CN209707678U - A laser radar device - Google Patents

Abstract

The utility model discloses a laser radar device, which comprises: a laser emitting device, the laser emitting device has N semiconductor lasers arranged in an emitting array, and is used to emit N outgoing lights; an emitting mirror group is used to adjust the Angles of N outgoing light; receiving mirror group, used to adjust the angle of incident light; laser receiving device, the laser receiving device has N photoelectric sensors arranged in a receiving array, used to receive the incident light adjusted by the receiving mirror group Light, the laser emitting device and the laser receiving device are set at different heights; the rotating bin, the emitting mirror group, the receiving mirror group, the laser emitting device and the laser receiving device are arranged in the rotating bin; the driving device is arranged in the rotating bin The bottom of the rotating bin drives the rotating bin to rotate along a rotating shaft. The utility model makes effective use of the space in the laser radar device and compresses the volume of the laser radar. The installation process is simple, and it is convenient to realize the low cost and miniaturization of the equipment.

Description

A laser radar device

technical field

The utility model relates to the field of multi-channel laser measurement, in particular to a laser radar device.

Background technique

FIG. 1 is a schematic structural diagram of a laser radar device in the prior art. It can be seen from the figure that the laser radar includes a laser emitting device 100 , a transmitting mirror group 60 , a receiving mirror group 70 , and a laser receiving device 200 .

The laser emitting device 100 and the laser receiving device 200 are arranged side by side, that is, at substantially the same height.

The emitting mirror group 60 is arranged in front of the laser emitting device 100 for receiving and adjusting the angle of the outgoing light emitted by the laser emitting device 100 .

The receiving mirror group 70 is arranged side by side with the emitting mirror group 60 and is arranged in front of the laser receiving device 200. The receiving mirror group 70 is used to adjust the angle of the incident light obtained from the environment.

FIG. 2 is a schematic top view of the laser radar device.

Since the laser radar usually adopts a cylindrical shell, the transmitting mirror group 60, the receiving mirror group 70, the laser emitting device 100 and the laser receiving device 200 usually adopt a Arrangement as shown in Figure 2.

It can be seen that the space in the regions D and D' in the cylindrical shell is difficult to be fully utilized, and there is waste. The overall volume of the lidar cannot be effectively reduced, and it is difficult to achieve low cost and miniaturization of the device.

In addition, in the prior art, there are cases where all components rotate simultaneously. The energy required for rotation is large, and the energy waste is large.

Contents of the invention

The technical problem solved by the utility model is to provide a laser radar device, which uses an independent rotating chamber to accommodate only parts that need to be rotated, reducing the energy consumed by the rotation.

Furthermore, it ensures that the incident light is completely isolated from the channel of the initial light, and the crosstalk between the outgoing light and the incident light is avoided.

Furthermore, the space in the laser radar device is effectively utilized, and the volume of the laser radar is compressed.

Further, in order to realize low cost and miniaturization of equipment.

Furthermore, the installation process is simple, with high efficiency and high yield.

The utility model discloses a laser radar device, which comprises:

A laser emitting device, the laser emitting device has N semiconductor lasers arranged in an emitting array for emitting N outgoing lights;

The emitting lens group is used to adjust the angles of the N outgoing lights;

The receiving lens group is used to adjust the angle of the incident light;

A laser receiving device, the laser receiving device has N photoelectric sensors arranged in a receiving array for receiving the incident light regulated by the receiving mirror group, the laser emitting device and the laser receiving device are set at different heights;

A rotating chamber, the transmitting mirror group, the receiving mirror group, the laser emitting device and the laser receiving device are arranged in the rotating chamber;

The driving device is arranged under the rotating bin to drive the rotating bin to rotate along a rotating shaft.

The outgoing light emitted by the laser emitting device is directly incident on the emitting mirror group, and the incident light received by the receiving mirror group is directly incident on the laser receiving device.

The device also includes a casing, and the rotating bin rotates relative to the casing.

The laser emitting device is located above the laser receiving device, or the laser receiving device is located above the laser emitting device.

The laser emitting device is located directly above or obliquely above the laser receiving device, or the laser receiving device is located directly above or obliquely above the laser emitting device.

The casing includes a first shell and a second shell, the rotary bin is fixedly connected to the first shell through a first bearing, and the rotary bin is fixedly connected to the second shell through a second bearing.

The driving device includes a motor and an encoder, and the driving device is arranged on the second housing.

The rotating bin includes a first bin body and a second bin body, and the first bin body and the second bin body are arranged at different heights;

The laser emitting device and the emitting mirror group are arranged in the first housing, and the laser receiving device and the receiving mirror group are arranged in the second housing;

Alternatively, the laser emitting device and the emitting mirror group are arranged on the second housing body, and the laser receiving device and the receiving mirror group are arranged on the first housing body.

The height of the first warehouse body is equal to the height of the laser emitting device, and the height of the second warehouse body is equal to the height of the laser receiving device.

The first warehouse body is equipped with an installation guide rail for accommodating the laser emitting device, and the second warehouse body is equipped with an installation guide rail for accommodating the laser receiving device.

The utility model utilizes an independent rotating chamber to accommodate only the parts that need to rotate, isolates the non-rotating parts, and prevents all parts from rotating at the same time, thereby reducing the energy consumed by the rotation, so that the efficiency is the highest and the heat generated is the lowest. The rotating chamber ensures that the incident light is completely isolated from the channel of the initial light, avoids the crosstalk between the outgoing light and the incident light, and ensures the accuracy of the data signal of the laser radar device. The rotating bin is convenient to reduce the installation difficulty of the laser emitting device and the laser receiving device, and improve the alignment accuracy.

The utility model does not set any mirror group or other components that cause the deflection of the optical path in the optical path, so that the light energy can be used to the greatest extent, energy waste is avoided, and signal clarity and resolution are improved.

The arrangement structure of the utility model is compact, the rotating and non-rotating parts are separated, the installation is simple and the alignment is accurate. The non-rotating part is located below the rotating part and acts as an anchor base for the rotating part, making the rotation more stable.

The utility model makes effective use of the space in the laser radar device and compresses the volume of the laser radar. At the same time, it is convenient to realize low cost and miniaturization of the equipment. Furthermore, the installation process is simple, with high efficiency and high yield.

Description of drawings

FIG. 1 is a schematic structural diagram of a laser radar device in the prior art.

FIG. 2 is a schematic top view of a laser radar device in the prior art.

FIG. 3 is a schematic cross-sectional view of the overall structure of the laser radar device of the present invention.

FIG. 3A is a schematic structural diagram of the transmitting and receiving part of the laser radar device of the present invention.

3B, 3C and 3D are schematic top views of the transmitting and receiving part of the laser radar device of the present invention.

FIG. 4 is a schematic structural diagram of the laser emitting device of the present invention.

FIG. 5 is a schematic structural view of another embodiment of the laser emitting device of the present invention.

FIG. 6 is a schematic structural view of another embodiment of the laser emitting device of the present invention.

FIG. 7 is a schematic structural diagram of another embodiment of the laser emitting device of the present invention.

FIG. 8A is a schematic diagram of the sequential strobe transmission control method of the present invention.

FIG. 8B is a schematic diagram of the sequential gating receiving control method of the present invention.

FIG. 9 is an example diagram of an array laser emitting device and a projection spot array provided by a specific embodiment of the present invention.

FIG. 10 is a schematic structural diagram of the laser emitting device of the present invention.

11 and 11A are schematic diagrams showing the arrangement of semiconductor lasers and photoelectric sensors of the present invention.

Detailed ways

The implementation process of the technical solution of the utility model is described below in conjunction with specific embodiments, which are not intended to limit the utility model.

The utility model discloses a laser radar device, which uses an independent rotating chamber to accommodate only parts that need to be rotated, thereby reducing the energy consumed by the rotation. At the same time, ensure that the incident light is completely isolated from the channel of the initial light, and avoid the crosstalk between the outgoing light and the incident light. In addition, the utility model makes effective use of the space in the laser radar device and compresses the volume of the laser radar.

As shown in Figure 3, it is a schematic cross-sectional view of the overall structure of the laser radar device of the present utility model, the laser radar device of the present utility model includes a laser emitting device 100, and the laser emitting device has N semiconductor lasers 1 arranged in a transmitting array for emit N outgoing lights;

The emitting lens group 60 is used to adjust the angles of the N outgoing lights, and has an optical axis P;

The receiving lens group 70 is used to adjust the angle of the incident light, and has an optical axis Q;

The laser receiving device 200, the laser receiving device has N photoelectric sensors arranged in a receiving array for receiving the incident light adjusted by the receiving mirror group, the laser emitting device and the laser receiving device are set at different heights;

Rotary chamber 15, the transmitting mirror group, the receiving mirror group, the laser emitting device and the laser receiving device are arranged in the rotating chamber;

The driving device 16 is arranged under the rotating chamber, and drives the rotating chamber to rotate along a rotating axis O.

The rotating bin 15 is an independent cavity for accommodating all parts that need to be rotated 360 degrees in the lidar device, especially the parts that do not need to rotate are arranged outside the rotating bin, that is, to clearly distinguish whether the parts are rotating or not. The parts required to be driven by the rotation are the least, the efficiency is the highest, the energy consumed is the lowest, and the heat generated is the lowest. In order to be more portable and easy to rotate, the material of the rotating bin is aluminum alloy.

The rotating bin 15 further includes two hollow bin bodies, a first bin body 151 and a second bin body 152, the first bin body is different from the second bin body in height, and the first bin body 151 is placed on the second bin body. The top of the body 152, the two are closely connected. The laser emitting device 100 and the emitting lens group 60 are disposed on the first housing body 151 , and the laser receiving device 200 and the receiving mirror group 70 are disposed on the second housing body 152 . In another embodiment, the laser emitting device 100 and the emitting lens group 60 are disposed on the second housing body 152 , and the laser receiving device 200 and the receiving mirror group 70 are disposed on the first housing body 151 . Since the first and second chambers are not connected to each other, the incident light is completely isolated from the channel of the initial light, avoiding the crosstalk between the outgoing light and the incident light, and ensuring the accuracy of the data signal of the laser radar device.

The height of the first compartment can just accommodate the laser emitting device 100 , that is, the height of the first compartment is equal to the height of the laser emitting device 100 .

The height of the second bin body can just accommodate the laser receiving device 200 , that is, the height of the second bin body is equal to the height of the laser receiving device 200 .

In this way, when the laser emitting device 100 and the laser receiving device 200 are installed, the installation position is defined by the height of the bin body in the height direction, and displacement deviation in the height direction will not occur, reducing the difficulty of installation. In particular, the first warehouse body can also be provided with installation guide rails at the location where the laser emitting device 100 is installed, thereby limiting the installation location in the horizontal direction, reducing installation difficulty and improving alignment accuracy. Similarly, the second warehouse body can also be provided with an installation guide rail at the position where the laser receiving device is installed.

The semiconductor laser 1 is a high-frequency pulsed laser transmitter. The outgoing light has no optical path deflection between the laser emitting device 100 and the emitting mirror group 60 , and the incident light has no optical path deflection between the laser receiving device 200 and the receiving mirror group 70 . That is, the outgoing light emitted by the laser emitting device directly enters the emitting mirror group, and the incident light received by the receiving mirror group directly enters the laser receiving device. The utility model does not set any mirror group or other parts that cause the deflection of the optical path between the laser emitting device 100 and the emitting mirror group 60, so that the light energy can be used to the greatest extent, energy waste is avoided, and signal clarity and resolution are improved.

The laser radar device of the present invention also includes a casing, and the rotating bin 15 rotates relative to the casing. The casing includes a first housing 17 and a second housing 18, the rotating bin is fixedly connected to the first housing 17 through a first bearing 171, and the rotating bin is fixedly connected to the second housing 18 through a second bearing 181 . Specifically, the first structural member 1510 of the first warehouse body 151 is fixedly connected to the first housing 17 through the first bearing 171 , and the second structural member 1520 of the second warehouse body 152 is fixedly connected to the second housing body 152 through the second bearing 181 . housing 18.

The driving device 16 further includes a motor and an encoder, and the driving device is disposed on the second housing 18 .

Due to the above arrangement, the structure is compact, the rotating and non-rotating parts are separated, the installation is simple and the alignment is accurate. The non-rotating part is located below the rotating part and acts as an anchor base for the rotating part, making the rotation more stable.

FIG. 3A is a schematic structural diagram of the transmitting and receiving part of the present invention. The laser radar device obtains the three-dimensional information of the target X in the environment through laser scanning. FIG. 3B is a schematic top view of the transmitting and receiving part of the laser radar device of the present invention.

Specifically, compared with the technical solution of the prior art, the laser emitting device 100 and the laser receiving device 200 of the present invention are arranged side by side to be arranged vertically, and the emitting mirror group 60 and the receiving mirror group 70 are also arranged vertically accordingly. As shown in FIG. 3B , the laser emitting device 100 is disposed directly above the laser receiving device 200 . The transmitting mirror group 60 is arranged directly above the receiving mirror group 70 . Since there is no need to arrange two mirror groups side by side, a single mirror group can be arranged closer to the edge of the casing, so the areas D and D' near the edge in the casing can be further reduced, so the space in the laser radar device can be effectively used, and then Compress the volume of the lidar.

In a specific application, the laser emitting device may be located above the laser receiving device, or the laser receiving device may be located above the laser emitting device. In addition, the laser emitting device can be located directly above or obliquely above the laser receiving device, or the laser receiving device can be located directly above or obliquely above the laser emitting device, so as to facilitate the arrangement of various components, the specific arrangement Determined according to actual needs.

3C and 3D are schematic top views of the transmitting and receiving part of the laser radar device according to another embodiment of the present invention. In order to ensure a longer optical path, the laser emitting device may further be provided with an emitting reflector 20 for reflecting the N outgoing lights so that they are incident on the emitting mirror group 60 . Alternatively, the transmitting reflectors 20 and 30 are set at the same time, and the specific setting positions are set according to the requirements of the optical path.

3C and 3D are top views. Under the components shown in FIGS. 3C and 3D , there is also a receiving reflector for reflecting the incident light so that it enters the receiving mirror group 70 . The setup is exactly the same as for the launch mirror.

The laser emitting device 100 has N semiconductor lasers 1 arranged in an emitting array for emitting N outgoing lights. The N semiconductor lasers are arranged on the M emitting circuit boards of the laser emitting device 100, M is less than N, shown in the figure as N=16, M=2, not limited thereto, other numbers of semiconductor lasers 1 and The transmitting circuit board is also within the disclosed scope of the present utility model. In the utility model, a plurality of semiconductor lasers are collectively arranged on the emitting circuit board to reduce the quantity of the emitting circuit board and compress the volume.

A laser receiving device 200 , the laser receiving device 200 has N photoelectric sensors 6 arranged in a receiving array for receiving incident light regulated by the receiving mirror group 70 . The number of photoelectric sensors 6 is consistent with the number of semiconductor lasers 1, and meanwhile, the arrangement of the emitting array and the receiving array is exactly the same. That is to say, the position of the nth semiconductor laser in the emitting array is the same as the position of the nth photosensor in the receiving array, n=1, 2...N, where N is a positive integer.

There is a corresponding photoelectric sensor for each semiconductor laser, that is, no matter how the semiconductor lasers are arranged, the photoelectric sensors are arranged in the same way, and the outgoing light emitted by the nth semiconductor laser is reflected by the target and then incident on the The nth photoelectric sensor, the two cooperate with each other.

The optical parameters of the transmitting mirror group 60 and the receiving mirror group 70 are exactly the same, and at the same time, the position of the transmitting array relative to the transmitting mirror group 60 is exactly the same as the position of the receiving array relative to the receiving mirror group 70, so that the transmitting mirror group 60 and the receiving mirror group 70 are completely identical. The receiving lens group 70 has a corresponding optical path.

As shown in Figure 3A, the utility model sorts the semiconductor lasers in the transmitting array from top to bottom and from right to left, and at the same time sorts the photoelectric sensors in the receiving array in the same order, as shown in Figure 3A The outgoing light emitted by the eleventh semiconductor laser is irradiated on the target after being regulated by the transmitting mirror group 60 , reflected by the target, and then adjusted by the receiving mirror group 70 before being received by the eleventh photoelectric sensor. Other sorting methods are also within the disclosure scope of the present invention, and the working methods of other semiconductor lasers are the same.

4-7 are schematic structural views of the laser emitting device disclosed in the present invention.

The laser emitting device 100 of the present invention includes at least one laser emitting module 10 , and the laser emitting module 10 further includes an emitting circuit board 3 , a plurality of semiconductor lasers 1 and a driving circuit 2 .

The plurality of semiconductor lasers 1 are sequentially arranged on the emitting circuit board 3, and the emitting circuit board 3 is placed vertically and placed on a horizontal body (not shown in the figure). In an optimized embodiment, the plurality of The semiconductor laser 1 is sequentially arranged on one side edge of the emitting circuit board 3, so as to facilitate light emission from the edge of the circuit board.

The driving circuit 2 is connected with the plurality of semiconductor lasers 1 to drive the plurality of semiconductor lasers 1 to emit light. In one embodiment, the same driving circuit 2 can drive multiple semiconductor lasers 1 . In another embodiment, a driving circuit 2 can be provided for each semiconductor laser 1 to drive them separately.

The bottom surface of the plurality of semiconductor lasers 1 is welded to the emission circuit board 3, and the side surface perpendicular to the bottom surface emits light, that is, the light exit surface D formed by the light emission directions of the plurality of semiconductor lasers 1 is parallel to the emission circuit board 3 and all semiconductor lasers 1 The light emitting direction faces the same side of the circuit board, and emits outward from the edge. In addition, the directions of the outgoing lights adjusted by any two emitting mirror groups 60 are different.

Specifically, as shown in FIG. 5 , eight semiconductor lasers 1 and corresponding driving circuits are vertically arranged on a transmitting circuit board 3 (the driving circuit is not shown in FIG. 5 ). The laser light emitted by the semiconductor laser 1 is emitted through the emitting lens group 60 . The eight semiconductor lasers are arranged from top to bottom with a certain pitch in turn, and each pitch can be the same or different. For example, the center-to-center spacing of two adjacent semiconductor lasers 1 can be D1, D1, D2, D3, D3, D2 and D1 respectively, D1>D2>D3. The eight semiconductor lasers all emit from the left side of the circuit board 3 in Figure 5 The side-emitted light is refracted by the emitting mirror group 60, and the laser emission angles of the eight semiconductor lasers 1 relative to the AA' line are different, and an angle is changed in turn to form a laser scanning field of view within a certain angle range, such as 20° Laser scanning field of view angle within -30° to realize electronically controlled array scanning of targets. It can be seen that the orientation and placement of the optical axis of each semiconductor laser 1 are different, and each corresponds to a local emission field of view. The direction and placement of the optical axis of each semiconductor laser 1 need to be set with reference to the design parameters of the emitting mirror group 60 and the laser emitting optical path in the system.

Since the light-emitting surface D formed by the light-emitting direction of the semiconductor laser 1 is parallel to the emitting circuit board 3, and multiple semiconductor lasers 1 are located on the same emitting circuit board 3, during the installation process, in order to adjust the specific light-emitting direction, only It is only necessary to adjust the angle of the light-emitting side of the semiconductor laser 1 relative to the AA' line of the emitting circuit board 3 and realize welding. The process of adjusting to a specific angle and fixing it at the specific angle is relatively simple, high in efficiency, high in yield, and convenient for quantity. Produce. At the same time, since the semiconductor lasers 1 are located on the same emission circuit board 3, there is no need to set a circuit board for each semiconductor laser 1, saving a large number of emission circuit boards 3, thereby reducing the volume and weight, and facilitating the realization of equipment. Low cost and miniaturization.

As shown in FIG. 6 , in another embodiment of the present invention, the laser emitting device 10 may further include a plurality of laser emitting modules 10 , for example four. As shown in Figure 6, the four are arranged in parallel, preferably in parallel, and can also be stacked together and fixed accordingly. The light output direction of all semiconductor lasers faces the same side. The eight semiconductor lasers 1 on each laser emitting module 10 are fixedly arranged at different intervals on the emitting circuit board, and the outgoing lights of any two of the 32 semiconductor lasers 1 have different outgoing angles after being adjusted by the emitting mirror group 60 , forming a 32-line array laser emitting device with 8 rows×4 columns. The installation angle of the semiconductor laser 1 can be adjusted according to the optical path parameters of the emitting mirror group 60 . For example, as shown in Figure 5, each laser emitting module 10, after being refracted by the emitting mirror group 60, the laser emitting angles of the eight semiconductor lasers relative to the AA' line are different, forming a fan distribution, making the laser emitting more intensive.

FIG. 7 is a schematic structural diagram of a laser emitting device according to another embodiment of the present invention.

It can be seen from the figure that the laser emitting device 100 includes two rows of laser emitting modules 10 as shown in FIG. 6 , and the light emitting direction faces the same side. Multi-row arrangements of other numbers of rows are also within the disclosure scope of the present utility model. As shown in Figure 7, it is a 64-line array laser emitting device. The light emitting directions of any two semiconductor lasers are different, and the laser light distribution is denser.

In addition to the arrangement of the laser emitting device 100 in FIG. 3A , it also includes the method shown in FIG. 10 . The only difference from FIG. The emitting module 10 includes a vertically placed emitting circuit board 3, and the N semiconductor lasers are arranged on the emitting circuit board to form the emitting array, and the light emitting surface D' formed by the light emitting direction of each column in the emitting array and The transmitting circuit board is vertical, the number and arrangement of optical sensors are the same as those of the semiconductor laser, and the rest of the arrangement are the same as those of the foregoing embodiments. It is also possible to set 16 semiconductor lasers 1 on a transmitting circuit board 3, and then correspondingly set 16 photoelectric sensors, which compresses the volume of the laser radar device. At the same time, the semiconductor laser 1 recorded in the Chinese application CN201720845753. Different emitting angles of semiconductor lasers 1 are set on one circuit board, so that the installation process is simple and easy, and the error is low. Multiple laser emitting modules 10 may also be arranged side by side, and the semiconductor lasers contained in each laser emitting module jointly form the emitting array.

In addition, referring to FIG. 8A, the laser emission device 100 also includes a laser emission control module 5, which is connected to all laser emission modules 10. The laser emission control module 5 can control one or more semiconductor lasers 1 (LD) and its drive circuit 2, And control the drive circuit 2 according to the program settings to drive the corresponding semiconductor lasers 1 to emit laser light in a predetermined sequence.

Through the array arrangement of the semiconductor lasers 1, the laser emission control module 5 performs time-sharing control on each semiconductor laser to realize laser scanning of the target area.

The laser emission control module 5 can be arranged on the emission circuit board 3, or, the laser emission control module is arranged on a control circuit board (not shown in the figure) except the emission circuit board 3, and the control circuit board is connected through a connector Connect to launch board 3.

It can be seen from the above layout method that the installation process of the present invention is simple, high in efficiency, high in yield, and convenient for mass production. At the same time, the utility model realizes the integration and miniaturization of the array laser emitting device through circuit integration and electronic control scanning, reduces the size and weight of the system, and facilitates the realization of low cost and miniaturization of equipment.

As shown in Figure 3A, the laser receiving device 200 of the present invention further includes:

N photosensor units, each photosensor unit includes the photosensor 6 and its peripheral circuits (not shown in the figure). Each semiconductor laser and the corresponding photoelectric sensor are regarded as a channel, and each photoelectric sensor unit is used to receive optical signals and realize photoelectric signal conversion. The photoelectric sensor of the photoelectric sensor unit may be APD, PIN or other photoelectric conversion detection devices.

The receiving circuit board 7 placed vertically, the N photoelectric sensors 6 are arranged on the receiving circuit board 7, and the peripheral circuit can be arranged on the receiving circuit board 7 or the auxiliary circuit board 7'.

The sensor array control circuit 8 is used to control the gating of the N photoelectric sensors 6, the sensor array control circuit 8 can be arranged on the receiving circuit board 7 or the auxiliary circuit board 7', or be arranged on a control circuit board ( (not shown in the figure), the control circuit board is connected to the receiving circuit board 7 through a connector. The sensor array control circuit 8 can control one or more photoelectric sensors and their peripheral circuits, and control the photoelectric sensors to be strobed according to a predetermined order according to the program setting, or the N photoelectric sensors can be jointly controlled by a plurality of sensor array control circuits 8 sensor.

The photoelectric sensor 6 is synchronously switched on with the corresponding semiconductor laser 1 , that is, when the nth semiconductor laser is switched on, the nth photoelectric sensor is also switched on accordingly.

The N photoelectric sensors are located on the receiving image plane of the receiving mirror group 70 , which is considered to be a plane or non-plane here. Each photoelectric sensor can receive a beam of incident light reflected from the target for photoelectric conversion and effective measurement of the target.

FIG. 9 is an example diagram of an array laser emitting device and a projection spot array provided by a specific embodiment of the present invention. As a specific implementation example, the light-emitting surfaces of all semiconductor lasers 1 (LD), that is, the sides of all semiconductor lasers 1 for emitting light, are arranged on the emission focal plane of the emitting mirror group 60 (referred to here as the emitting mirror group The emission focal plane of 60 is a plane), and the emission laser beams of adjacent semiconductor lasers 1 on the emission focal plane form an included angle of β in the horizontal direction and an included angle of γ in the vertical direction.

The laser emission control module 5 triggers the drive circuit 2, so that the semiconductor lasers 1 of each channel are sequentially strobed to emit laser light, and the emitted laser light is along the main optical axis 9 of the laser emission optical path, and passes through the emission mirror group 60 to form each laser beam at the target M. Corresponding to the discrete light spot, each laser light corresponding to the discrete light spot will be received by the photoelectric sensor 6 in the laser receiving device 200 , which further realizes the electronically controlled scanning array detection of the measurement area. The laser light emitted by the second semiconductor laser 1 from the right in the second row in the figure is received by the photoelectric sensor 6 that is the second from the right in the second row.

Furthermore, FIG. 8A is a schematic diagram of a sequential strobe emission control method. Each semiconductor laser and the corresponding photoelectric sensor are regarded as a channel, and the laser emission control module 5 sequentially controls and triggers each driving circuit, and then drives sequentially from the first To the nth semiconductor laser, ensure that the semiconductor laser emitters of each channel emit laser light sequentially, and realize the array electronically controlled scanning of the detection target. According to the setting program of the laser emission control circuit, each semiconductor laser and photoelectric sensor is gated according to the order of setting, so as to realize the purpose of array electronically controlled scanning of the detection target.

FIG. 8B is a schematic diagram of a sequential gating reception control method. The sensor array control circuit 8 controls the laser receiving device 200 to sequentially gate the laser receiving device 200 according to the sequence from the first to the nth photoelectric sensors according to the preset photoelectric gate control logic 4 . At the same time, the laser emitting device 100 also adopts a sequential emission sequence from the first to the nth semiconductor lasers. When the nth semiconductor laser is gated, the nth photoelectric sensor is also gated.

Specifically, the N semiconductor lasers are divided into multiple blocks, and each block is sequentially selected according to a preset first sequence, and each semiconductor laser is sequentially selected in each block according to a preset second sequence. .

More specifically, in the first gating embodiment, the emitting array has X rows and Y columns in total, and the xth semiconductor lasers in each column form a row. The xth semiconductor lasers of each column can be located at the same or different heights. As shown in Figure 11, it is a schematic diagram of the arrangement of semiconductor lasers and photoelectric sensors. It can be seen that the first semiconductor laser in each column forms the first row L ₁ , and so on, and the last first semiconductor laser in each column forms the first row L 1 . 8 rows L ₈ , the semiconductor lasers in each row can be located at the same height to form a straight line, or they can be located at different heights to form a broken line.

For the side of the laser emitting device ₁₀₀ , when performing the channel gating of the laser radar device, the semiconductor lasers in L1 can be sequentially gated according to the order from left to right, from right to left, or in other predetermined order, and then Jump to the next line and execute the sequential gating steps in a loop. After the last line L ₈ completes the gating, continue to jump to the first line L ₁ until the end signal is received. The time interval between two adjacent semiconductor lasers that are gated sequentially is preset, and usually the time interval is kept constant, and only one semiconductor laser is gated at each moment.

The row gating sequence can be L ₁ , L ₂ , ... L ₈ , or other preset row gating sequences.

One side of the laser receiving device 200 also arranges the photoelectric sensors according to the arrangement shown in FIG. , correspondingly select the nth photoelectric sensor, and then realize the gate of the channel.

Similarly, in the second gating embodiment, column gating is adopted in this embodiment, which is different from the row gating in the first gating embodiment. Sequentially select each semiconductor laser in a column, jump to the next column, and execute the column gating cycle. The column gating sequence can be C ₁ , C ₂ , C ₃ , C ₄ (see FIG. 11 ), or other preset row gating sequences.

In the third gating embodiment, it is also possible to sequentially select odd-numbered semiconductor lasers first, and then sequentially select even-numbered semiconductor lasers. For example, assuming a total of 32 semiconductor lasers, the gate sequence can be 1, 3 , 5...31, 2, 4, 6...32.

That is, in step 100, gate the 2a+1 semiconductor laser, add 1 to a, execute step 100 in a loop, until 2a+1=N or 2a+1=N-1, execute step 200, a=0, 1, 2 ...;

Step 200, select the 2b+2th semiconductor laser, add 1 to b, and execute step 200 in a loop until 2b+2=N or 2b+2=N-1, b=0, 1, 2....

In the fourth gating embodiment, other block gating methods can also be used. For example, in FIG. 11A , every four semiconductor lasers are divided into a block, and there are 8 blocks in the figure.

Then, each block can be selected sequentially according to a preset first order, such as the order of the 1st, 3rd, 5th, 7th, 2nd, 4th, 6th, and 8th blocks, and each block can be clockwise or clockwise. Counterclockwise or diagonal or other random order is gated, after all the semiconductor lasers in a block are gated, then the next block is gated.

In the fifth gating embodiment, gating is performed according to a randomly set gating sequence.

The modified gating methods based on the above embodiments are also within the disclosure scope of the present invention, and the gating sequence with stronger randomness has better detection, encryption and anti-interference effects.

The laser radar device of the present utility model controls the corresponding semiconductor laser to emit laser light through a predetermined gating mode, and after being adjusted by the transmitting mirror group, it is irradiated on the target object to generate a reflected laser signal, which is incident to the receiving mirror as incident light group, after being adjusted by the receiving lens group, focus on the photosensitive surface of the corresponding photoelectric sensor. The sensor array control circuit 8 gates the photoelectric sensors of each corresponding channel in time division according to the predetermined gating mode, receives the echo signal returned by the projected spot on the target, and realizes the electrical gate array scanning and receiving of the detection target.

The utility model utilizes an independent rotating chamber to accommodate only the parts that need to rotate, isolates the non-rotating parts, and prevents all parts from rotating at the same time, thereby reducing the energy consumed by the rotation, so that the efficiency is the highest and the heat generated is the lowest. The rotating chamber ensures that the incident light is completely isolated from the channel of the initial light, avoids the crosstalk between the outgoing light and the incident light, and ensures the accuracy of the data signal of the laser radar device. The rotating bin is convenient to reduce the installation difficulty of the laser emitting device and the laser receiving device, and improve the alignment accuracy.

The utility model does not set any mirror group or other components that cause the deflection of the optical path in the optical path, so that the light energy can be used to the greatest extent, energy waste is avoided, and signal clarity and resolution are improved.

The arrangement structure of the utility model is compact, the rotating and non-rotating parts are separated, the installation is simple and the alignment is accurate. The non-rotating part is located below the rotating part, and serves as an anchor base for the rotating part, making the rotation more stable, facilitating the arrangement of various components, and reducing the volume.

The utility model makes effective use of the space in the laser radar device and compresses the volume of the laser radar. At the same time, it is convenient to realize low cost and miniaturization of the equipment. Furthermore, the installation process is simple, with high efficiency and high yield. At the same time, the utility model realizes the sequential gating or parallel gating of the array photoelectric sensor through the electrical gating control of the array photoelectric sensor, improves the receiving flexibility and receiving ability of the space target detection, and realizes the electronically controlled scanning of the target object Array detection abandons the traditional mechanical scanning mechanism, improves the integration degree of the system, improves the receiving efficiency of the detection target, and is easy to realize the miniaturization of the system.

The above is only a preferred embodiment of the utility model, but the scope of protection of the utility model is not limited thereto, and any person familiar with the technical field can easily think of All changes or replacements are covered within the protection scope of the present utility model.

Claims (10)

1. a kind of laser radar apparatus, which is characterized in that the device includes:

Laser beam emitting device, which has N number of semiconductor laser, is arranged in emission array, N number of for emitting Emergent light；

Emit microscope group, for adjusting the angle of N number of emergent light；

Microscope group is received, for adjusting the angle of incident light；

Laser receiver, the laser receiver have N number of photoelectric sensor, are arranged in receiving array, for receiving through being somebody's turn to do The incident light after microscope group is adjusted is received, the laser beam emitting device is different from the setting height of the laser receiver；

Rotating cabin, the transmitting microscope group, the reception microscope group, the laser beam emitting device and the laser receiver are set to the rotation Storehouse；

Driving device is set to the lower section of the rotating cabin, and the rotating cabin is driven to rotate along a rotary shaft.

2. device as described in claim 1, which is characterized in that the emergent light that the laser beam emitting device issues is directly transmitted to this Emit microscope group, which is directly transmitted to the laser receiver.

3. device as described in claim 1, which is characterized in that further include shell, which rotates relative to the shell.

4. device as described in claim 1, which is characterized in that the laser beam emitting device is located at the upper of the laser receiver Side, alternatively, the laser receiver is located at the top of the laser beam emitting device.

5. device as claimed in claim 4, which is characterized in that the laser beam emitting device be located at the laser receiver just on Side or oblique upper, alternatively, the laser receiver is located at the laser beam emitting device directly above or obliquely above.

6. device as claimed in claim 3, which is characterized in that the shell includes first shell and second shell, the rotation Storehouse is fixedly attached to the first shell by first bearing, which is fixedly attached to the second shell by second bearing.

7. device as claimed in claim 6, which is characterized in that the driving device includes motor and encoder, driving dress It installs in the second shell.

8. device as described in claim 1, which is characterized in that the rotating cabin includes the first warehouse and the second warehouse, this One warehouse is different from the setting height of second warehouse；

The laser beam emitting device and the transmitting microscope group are arranged in first warehouse, the laser receiver and the reception microscope group It is arranged in second warehouse；

Alternatively, the laser beam emitting device and transmitting microscope group setting be in second warehouse, the laser receiver and this connect Microscope group is received to be arranged in first warehouse.

9. device as claimed in claim 8, which is characterized in that the height of first warehouse is equal to the laser beam emitting device Highly, the height of the second warehouse is equal to the height of the laser receiver.

10. device as claimed in claim 8, which is characterized in that the first warehouse is installed with the peace for accommodating the laser beam emitting device Guide rail is filled, the second warehouse is installed with the installation guide rail for accommodating the laser receiver.