A multi-line laser radar optical path system

Abstract

The present invention is applicable to the field of laser radar ranging, and provides a multi-line laser radar optical path system, including a laser emitting device and an echo receiving device, wherein the laser emitting device includes a first circuit board, a laser emitting module array and a micro-optical path deflection module array, and the laser emitting module array and the micro-optical path deflection module array are both arranged on the first circuit board. When producing a multi-line laser radar and performing optical debugging, it is not necessary to adjust the laser emitting module of each path separately, but only needs to determine the position and angle of the first circuit board, and use the micro-optical path deflection module array to adjust the angle of the laser emitted by the laser emitting device array, so that the echo receiving device receives the laser echo, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time.

Description

Technical Field

[0001] The invention belongs to the field of laser radar ranging, and in particular relates to a multi-line laser radar optical path system. Background Art

[0002] As a ranging device, laser radar has the advantages of high precision, strong anti-interference ability, and fast response speed, and is suitable for a variety of usage environments.

[0003] In practical applications, current laser ranging mainly includes time-of-flight ranging and triangulation ranging. Time-of-flight ranging uses the optical structure inside the laser radar to project a laser signal to an object in a specific direction. When the laser signal touches the object, part of the laser echo signal will be reflected back. After the laser radar receives the laser echo signal reflected back by the object, it can calculate the distance between the radar and the object by calculating the time between the emitted laser signal and the received laser echo signal returned by the object.

[0004] In the research and practice of the prior art, the inventors of the present invention found that the optical path system of the multi-line laser radar in the prior art requires individual debugging of each laser. During the optical path debugging process, adjacent lasers are prone to interfere with each other, making optical path debugging difficult and requiring repeated debugging, resulting in high labor costs and long delivery time. Summary of the invention

[0005] The present invention provides a multi-line laser radar optical path system, aiming to solve the problems in the prior art that adjacent lasers are prone to interfere with each other during the optical path debugging process, the optical path debugging is difficult, and repeated debugging is required, resulting in high labor costs and long delivery time.

[0006] The present invention is implemented as follows: a multi-line laser radar optical path system, comprising:

[0007] A laser emitting device for emitting multiple laser beams toward a target object;

[0008] An echo receiving device for receiving the laser echo reflected by the target object;

[0009] The laser emitting device comprises a first circuit board, a laser emitting module array and a micro-optical path deflection module array;

[0010] The laser emission module array is used to emit the multiple laser beams;

[0011] The micro-light path deflection module array is used to adjust the light paths of the multiple laser beams;

[0012] The laser emission module array and the micro-light path deflection module array are both arranged on the first circuit board.

[0013] Preferably, the laser emitting module array includes a plurality of laser emitting modules, each of which can emit a beam of laser;

[0014] The micro-light path deflection module array includes a plurality of micro-light path deflection modules corresponding one-to-one to the laser emitting modules, and the micro-light path deflection modules are used to adjust the optical path of the laser emitted by the corresponding laser emitting module.

[0015] Preferably, the micro-light path deflection module array includes a first linear array and a second linear array;

[0016] The first linear array and the second linear array are respectively arranged on two sides of the first circuit board, and are parallel to each other.

[0017] Preferably, the laser emitting device further comprises a first laser transmission unit and a collimating lens group;

[0018] The first laser transmission unit is used to transmit the laser adjusted by the micro-optical path deflection module array;

[0019] The collimating lens group is used to collimate the laser light transmitted from the first laser transmission unit.

[0020] Preferably, the first laser transmission unit comprises:

[0021] A first light path deflection module and a second light path deflection module are arranged between the micro light path deflection module array and the collimating lens group and are used to deflect the light path of the laser.

[0022] Preferably, the laser emission module comprises:

[0023] a laser diode for emitting laser light; and

[0024] A compression divergence angle module is used for collimating the laser light emitted by the laser diode so as to make the divergence angles of the laser light on the fast axis and the slow axis of the laser diode close to the same.

[0025] Preferably, the compression divergence angle module is a micro cylindrical mirror.

[0026] Preferably, the echo receiving device comprises a focusing lens group, a second laser transmission unit, a photodetector array and a second circuit board;

[0027] The focusing lens group is used to focus the laser echo reflected by the target object;

[0028] The second laser transmission unit is used to transmit the laser echo focused by the focusing lens group;

[0029] The photodetector array is arranged on the second circuit board and is used for receiving the laser echo transmitted by the second laser transmission unit.

[0030] Preferably, the photoelectric detector array includes a plurality of photoelectric detectors corresponding one-to-one to the laser emission modules;

[0031] The photoelectric detector is used to receive the laser echo of the corresponding laser emitting module.

[0032] Preferably, the photodetector array comprises a third linear array and a fourth linear array;

[0033] The third linear array and the fourth linear array are respectively arranged on two sides of the second circuit board, and are parallel to each other.

[0034] The present invention provides a multi-line laser radar optical path system, including a laser emitting device and an echo receiving device, wherein the laser emitting device includes a first circuit board, a laser emitting module array and a micro-optical path deflection module array, and the laser emitting module array and the micro-optical path deflection module array are both arranged on the first circuit board. By pre-adjusting the angle of the laser emitted by the laser emitting device according to the product design of the multi-line laser radar, the micro-optical path deflection module array is used, so that when producing the multi-line laser radar, only the position and angle of the first circuit board need to be adjusted, and there is no need to adjust the laser emitting module of each laser separately, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a multi-line laser radar optical path system provided by the present invention;

[0036] Figure 2 is a front view of a first circuit board provided by the present invention;

[0037] Figure 3 It is a left side view of a first circuit board provided by the present invention;

[0038] Figure 4 is a front view of a second circuit board provided by the present invention;

[0039] Figure 5 It is a left view of a second circuit board provided by the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] The present invention provides a multi-line laser radar optical path system, including a laser emitting device and an echo receiving device, wherein the laser emitting device includes a first circuit board, a laser emitting module array and a micro-optical path deflection module array, and the laser emitting module array and the micro-optical path deflection module array are both arranged on the first circuit board. By pre-adjusting the angle of the laser emitted by the laser emitting device according to the product design of the multi-line laser radar, the micro-optical path deflection module array is used, so that when producing the multi-line laser radar, only the position and angle of the first circuit board need to be adjusted, and there is no need to adjust the emitting module of each laser separately, thus avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time.

[0042] like Figure 1 , 2 As shown in FIG. 3 , an embodiment of the present invention provides a multi-line laser radar optical path system, which includes a laser emitting device 10 and an echo receiving device 20. The laser emitting device 10 is used to emit multiple laser beams to a target object to be scanned, and the echo receiving device 20 is used to receive laser echoes reflected from the target object after the multiple laser beams are irradiated on the target object.

[0043] In the embodiment of the present invention, the laser emitting device 10 includes a first circuit board 11, a laser emitting module array and a micro-optical path deflection module array. The laser emitting module array and the micro-optical path deflection module array are both arranged on the first circuit board 11, the laser emitting module array is used to emit multiple laser beams, and the micro-optical path deflection module array can deflect the laser emitted by the laser emitting module array, thereby adjusting the optical path of the laser.

[0044] When producing multi-line laser radars and performing optical debugging, there is no need to individually adjust the laser emitting module 12 of each path. It is only necessary to determine the position and angle of the first circuit board 11, and use the micro-optical path deflection module array to adjust the angle of the laser emitted by the laser emitting device 10 so that the echo receiving device 20 can receive the laser echo. This avoids the problem of difficulty in optical path debugging due to mutual interference between adjacent lasers during the debugging process, making optical path debugging simpler.

[0045] In the embodiment of the present invention, the laser emission module array is composed of 16 laser emission modules 12, each of which can emit a laser beam, so that the entire laser emission module array can emit 16 laser beams. Correspondingly, the micro-light path deflection module array is composed of 16 micro-light path deflection modules 13 corresponding to the 16 laser emission modules one by one, and each micro-light path deflection module 13 can deflect the laser emitted by the corresponding laser emission module 12, thereby adjusting the optical path of the laser. In this embodiment, the micro-light path deflection module 13 can use a micro-reflector of a size such as 2×2mm or 3×3mm, and the specific size is not limited. It can also use a prism or other devices that can deflect the laser, which can be selected according to actual conditions.

[0046] It should be noted that the number of laser emitting modules 12 and micro-light path deflection modules 13 is not necessarily 16, and the number can be selected according to actual conditions, but the number of laser emitting modules 12 and micro-light path deflection modules 13 must correspond.

[0047] In the embodiment of the present invention, the micro-light path deflection module array includes a first linear array and a second linear array, both of which are uniform linear arrays and each of which is composed of 8 micro-light path deflection modules 13. The first linear array and the second linear array are respectively arranged on both sides of the first circuit board 11 and close to one edge of the circuit board. The first linear array and the second linear array are parallel to each other and can be used as follows Figure 3 The staggered arrangement shown in the figure can increase the distance between the micro-light path deflection module 13 on the first linear array and the micro-light path deflection module 13 on the second linear array, thereby reducing the mutual interference between adjacent path lasers.

[0048] In an embodiment of the present invention, the laser emitting module 12 includes a laser diode and a compressed divergence angle module, wherein the compressed divergence angle module may adopt a micro cylindrical mirror, the laser diode is used to emit laser, and the compressed divergence angle module is used to collimate the laser emitted by the laser diode, so that the divergence angles of the laser on the fast axis and slow axis of the laser diode are close to the same, forming a relatively uniform light spot.

[0049] The laser emitting module 12 may use a combination of a laser diode and a compressed divergence angle module, or may use a fiber laser, a gas laser, a solid laser, etc. The specific selection may be made according to actual conditions.

[0050] In the embodiment of the present invention, the laser emitting device 10 further includes a first laser transmission unit 14 and a collimating lens group 15. After the micro-optical path deflection module array adjusts the optical path of the laser, the first laser transmission unit 14 receives the adjusted laser and transmits the laser to the collimating lens group 15, and the collimating lens group 15 collimates the transmitted laser so that each laser beam forms an approximately circular light spot, so that the laser divergence angle is smaller, the laser energy is concentrated, and the detection distance can reach more than 150 meters.

[0051] In the embodiment of the present invention, the first laser transmission unit 14 includes a first optical path deflection module 141 and a second optical path deflection module 142, and the first optical path deflection module 141 and the second optical path deflection module 142 are arranged between the micro optical path deflection module array and the collimating lens group 15. The first optical path deflection module 141 and the second optical path deflection module 142 can both use a reflector, and the optical path of the laser is changed by the reflector to transmit the laser to the collimating lens group 15. In addition to using a reflector, a prism or a combination of a reflector and a prism can also be used.

[0052] In the embodiment of the present invention, the collimating lens group 15 is composed of three aspheric lenses, and a greater or lesser number of aspheric lenses or a spherical lens may be used, as long as the laser can be collimated.

[0053] In the embodiment of the present invention, the echo receiving device includes a focusing lens group 23, a second laser transmission unit 22, a photodetector array and a second circuit board 21. The focusing lens group 23 is used to focus the laser echo reflected from the target object, so that the energy of the laser echo is more concentrated, which can improve the detection distance of the laser radar, and the second laser transmission unit 22 is used to transmit the laser echo focused by the focusing lens group 23 to the photodetector array. After the photodetector array receives the laser echo, it can calculate the distance of the scanned target object according to the time difference between emitting the laser and receiving the laser echo.

[0054] In the embodiment of the present invention, a filter 25 is further provided between the photodetector array and the second laser transmission unit 22. The laser echo can pass through the filter 25, while light of other wavelengths will be filtered out by the filter 25, thereby improving the signal-to-noise ratio of the system and increasing the detection distance of the system under strong light.

[0055] like Figure 4 and Figure 5As shown, in the embodiment of the present invention, the photodetector array is arranged on the second circuit board 21, and is composed of 16 photodetectors 24. The photodetectors 24 correspond to the laser emitting modules 12 one by one, and are used to receive the echo of the laser emitted by the corresponding laser emitting module 12. Since the angle of the laser emitted by each laser emitting module 12 is different, after being reflected by the target object and processed by the focusing lens group 23 and the second laser transmission unit 22, only the corresponding photodetector 24 can receive it. The distance of each reflection point is calculated according to the time difference between the emission and reception of each laser, so as to realize three-dimensional detection.

[0056] In the embodiment of the present invention, the focusing lens group 23 is composed of three aspherical lenses. A larger or smaller number of aspherical lenses or a spherical lens may also be used, as long as the laser can be focused.

[0057] The second laser transmission unit 22 is composed of two reflectors (221 and 222), which change the optical path of the laser and transmit the laser to the photodetector array. In addition to the reflectors, prisms or a combination of reflectors and prisms can also be used.

[0058] In the embodiment of the present invention, the photodetector array includes a third linear array and a fourth linear array, each of which is composed of 8 photodetectors 24 evenly distributed in an arc shape, and the photodetectors 24 face the laser echo of the corresponding laser emitter to facilitate the reception of the laser echo. The third linear array and the fourth linear array are respectively arranged on both sides of the second circuit board 21 and close to an edge of the second circuit board 21. The third linear array and the second linear array are parallel to each other, and can be used as follows Figure 5 The staggered arrangement shown in the figure can increase the distance between the photodetectors 24 on the third linear array and the photodetectors 24 on the fourth linear array, thereby reducing the mutual interference between adjacent lasers.

[0059] When optical debugging of the multi-line laser radar is produced, there is no need to individually adjust the laser emitting module 12 and the photodetector 24 of each laser. It is only necessary to determine the position and angle of the second circuit board 24 and the position and angle of the first circuit board 11, and then use the micro-light path deflection module array to adjust the angle of the laser emitted by the laser emitting device 10 so that the corresponding photodetector 24 receives the signal. This avoids the problem of difficulty in optical path debugging due to mutual interference between adjacent lasers during the debugging process, makes optical path debugging simpler, and thus reduces labor costs and shortens delivery time.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-line laser radar optical path system, characterized in that: include: A laser emitting device for emitting multiple laser beams toward a target object; An echo receiving device for receiving the laser echo reflected by the target object; The laser emitting device comprises a first circuit board, a laser emitting module array and a micro-optical path deflection module array; The laser emission module array is used to emit the multiple laser beams; The micro-light path deflection module array is used to adjust the light paths of the multiple laser beams; The laser emission module array and the micro-optical path deflection module array are both arranged on the first circuit board; The laser emitting module array includes a plurality of laser emitting modules, each of which can emit a beam of laser; The micro-light path deflection module array includes a plurality of micro-light path deflection modules corresponding one to one with the laser emission modules, and the micro-light path deflection modules are used to adjust the optical path of the laser emitted by the corresponding laser emission module; The micro-light path deflection module array includes a first linear array and a second linear array; The first linear array and the second linear array are respectively arranged on two sides of the first circuit board, and the two are parallel to each other; The micro-light path deflection modules on the first linear array and the micro-light path deflection modules on the second linear array are arranged to be staggered with each other.

2. The multi-line laser radar optical path system according to claim 1, characterized in that: The laser emitting device also includes a first laser transmission unit and a collimating lens group; The first laser transmission unit is used to transmit the laser adjusted by the micro-optical path deflection module array; The collimating lens group is used to collimate the laser light transmitted from the first laser transmission unit.

3. The multi-line laser radar optical path system as claimed in claim 2, characterized in that: The first laser transmission unit comprises: A first light path deflection module and a second light path deflection module are arranged between the micro light path deflection module array and the collimating lens group and are used to deflect the light path of the laser.

4. The multi-line laser radar optical path system according to claim 1, characterized in that: The laser emission module comprises: a laser diode for emitting laser light; and A compression divergence angle module is used for collimating the laser light emitted by the laser diode so as to make the divergence angles of the laser light on the fast axis and the slow axis of the laser diode close to the same.

5. The multi-line laser radar optical path system as claimed in claim 4, characterized in that: The compression divergence angle module is a micro cylindrical mirror.

6. The multi-line laser radar optical path system according to claim 1, characterized in that: The echo receiving device comprises a focusing lens group, a second laser transmission unit, a photodetector array and a second circuit board; The focusing lens group is used to focus the laser echo reflected by the target object; The second laser transmission unit is used to transmit the laser echo focused by the focusing lens group; The photodetector array is arranged on the second circuit board and is used for receiving the laser echo transmitted by the second laser transmission unit.

7. The multi-line laser radar optical path system as claimed in claim 6, characterized in that: The photoelectric detector array includes a plurality of photoelectric detectors corresponding one to one to the laser emission modules; The photoelectric detector is used to receive the laser echo of the corresponding laser emitting module.

8. The multi-line laser radar optical path system as claimed in claim 7, characterized in that: The photodetector array comprises a third linear array and a fourth linear array respectively arranged on two sides of the second circuit board; The third linear array and the fourth linear array respectively include a plurality of photoelectric detectors uniformly distributed in an arc shape.

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