device |
| CN109031244A (en) * | 2018-08-16 | 2018-12-18 | 北醒（北京）光子科技有限公司 | A kind of laser radar coaxial optical system and laser radar |
| CN109343029A (en) * | 2018-12-04 | 2019-02-15 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system and scan method |
| CN109709572A (en) * | 2019-02-01 | 2019-05-03 | 西安知微传感技术有限公司 | A kind of half coaxial optical path reception laser radar system |
| CN109828259A (en) * | 2019-02-14 | 2019-05-31 | 昂纳信息技术（深圳）有限公司 | A kind of laser radar and array sweeping device |
| CN210775832U (en) * | 2019-07-04 | 2020-06-16 | 北醒（北京）光子科技有限公司 | Laser radar optical system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114265041A (en) * | 2021-12-14 | 2022-04-01 | 北醒（北京）光子科技有限公司 | Scanning device and scanning method |
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Application publication date: 20210105 |