A kind of solid-state laser radarTechnical field
The present invention relates to technical field of laser detection more particularly to a kind of solid-state laser radars.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beamIt is first to objective emission exploring laser light light beam as principle, then receiver is received from the reflected signal of target, last laserRadar will reflect signal and be compared with transmitting signal, be achieved with target for information about after making proper treatment, such as targetDistance, orientation, height, speed, posture, the even parameters such as shape.
Since laser radar is to the innate advantage of environment sensing, become what automatic Pilot technology detected environmentMain sensors.Laser radar mainly uses machinery rotating type at present: rotary part drives transmitting module, 360 ° of receiving module rotationsTurn to obtain ambient enviroment distance signal.
However above-mentioned machinery rotating type laser radar has shortcomings: the slip ring of connection rotating part and fixed part, easilyAbrasion, influences the service life of whole device；Rotating part occupancy volume is big, in following application, is difficult further to contractSmall size realizes miniaturization；The laser radar transmitting module and receiving module of multi-thread (such as 32 lines, 64 lines) are set in a pair wise mannerIt sets, high to angle setting requirements, manufacture difficulty is big, is unfavorable for volume production and at high price.
Summary of the invention
A kind of solid-state laser radar is provided in the embodiment of the present invention, and detection scanning can not only be carried out to environment, it is fullThe requirement of foot accurate detection and good reception, also has the characteristics that volume is small-sized, adjustment is simple and convenient.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
Provide a kind of solid-state laser radar, including mutual corresponding emission system, reception system, spectrum groupware and opticsComponent, wherein the emission system and the reception system are arranged along the vertical direction, and the emission system is used to emit laser,The optical module is used for the laser homed on its target, and the reception system is for receiving the reflected light that target is reflected back, instituteSpectrum groupware is stated to be divided the laser and the reflected light.
Preferably, the emission system includes a transmitting group of M (M >=1), and each transmitting group includes transmitter and collimationMirror, the transmitter is for emitting the laser, and the collimating mirror is for collimating the laser.
Preferably, the optical module includes MEMS device and a first reflecting mirror of M (M >=1), and the MEMS device is used forThe laser homed on its target is scanned and is received the reflected light that target is reflected back, first reflecting mirror is for reflectingThe laser by the spectrum groupware is to the MEMS device, and the reflection received reflected light of MEMS deviceTo the spectrum groupware.
Preferably, the angle between the optical axis of adjacent first reflecting mirror of any two is mutually all α (0 ° of < α <180°)。
Preferably, the reception system includes a reception group of M (M >=1), and each reception group includes focus lamp, secondReflecting mirror and receiver, for being focused to the reflected light, second reflecting mirror focuses the focus lamp for reflectingThe reflected light afterwards is to the receiver, and the receiver is for detecting the reflected light.
Preferably, the spectrum groupware includes M (M >=1) a spectroscope, and the spectroscope is for making the laser from firstOptical port enters, and projects from the second optical port.
Preferably, the spectroscope is also used to enter the reflected light from the second optical port, projects from third optical port.
It preferably, further include mounting plate, the emission system, reception system, spectrum groupware and optical module are both secured toThe mounting plate, the emission system, the spectrum groupware and the optical module are fixed on the upper surface of the mounting plate, instituteState the lower surface that reception system is fixed on the mounting plate.
The invention discloses a kind of solid-state laser radars comprising mutual corresponding emission system receives system, light splitting groupPart and optical module, emission system and reception system are arranged along the vertical direction, and emission system is used for emitting laser, optical moduleIn by laser homed on its target, reception system for receiving the reflected light that target is reflected back, spectrum groupware to laser and reflected light intoRow light splitting；Optical module includes MEMS device, and when laser emitting by MEMS device has preferable field angle and scans closeDegree, can satisfy the requirement that laser radar accurately detects；Emission system uses several transmitting groups, and laser is anti-by firstBe emitted after penetrating mirror and MEMS device, realize transmitting optical path splicing and folding, while reflected light use first MEMS device andFirst reflecting mirror receives, and the laser of outgoing and the reflected light of return are divided by spectrum groupware, emits and receive common portionPath-splitting makes full use of space, and volume is small-sized, and adjustment calibration is convenient；Emission system and reception system are respectively arranged at mounting plateUpper and lower surfaces, circuit is set to emission system and receives the rear side of system, and topology layout is reasonable, and system installation is simple, favorablyIn heat dissipation.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodimentAttached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the inventionExample, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawingsObtain other attached drawings.
Fig. 1 show the schematic diagram of internal structure of solid-state laser radar described in the embodiment of the present invention one；
Fig. 2 show the cross-sectional view of solid-state laser radar described in the embodiment of the present invention one.
Appended drawing reference
100, emission system；110, transmitting group；111, transmitter；112, collimating mirror；200, system is received；210, it receivesGroup；211, focus lamp；212, the second reflecting mirror；213, receiver；300, spectrum groupware；310, spectroscope；311, the first optical port；312, the second optical port；313, third optical port；400, optical module；410, MEMS device；420, the first reflecting mirror；500, it installsPlate.
Specific embodiment
Following examples of the present invention provide a kind of solid-state laser radar, meet accurate ranging and good receptionIt is required that while also having many advantages, such as that volume is small-sized, adjustment is simple and convenient.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeWhole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
Embodiment one:
As shown in Figure 1, solid-state laser radar includes emission system 100, reception system 200, spectrum groupware 300 and optics groupPart 400, emission system 100 and reception system 200 are arranged along the vertical direction, and emission system 100 is for emitting laser, optical module400 for by laser homed on its target, reception system 200 to be for receiving the reflected light that target is reflected back, and spectrum groupware 300 is to laserIt is divided with reflected light；After emission system 100 emits laser, by arrival optical module 400 after spectrum groupware 300, and byLaser is incident upon target by optical module 400, and the reflected light that target is reflected back first is received by optical module 400, passes through spectrum groupwareIt is received after 300 by reception system 200, completes the entire detection process of laser radar.
It further include mounting plate 500, emission system 100, reception system 200, spectrum groupware 300 and optical module 400 are solidDue to mounting plate 500, emission system 100, spectrum groupware 300 and optical module 400 are fixed on the upper surface of mounting plate 500, connectReceipts system 200 is fixed on the lower surface of mounting plate 500.
Emission system 100 includes M (M >=1) a transmitting group 110, and each transmitting group 110 includes transmitter 111 and collimating mirror112, transmitter 111 is for emitting laser, and collimating mirror 112 is for collimating laser.
Optical module 400 includes a MEMS device 410 and a first reflecting mirror 420 of M (M >=1), and MEMS device 410 is usedIn being scanned and receiving the reflected light that target is reflected back for laser homed on its target, the first reflecting mirror 420 is for reflecting through excessiveThe laser of optical assembly 300 is to MEMS device 410, and the reflection received reflected light of MEMS device 410 is to spectrum groupware 300；AppointThe angle anticipated between the optical axis of two adjacent first reflecting mirrors 420 is mutually all α (0 ° of 180 ° of < α <).Multiple first reflecting mirrors420, by laser reflection to MEMS device 410, are spliced by optical path and expand scanning field of view angle, while also achieving light path folding, are filledDivide and utilizes inner space；410 compact structure of MEMS device, occupied space is few, is conducive to miniaturization；Use reliability is good, convenient for systemIt makes, is conducive to large-scale production.
Reception system 200 includes M (M >=1) a reception group 210, and each reception group 210 is reflected including focus lamp 211, secondMirror 212 and receiver 213, focus lamp 211 is for being focused reflected light, after the second reflecting mirror 212 is for reflecting focusingReflected light is to receiver 213, and receiver 213 is for detecting reflected light；Effective and good reception is carried out to reflected light.
Spectrum groupware 300 include M (M >=1) a spectroscope 310, spectroscope 310 for make laser from the first optical port 311 intoEnter, is projected from the second optical port 312；Spectroscope 310 is also used to enter reflected light from the second optical port 312 simultaneously, from third optical port313 project；The reflected light of the laser and return that are emitted using 300 Duis of spectrum groupware is divided, and common sparing is emitted and receiveOptical path makes full use of space, is conducive to miniaturization.
Illustratively, as shown in Figure 1, emission system 100 includes three transmitting groups 110, each transmitting group 110 includes transmittingDevice 111 and collimating mirror 112, i.e., there are three transmitter 111 and 112 groups of collimating mirror altogether；Optical module 400 includes a MEMS device410 and three the first reflecting mirrors 420；Reception system 200 includes three reception groups 210, and each reception group 210 includes focus lamp211, the second reflecting mirror 212 and receiver 213, i.e., there are three focus lamp 211, the second reflecting mirror 212 and 213 groups of receiver altogether；Spectrum groupware 300 includes three spectroscopes 310, and transmitting group 110, the first reflecting mirror 420, spectroscope 310 and reception group 210 are uniformOne is corresponding；Angle between the optical axis of two adjacent the first reflecting mirrors 420 is 20 °.
A kind of solid-state laser radar disclosed in the embodiment of the present invention in use, as shown in Fig. 2, each is sent outThe transmitter 111 penetrated in group 110 emits laser, collimates by collimating mirror 112 to laser；Laser after collimation passes through light splittingCorresponding spectroscope 310 in component 300 enters from the first optical port 311 of spectroscope 310, the second optical port 312 projects；By dividingCorresponding first reflecting mirror 420 in the laser directive optical module 400 of light microscopic 310, by 420 directive MEMS device of the first reflecting mirror410；Laser is scanned by being incident upon target to outgoing after MEMS device 410；The reflected light that target is reflected back is first by MEMS deviceThe first reflecting mirror of directive 420 after part 410 receives, reflected light are reflexed to corresponding spectroscope 310 by the first reflecting mirror 420 and are passed throughCorresponding spectroscope 310 enters from the second optical port 312 of spectroscope 310, third optical port 313 projects；This part receiving light path withEmit optical path to share；It is received by the reflected light of spectroscope 310 by the corresponding reception group 210 of reception system 200, first by focus lamp211 are focused, corresponding second reflecting mirror 212 of the reflected light directive after focusing；Second reflecting mirror 212 is by the reflection after focusingLight emission to corresponding receiver 213, receiver 213 detects reflected light.Solid-state laser radar does not have any mechanical type rotating portionPoint, in use without rotation, improve the stability and service life of whole device.
Solid-state laser radar is spliced using multiple transmitting groups and passes through MEMS device and is scanned laser emitting, when outgoingWith preferable field angle and scanning density, the requirement that laser radar accurately detects can satisfy；If emission system usesDry transmitting group, laser are emitted after the first reflecting mirror and MEMS device, realize the splicing and folding of transmitting optical path；SimultaneouslyReflected light uses MEMS device and the first reflecting mirror to receive first, the reflected light of the laser of outgoing and return by spectrum groupware intoRow light splitting, transmitting and reception common sparing optical path, make full use of space, and volume is small-sized, and adjustment calibration is convenient；It emission system and connectsReceipts system is respectively arranged at the upper and lower surfaces of mounting plate, and circuit is set to emission system and receives the rear side of system, topology layoutRationally, system installation is simple, is conducive to heat dissipation.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodimentDividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system realityFor applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the methodPart explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present inventionSpirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.