CN206960659U - A kind of sounding optical system - Google Patents
A kind of sounding optical system Download PDFInfo
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- CN206960659U CN206960659U CN201720676361.7U CN201720676361U CN206960659U CN 206960659 U CN206960659 U CN 206960659U CN 201720676361 U CN201720676361 U CN 201720676361U CN 206960659 U CN206960659 U CN 206960659U
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- 230000003287 optical effect Effects 0.000 title claims abstract description 74
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000009738 saturating Methods 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000011514 reflex Effects 0.000 description 11
- 238000005259 measurement Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 229910000530 Gallium indium arsenide Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
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Abstract
The utility model discloses a kind of sounding optical system.The sounding optical system includes：LASER Light Source, through hole speculum, reflecting prism and optical receiver system；The laser beam of the LASER Light Source transmitting passes through the through hole of the through hole speculum, target acquisition space is irradiated to after the reflection of the reflecting prism, when the laser beam is irradiated to the detection target in the target acquisition space, the echo of the detection target by after the reflecting prism and the reflection of through hole speculum, is irradiated to the optical receiver system successively.Simplified range-finding optical system is realized, reduces volume, reduces the technique effect of cost.
Description
Technical field
The utility model embodiment is related to ranging technology field, more particularly to a kind of sounding optical system.
Background technology
In the equipment of long-range scanning ranging is carried out using laser, to realize the function of ranging, lead in its optical design
Formed frequently with galvanometer, multiple lasers and multiple receivers and receive multiple light path more, as a result of multiple lasers and more
Individual receiver, cause the complicated of remote distance-measuring equipment, size is big so that integral device is heavy, and high processing costs.Together
When, multiple radiating circuits and receiving circuit and timing alorithm etc. are also more intractable.
Such as the laser radar VLP-16 of verlodyne companies of the U.S., 200 meters of measurement range, measurement frequency highest
320khz, 360 ° of environmental informations around can be detected.But such configuration, cause laser radar VLP-16 needs up to 16
Individual laser carries out transmitting and 16 receivers are received.
Utility model content
The utility model provides a kind of sounding optical system, to simplify range-finding optical system, reduces volume, reduces into
This.
The utility model embodiment provides a kind of sounding optical system, including：LASER Light Source, through hole speculum,
Reflecting prism and optical receiver system；The laser beam of the LASER Light Source transmitting passes through the through hole of the through hole speculum, passes through
Target acquisition space is irradiated to after the reflection of the reflecting prism, when the laser beam is irradiated in the target acquisition space
Detection target, the echo of the detection target is irradiated to described successively by after the reflecting prism and the reflection of through hole speculum
Optical receiver system.
Preferably, the reflecting prism can be rotated to realize the scanning of vertical direction, the sounding optical system
It can rotate in the horizontal plane on the whole.
Preferably, the reflecting prism is reflex prism.
Preferably, in addition to collimating optics subsystem, between the LASER Light Source and through hole speculum, for institute
Laser beam is stated to be collimated.
Preferably, the collimating optics subsystem is made up of three lens, along the direction of propagation of laser beam from a left side to
The right side is followed successively by the first lens, the second lens and the 3rd lens, and the bore of the collimating optics subsystem is 20mm, and overall length is
35mm。
Preferably, the thickness of first lens, the second lens and the 3rd lens is followed successively by：2.016mm, 3.904mm and
3.038mm；The air gap between first lens and the second lens is 17.812mm, second lens and the 3rd lens
Between the air gap be 1.541；Form the radius of curvature in six faces of first lens, the second lens and the 3rd lens from
Left-to-right is followed successively by：-3mm-1、3mm-1、-555.445mm-1、-14.231mm-1、-276.456mm-1With -31.06mm-1。
Preferably, the optical receiver system includes focusing on optical subsystem and photodetector, the focusing optics subsystem
Unite for being irradiated to the photodetector after the echo of the detection target is focused.
Preferably, the focusing optical subsystem is made up of four lens and diaphragm, along the direction of propagation of the echo
Include the 4th lens, the 5th lens, diaphragm, the 6th lens and the 7th lens, the focusing optical subsystem successively from left to right
Bore be 40mm, focal length 40mm, overall length 45mm.
Preferably, the thickness of the 4th lens, the 5th lens, the 6th lens and the 7th lens is followed successively by：4.558mm、
5mm, 4.559mm and 2.271mm；The air gap between 4th lens and the 5th lens is 2mm, the 5th lens
The air gap between diaphragm is 4.656mm, and the air gap between the diaphragm and the 6th lens is 2.353mm, institute
It is 7.603mm to state the 6th the air gap between lens and the 7th lens；Form the 4th lens, the 5th lens, the 6th
The radius of curvature in eight faces of lens and the 7th lens is followed successively by from left to right：66.503mm-1、373.521mm-1、49.402mm-1、249.402mm-1、26.82mm-1、76.82mm-1、-40.64mm-1And 38.767mm-1。
Preferably, the optical receiver system also includes optical filter, positioned at the focusing optical subsystem and photodetector
Between.
A kind of sounding optical system provided by the utility model, by using by LASER Light Source, transmitting light path with connecing
The technological means that light path coaxial is set is received, the laser beam that LASER Light Source is launched is reflected by the through hole directive of through hole speculum
Prism, by the reflection of reflecting prism so that laser beam is irradiated to target acquisition space.When laser beam is being irradiated to target
During detection target in space exploration, scattering of the laser beam by detection target, rear orientation light is produced.From detection mesh
Target rear orientation light successively by reflecting prism and through hole speculum reflection after, into optical receiver system.Such hair one is received
Just complete multi-thread transmitting and reception so that do not exist in sounding light path system provided by the utility model multiple
The problem of receiving more, if taking sounding light path system provided by the utility model in long distance laser scanning distance-measuring equipment,
Can then solve remote range-measurement system in prior art optics due to receive more it is multiple caused by it is complicated, size is big,
The technical problem of high processing costs, simplified range-finding optical system is realized, reduce volume, reduce the technique effect of cost.
Brief description of the drawings
Fig. 1 is a kind of structural representation of sounding optical system in the utility model embodiment；
Fig. 2 is the structural representation of the collimating optics subsystem in the utility model embodiment；
Fig. 3 is the structural representation of the focusing optical subsystem in the utility model embodiment.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than to restriction of the present utility model.Further need exist for
It is bright, for the ease of description, the part related to the utility model rather than entire infrastructure are illustrate only in accompanying drawing.Do not conflicting
In the case of, the feature in following examples and embodiment can be mutually combined.
The sounding optical system that the present embodiment provides can be applied to high-precision scanning laser mapping radar, belong to its core
Center portion part.The sounding optical system provided using the present embodiment, time-of-flight method can be based on, calculate modulation Laser emission
With the time difference of return, light path is obtained, and then obtains detecting the range information of target.
As shown in figure 1, sounding optical system includes：LASER Light Source 11, through hole speculum 12, reflecting prism 13 and light
Reception system 14；The laser beam that LASER Light Source 11 is launched, through the through hole of through hole speculum 12, by the anti-of reflecting prism 13
Target acquisition space is irradiated to after penetrating, when laser beam target acquisition space illumination to detection target when, the laser beam warp
Cross detection target scattering, after the echo of formation is reflected by reflecting prism 13 and through hole speculum 12 successively, be irradiated to light-receiving system
On system 14.
The optical system that the present embodiment provides receives mode from axis light so that field of view of receiver is not a problem, and uses
One receives a hair, reduces optical element, reduces the design difficulty of optical receiver system, simultaneously so that whole sounding optics
System bulk is small, compact-sized.
Further, reflecting prism 13 can rotate, to realize the scanning of vertical direction (i.e. z-axis direction is shown in Fig. 1),
Sounding optical system can (i.e. the x-y plane of x-axis and the y-axis composition shown in Fig. 1) rotation in the horizontal plane on the whole.Tool
Body, reflecting prism 13 is reflex prism.Reflex prism can be using its central symmetry axis as its rotary shaft.
Transmitting laser incides reflex prism by the through hole of through hole speculum 12, and reflex prism direction of rotation is such as
A directions shown in Fig. 1, realize the vertical scanning of laser beam in 100 ° of one-dimensional visual fields of z-axis direction as shown in Figure 1, i.e., from-
40 ° to+60 °；Meanwhile whole sounding optical system can realize the horizontal sweep of laser beam around 360 ° of horizontal rotations, with
Z-axis is rotary shaft, and in x-y plane internal rotation, direction of rotation is B directions as shown in Figure 1.Optical receiver system 14 it is overall relative to
Z-axis has deflected 10 degree, be to realize -40 ° -+60 ° vertical scanning in target acquisition space, i.e., reflex prism realize -
20 ° -+30 ° of deflection.Therefore, the optical system scanning field of view that the present embodiment provides is big.
The selection of reflecting prism 13 is arranged to reflex prism.The reason for this set is：Selected in now universal laser radar
Galvanometer, the scanning angle of existing laser radar is caused to be limited, and because the inherent characteristic of light beam reflection can not meet simultaneously
The condition of two scanner uniform scannings, the distortion of scan image can be caused.And mechanical scanning angle is required in this optical system
For 50 degree, and reflex prism can ideally scan 120 degree.Size in view of launching laser facula, from this angle
Seem it is contemplated that the face number of the reflective surface of increase prism, improves the utilization rate of scanning angle and the utilization rate of motor.However, from
The axiality of the reflex prism of main processing tends not to be completely secured, if three prism facets of reflex prism are all carried out simultaneously
Scanning, will appear from the deviation of scan vision, thus, to ensure the axiality of scanning field of view, selection only utilizes one of prism
Face is scanned.In conjunction with view of dimensional problem, selection reflex prism.
On the basis of above-mentioned technical proposal, further, sounding optical system can also include collimated light scholar
System (not shown in figure 1), the collimating optics subsystem is between LASER Light Source 11 and through hole speculum 12, for laser
Light beam is collimated.
Specifically, as shown in Fig. 2 collimating optics subsystem can be made up of three lens, along the propagation of laser beam
Direction, the first lens 1, the second lens 2 and the 3rd lens 3 are followed successively by from left to right, the bore of collimating optics subsystem is 20mm,
Overall length is 35mm.
Wherein, the thickness of the first lens 1, the second lens 2 and the 3rd lens 3 is followed successively by：2.016mm, 3.904mm and
3.038mm；The air gap between first lens 1 and the second lens 2 is 17.812mm, between the second lens 2 and the 3rd lens 3
The air gap be 1.541；Form the radius of curvature in six faces of the first lens 1, the second lens 2 and the 3rd lens 3 from a left side to
The right side is followed successively by：-3mm-1、3mm-1、-555.445mm-1、-14.231mm-1、-276.456mm-1With -31.06mm-1。
Further, the first lens 1, the second lens 2 and the 3rd lens 3 can be spherical lens, LASER Light Source 11
Optical fiber laser can be used.
The sounding optical system that the present embodiment provides, swashs by using by one group of three spherical lens and an optical fiber
Light device forms the technological means of light emission system, through fibre optical transmission laser, is collimated through first spherical lens, second sphere is saturating
Mirror mirror expands, the 3rd spherical lens collimation transmitting.The launch spot size for launching laser is 10mm, and the angle of divergence is
0.148mrad, obtaining approaching the Gaussian spot of circle, the angle of divergence is very small, and energy is concentrated, and spot size is 140mm at 500m,
So that reception signal is more prone to.Therefore, by the sounding optical system, it can realize in 500 meters and scan ranging.It is and beautiful
The laser radar VLP-16 of verlodyne companies of state laser uses laser diode, and laser power peak-peak is
75W, when measurement distance is 200m, if detection target reflectivity is smaller, no echo-signal, detection is difficult to complete.
In addition, in the other embodiments of the utility model, according in practical application scene to detection range not
With requirement, those skilled in the art know that LASER Light Source 11 can not use optical fiber laser, can use other lasers such as：
Laser diode, gas laser, solid state laser etc. substitute.Similarly, three spherical lens groups of collimating optics subsystem
It can also be substituted with non-spherical lens group.
Further, with continued reference to Fig. 1, optical receiver system 14 can also include focusing on optical subsystem 141 and photoelectricity is visited
Device 142 is surveyed, optical subsystem 141 is focused on and is used to be irradiated to photodetector 142 after the echo for detecting target is focused,
So that photodetector 142 receives the optical signal of return.
Specifically, as shown in figure 3, the focusing optical subsystem 141 is made up of four lens and diaphragm 8, along echo
The direction of propagation, include the 4th lens 4, the 5th lens 5, diaphragm 8, the 6th lens 6 and the 7th lens 7 successively from left to right, gather
The bore of burnt optical subsystem 141 is 40mm, focal length 40mm, overall length 45mm.
Wherein, the thickness of the 4th lens 4, the 5th lens 5, the 6th lens 6 and the 7th lens 7 is followed successively by：4.558mm、
5mm, 4.559mm and 2.271mm；The air gap between 4th lens 4 and the 5th lens 5 is 2mm, the 5th lens 5 and diaphragm 8
Between the air gap be 4.656mm, the air gap between the lens 6 of diaphragm 8 and the 6th is 2.353mm, the 6th lens 6 and
The air gap between seven lens 7 is 7.603mm；Form the 4th lens 4, the 5th lens 5, the 6th lens 6 and the 7th lens 7
The radius of curvature in eight faces, is followed successively by from left to right：66.503mm-1、373.521mm-1、49.402mm-1、249.402mm-1、
26.82mm-1、76.82mm-1、-40.64mm-1And 38.767mm-1。
It is pointed out that focusing on four spherical lens groups of optical subsystem 141 can also be replaced with non-spherical lens group
Generation, as long as can complete to detect the focusing of target echo.
Further, as shown in figure 3, optical receiver system 14 also includes optical filter 9, positioned at the focusing He of optical subsystem 141
Between photodetector 142.The echo-signal of laser can be by optical filter 9, and the light of other wavelength is all filtered out, and improves and is
System signal to noise ratio, detection range of the increase system under strong light.Wherein, the design parameter of optical filter 9 is as follows：Size：3×3×
3mm, plated film requirement are：1550 ± 0.5nm, T>90% (1550nm central wavelength bands a width of ± 0.5nm, transmitance T are more than
90%)；600-1700nm, T<0.1%.Because the photodetector used in this programme is InGaAs APD, it is not only right
1550nm is photosensitive, has different degrees of luminous sensitivity to all wave bands in 600~1700nm, therefore, need to by 600~
Other wavelength that 1550nm wave bands are removed in 1700nm wave bands all filter out, even if its transmitance is less than 0.1%；50% bandwidth<
5nm (half-band width is less than 5nm)；1% bandwidth<15nm.
Focusing optical subsystem 141, optical filter 9 and the photodetector 142 that the present embodiment provides form optics and receive system
System 14, improves the signal to noise ratio of echo-signal, can obtain more accurately measurement result.
Pay attention to, above are only preferred embodiment of the present utility model and institute's application technology principle.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, can carried out for a person skilled in the art various bright
Aobvious change, readjust and substitute without departing from the scope of protection of the utility model.Therefore, although passing through above example
The utility model is described in further detail, but the utility model is not limited only to above example, is not departing from
In the case that the utility model is conceived, other more equivalent embodiments can also be included, and the scope of the utility model is by appended
Right determine.
Claims (10)
- A kind of 1. sounding optical system, it is characterised in that including：LASER Light Source, through hole speculum, reflecting prism and light connect Receipts system；The laser beam of the LASER Light Source transmitting passes through the through hole of the through hole speculum, by the reflecting prism Target acquisition space is irradiated to after reflection, when the laser beam is irradiated to the detection target in the target acquisition space, institute The echo of detection target is stated successively by after the reflecting prism and the reflection of through hole speculum, is irradiated to the optical receiver system.
- 2. sounding optical system according to claim 1, it is characterised in that the reflecting prism can be rotated with reality The scanning of existing vertical direction, the sounding optical system can rotate in the horizontal plane on the whole.
- 3. sounding optical system according to claim 1 or 2, it is characterised in that the reflecting prism is reflection three Prism.
- 4. sounding optical system according to claim 1, it is characterised in that also including collimating optics subsystem, position Between the LASER Light Source and through hole speculum, for being collimated to the laser beam.
- 5. sounding optical system according to claim 4, it is characterised in that the collimating optics subsystem is by three Lens are formed, and the first lens, the second lens and the 3rd lens are followed successively by from left to right along the direction of propagation of laser beam, described The bore of collimating optics subsystem is 20mm, overall length 35mm.
- 6. sounding optical system according to claim 5, it is characterised in that first lens, the second lens and The thickness of 3rd lens is followed successively by：2.016mm, 3.904mm and 3.038mm；Sky between first lens and the second lens Gas gap is 17.812mm, and the air gap between second lens and the 3rd lens is 1.541；It is saturating to form described first The radius of curvature in six faces of mirror, the second lens and the 3rd lens is followed successively by from left to right：-3mm-1、3mm-1、-555.445mm-1、-14.231mm-1、-276.456mm-1With -31.06mm-1。
- 7. sounding optical system according to claim 1, it is characterised in that the optical receiver system includes focusing on light Storage subsystem and photodetector, the optical subsystem that focuses on are used to after the echo of the detection target is focused irradiate To the photodetector.
- 8. sounding optical system according to claim 7, it is characterised in that the focusing optical subsystem is by four Lens and diaphragm composition, along the direction of propagation of the echo from left to right successively include the 4th lens, the 5th lens, diaphragm, 6th lens and the 7th lens, the bore for focusing on optical subsystem is 40mm, focal length 40mm, overall length 45mm.
- 9. sounding optical system according to claim 8, it is characterised in that the 4th lens, the 5th lens, The thickness of six lens and the 7th lens is followed successively by：4.558mm, 5mm, 4.559mm and 2.271mm；4th lens and the 5th The air gap between lens is 2mm, the 5th the air gap between lens and diaphragm is 4.656mm, the diaphragm The air gap between the 6th lens is 2.353mm, and the 6th the air gap between lens and the 7th lens is 7.603mm；Form the radius of curvature in eight faces of the 4th lens, the 5th lens, the 6th lens and the 7th lens from a left side to The right side is followed successively by：66.503mm-1、373.521mm-1、49.402mm-1、249.402mm-1、26.82mm-1、76.82mm-1、- 40.64mm-1And 38.767mm-1。
- 10. sounding optical system according to claim 7, it is characterised in that the optical receiver system also includes filter Mating plate, between the focusing optical subsystem and photodetector.
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| CN201720676361.7U CN206960659U (en) | 2017-06-12 | 2017-06-12 | A kind of sounding optical system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015237A (en) * | 2017-06-12 | 2017-08-04 | 深圳市镭神智能系统有限公司 | A kind of sounding optical system |
| CN110235025A (en) * | 2018-04-28 | 2019-09-13 | 深圳市大疆创新科技有限公司 | Distance detector |
| WO2020078185A1 (en) * | 2018-10-15 | 2020-04-23 | 深圳市绎立锐光科技开发有限公司 | Illumination device and illumination system |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
-
2017
- 2017-06-12 CN CN201720676361.7U patent/CN206960659U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015237A (en) * | 2017-06-12 | 2017-08-04 | 深圳市镭神智能系统有限公司 | A kind of sounding optical system |
| CN107015237B (en) * | 2017-06-12 | 2024-06-21 | 深圳市镭神智能系统有限公司 | Echo detection optical system |
| CN110235025A (en) * | 2018-04-28 | 2019-09-13 | 深圳市大疆创新科技有限公司 | Distance detector |
| CN110235025B (en) * | 2018-04-28 | 2023-08-04 | 深圳市大疆创新科技有限公司 | Distance detecting device |
| US12092737B2 (en) | 2018-04-28 | 2024-09-17 | SZ DJI Technology Co., Ltd. | Distance detection apparatuses |
| WO2020078185A1 (en) * | 2018-10-15 | 2020-04-23 | 深圳市绎立锐光科技开发有限公司 | Illumination device and illumination system |
| CN111059488A (en) * | 2018-10-15 | 2020-04-24 | 深圳市绎立锐光科技开发有限公司 | Lighting device and lighting system |
| CN111059488B (en) * | 2018-10-15 | 2022-03-15 | 深圳市绎立锐光科技开发有限公司 | Lighting device and lighting system |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
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Effective date of registration: 20230629 Address after: 221,200 Workshop S05, East of Anlan Avenue and North of Lingong Avenue, Xuzhou Airport Economic Development Zone, Suining County, Xuzhou City, Jiangsu Province Patentee after: Jiangsu Lashen Laser Intelligent System Co.,Ltd. Address before: 314100 Jiaxing 3 Jiashan Road, Jiashan Province, 1 Street 3 Road, No. Patentee before: Zhejiang Lei Shen Intelligent System Co.,Ltd. |