A common optical path laser radar

Abstract

The present application discloses a common optical path laser radar, including a laser emitting component, a laser receiving component, and a reflector group; the reflector group includes a first reflector tilted with the optical axis of the laser emitting component and a second reflector tilted with the optical axis of the laser receiving component, the reflector group is located between the laser emitting component and the laser receiving component, and at least the first reflector in the reflector group can rotate to change the direction of the emission light beam emitted by the laser emitting component; wherein the first reflector is used to reflect the emission light beam, the second reflector is used to reflect the receiving light beam formed by the object based on the emission light beam, and the optical axis of the first reflector coincides with the optical axis of the second reflector. In the above manner, the common optical path laser radar provided by the present application can support close-range detection and avoid close-range detection blind spots.

Description

Technical Field

[0001] The present application relates to the field of measurement and mapping technology, and in particular to a common optical path laser radar. Background Art

[0002] The laser radar uses its laser emitting component to emit a beam that hits an object, causing scattering. A part of the beam forms a receiving beam and is received by the laser receiving component of the laser radar. According to the laser ranging principle, the distance from the laser radar to the object is obtained.

[0003] After long-term research, the inventors of this application discovered that the transmitting light beam emitted by the laser transmitting component of the existing laser radar is parallel to the receiving light beam received by the laser receiving component. Since there is a distance between the transmitting light beam and the receiving light beam, and there is a divergence angle of the transmitting light beam and a field of view angle of the receiving light beam, the transmitting light beam and the receiving light beam do not overlap in some areas close to the laser radar. Therefore, the existing laser radar has a blind spot for close-range detection. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a common optical path laser radar that can support close-range detection and avoid close-range detection blind spots.

[0005] In order to solve the above technical problems, the technical solution adopted in the present application is: to provide a common optical path laser radar, including: a laser emitting component, a laser receiving component, and a reflector group; the reflector group includes a first reflector tilted to the optical axis of the laser emitting component and a second reflector tilted to the optical axis of the laser receiving component, the reflector group is located between the laser emitting component and the laser receiving component, at least the first reflector in the reflector group can rotate to change the direction of the emission light beam emitted by the laser emitting component; wherein the first reflector is used to reflect the emission light beam, the second reflector is used to reflect the receiving light beam formed by the object based on the emission light beam, and the optical axis of the first reflector coincides with the optical axis of the second reflector.

[0006] The beneficial effect of the present application is that, different from the prior art, the reflector group of the common optical path laser radar provided by the present application includes a first reflector for reflecting a transmitted light beam and a second reflector for reflecting a received light beam formed by an object based on the transmitted light beam, and the optical axis of the first reflector coincides with the optical axis of the second reflector, so that the optical axis of the transmitted light beam after being reflected by the first reflector and the optical axis of the received light beam completely coincide, thereby supporting close-range detection and avoiding close-range detection blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in this application, the following briefly introduces the drawings required in the description of the embodiments. Obviously, the drawings described below are only some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0008] Figure 1 This is a schematic diagram of the structure of an implementation method of a common optical path laser radar of the present application;

[0009] Figure 2 This is a schematic structural diagram of another embodiment of the common optical path laser radar of the present application;

[0010] Figure 3 yes Figure 2 A schematic structural diagram of an implementation scheme of a middle reflector assembly;

[0011] Figure 4 It is a structural schematic diagram of another implementation method of the common optical path laser radar of the present application;

[0012] Figure 5 yes Figure 4 A schematic structural diagram of an implementation scheme of a middle reflector assembly;

[0013] Figure 6 It is a structural schematic diagram of another implementation method of the common optical path laser radar of the present application;

[0014] Figure 7 yes Figure 6 A schematic structural diagram of an embodiment of a middle reflector assembly. DETAILED DESCRIPTION

[0015] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0016] See also Figure 1 , Figure 1It is a structural schematic diagram of an embodiment of the common optical path laser radar 1 of the present application. The common optical path laser radar 1 of the present application includes: a laser emitting component 10, a laser receiving component 20, and a reflector group 30. The reflector group 30 includes a first reflector 301 tilted to the optical axis of the laser emitting component 10 (the dotted line indicated by the arrow 1 in the figure) and a second reflector 302 tilted to the optical axis of the laser receiving component 20 (the dotted line indicated by the arrow 2 in the figure). The reflector group 30 is located between the laser emitting component 10 and the laser receiving component 20. At least the first reflector 301 in the reflector group 30 can rotate to change the direction of the emission light beam A emitted by the laser emitting component 10. In an implementation scenario, the first reflector 301 and the second reflector 302 are plane reflectors, and the second reflector 302 is relatively fixedly connected to the first reflector 301, so that the second reflector 302 can rotate synchronously with the first reflector 301, so as to receive the receiving light beam B formed by the emission light beam A emitted to the object. In another implementation scenario, the second reflector 302 can also be set along the rotation trajectory of the first reflector 301, so that when the first reflector 301 rotates and the second reflector 302 does not follow the rotation, the emitted light beam A is reflected on the first reflector 301 and forms a received light beam B after being reflected by the object. The received light beam B is reflected by the second reflector 302 and received by the laser receiving component 20.

[0017] In an implementation scenario, such as Figure 1 The optical axis of the laser emitting assembly 10 is coincident with the optical axis of the laser receiving assembly 20. In another implementation scenario, the optical axis of the laser emitting assembly 10 is parallel to the optical axis of the laser receiving assembly 20, and the emission light beam A emitted by the laser emitting assembly 10 is first reflected by a plane reflector to the first reflector 301, and then by the plane reflector 302. Figure 1 The light path shown is reflected by the first reflector 301 and then emitted to the object. The received light beam B first passes through Figure 1 The light path shown is reflected by the second reflector 302 and then reflected by another plane reflector to the laser receiving assembly 20 .

[0018] The first reflector 301 is used to reflect the emission light beam A, and the second reflector 302 is used to reflect the receiving light beam B formed by the object based on the emission light beam A. The optical axis of the first reflector 301 (the dotted line indicated by the arrow 3 in the figure) coincides with the optical axis of the second reflector 302 (the dotted line indicated by the arrow 3 in the figure), so that the optical axes of the emission light beam after being reflected by the first reflector 301 and the receiving light beam B completely coincide.

[0019] Through the above-mentioned implementation mode, the common optical path laser radar 1 reflector group 30 of the present application includes a first reflector 301 for reflecting the emission light beam A and a second reflector 302 for reflecting the receiving light beam B formed by the object based on the emission light beam A. The optical axis of the first reflector 301 coincides with the optical axis of the second reflector 302, so that the optical axis of the emission light beam after being reflected by the first reflector 301 A and the receiving light beam B completely coincide, thereby supporting close-range detection and avoiding close-range detection blind spots.

[0020] Please continue reading Figure 1 , the reflector assembly 30 can rotate around the rotation axis (the dotted line indicated by arrow 1) to at least realize the rotation of the first reflector 301. The rotation axis is the axis passing through the reflector assembly 30. In this embodiment, the rotation axis at least coincides with the optical axis of the laser emitting assembly 10, so that when the reflector assembly 30 rotates, the position of the emission light beam A emitted by the laser emitting assembly 10 on the first reflector 301 remains unchanged, and the position of the receiving light beam B on the second reflector 302 remains unchanged.

[0021] See also Figure 2 , Figure 2 Schematic diagram of another embodiment of the common optical path laser radar 1 of the present application. The second reflector 302 is provided with a first hole 3021, so that the emission light beam A passes through the first hole 3021 and is reflected by the first reflector 301 to form an output light beam C and is emitted to the object; and / or, the emission light beam A is reflected by the first reflector 301 to form an output light beam C and is emitted to the object through the first hole 3021. The first center line of the first hole 3021 ( Figure 2 The solid line arrow 4 points to the dotted line) and the second center line of the second reflector 302 ( Figure 2 The dashed line indicated by the solid arrow 4 coincides with the dashed line.

[0022] Among them, the orthographic projections D of the first center line, the second center line, and the rotation axis (dashed line 5 in the figure) on the plane parallel to the rotation axis and perpendicular to the outgoing light beam C are located on the same straight line (solid line 2 in the figure). The size of the first hole 3021 is larger than the size of the emission light beam A; and / or, the size of the first hole 3021 is larger than the size of the outgoing light beam C formed after the emission light beam A is reflected by the first reflector 301. In an implementation scenario, in order to make the first reflector 301 reflect as little as possible on the receiving light beam B, so that as much of the receiving light beam B as possible is received by the laser receiving component 20 after being reflected by the second reflector 302, the size of the first reflector 301 can be set to be similar to the size of the emission light beam A. In an implementation scenario, the first reflector 301, the second reflector 302, and the first hole 3021 are set to be rectangular. In another implementation scenario, the first reflector 301, the second reflector 302, and the first hole 3021 are set to other shapes, such as: circle, triangle, diamond, etc.

[0023] Please continue reading Figure 2 The first reflector 301 is disposed through the first hole 3021 of the second reflector 302, and the first hole 3021 divides the first reflector 301 in half, and emits a portion of the light beam A (e.g. Figure 2 The emission light beam A on the right side of the middle passes through the first hole 3021 and is reflected by the first reflector 301 to form a first outgoing light beam ( Figure 2 The outgoing beam C of the laser receiving assembly 20 is close to the laser receiving assembly 20 and is emitted to the object, and another part of the beam (for example Figure 2 The left emission light beam A) is reflected by the first reflector 301 to form a second emission light beam ( Figure 2 The outgoing light beam C) near the laser emitting assembly 10 is emitted to the object through the first hole 3021. The center of the first hole (indicated by the dotted arrow in the figure), the center of the first reflector (indicated by the dotted arrow in the figure), and the center of the second reflector (indicated by the dotted arrow in the figure) coincide with each other. The optical axes of the first reflector 301 and the second reflector 302 coincide with the axis BC (as shown in FIG. Figure 2 BC is indicated by a dotted line in the figure).

[0024] The angle between the first reflector 301 and the second reflector 302 is a first preset angle θ. In one implementation scenario, the first preset angle θ is 89°-91°, such as 89°, 90°, 91°, etc. In one implementation scenario, the first reflector 301 and the second reflector 302 are fixedly connected by glue, and in another implementation scenario, the first reflector 301 and the second reflector 302 are fixed by other mechanical connection methods such as pins and buckles. In another implementation scenario, the first reflector 301 and the second reflector 302 are integrally formed.

[0025] See also Figure 3 , Figure 3 for Figure 2 A schematic structural diagram of an embodiment of a middle reflector assembly 30 includes a first reflector 301 and a second reflector 302 .

[0026] See also Figure 4 , Figure 4 Schematic diagram of the structure of another embodiment of the common optical path laser radar 1 of the present application. The second reflector 302 is provided with a first hole 3021, so that the emission light beam A passes through the first hole 3021, and then is reflected by the first reflector 301 to form an output light beam C and is emitted to the object; and / or, the emission light beam A is reflected by the first reflector 301 to form an output light beam C, and then is emitted to the object through the first hole 3021. The first center line of the first hole 3021 (the dotted line indicated by arrow 6) coincides with the second center line of the second reflector 302 (the dotted line indicated by arrow 6).

[0027] Among them, the orthographic projections D of the first center line, the second center line, and the rotation axis (dashed line 7 in the figure) on the plane parallel to the rotation axis and perpendicular to the outgoing light beam C are located on the same straight line (solid line 3 in the figure). The size of the first hole 3021 is larger than the size of the emission light beam A; and / or, the size of the first hole 3021 is larger than the size of the outgoing light beam C formed after the emission light beam A is reflected by the first reflector 301. In an implementation scenario, in order to make the first reflector 301 reflect as little as possible on the receiving light beam B, so that as much of the receiving light beam B as possible is received by the laser receiving component 20 after being reflected by the second reflector 302, the size of the first reflector 301 can be set to be similar to the size of the emission light beam A. In an implementation scenario, the first reflector 301, the second reflector 302, and the first hole 3021 are set to be rectangular. In another implementation scenario, the first reflector 301, the second reflector 302, and the first hole 3021 are set to other shapes, such as: circle, triangle, diamond, etc.

[0028] One end of the first reflector 301 is fixedly connected to the reflective surface 3022 of the second reflector 302, so that the emission light beam A passes through the first hole 3021 and is reflected by the first reflector 301 to form an outgoing light beam C that is emitted to the object; wherein the orthographic projections of the center of the first reflector (dashed arrow 1 in the figure) and the center of the second reflector (dashed arrow 2 in the figure) on the plane E parallel to the rotation axis and perpendicular to the outgoing light beam C coincide, as shown in FIG. Figure 4 As shown, the two coincide at the point indicated by the dashed arrow 3 on plane E. The optical axes of the first reflector 301 and the second reflector 302 coincide at the axis BC (as shown in FIG. Figure 4 BC is indicated by a dotted line in the figure).

[0029] The angle between the first reflector 301 and the second reflector 302 is a second preset angle θ. In one implementation scenario, the second preset angle θ is 89°-91°, such as 89°, 90°, 91°, etc. In one implementation scenario, the first reflector 301 and the second reflector 302 are fixedly connected by glue, and in another implementation scenario, the first reflector 301 and the second reflector 302 are fixed by other mechanical connection methods such as pins and buckles. In another implementation scenario, the first reflector 301 and the second reflector 302 are integrally formed.

[0030] See also Figure 5 , Figure 5 for Figure 4 The structure diagram of an embodiment of the reflector assembly 30 is shown in FIG.

[0031] See also Figure 6 , Figure 6It is a structural schematic diagram of another embodiment of the common optical path laser radar 1 of the present application. The second reflector 302 is provided with a first hole 3021, so that the emission light beam A passes through the first hole 3021, and then is reflected by the first reflector 301 to form an output light beam C and is emitted to the object; and / or, the emission light beam A is reflected by the first reflector 301 to form an output light beam C, and then is emitted to the object through the first hole 3021. The first center line of the first hole 3021 (the dotted line indicated by the arrow 8) coincides with the second center line of the second reflector 302 (the dotted line indicated by the arrow 8).

[0032] Among them, the orthographic projections D of the first center line, the second center line, and the rotation axis (dashed line 7 in the figure) on the plane parallel to the rotation axis and perpendicular to the outgoing light beam C are located on the same straight line (solid line 4 in the figure). The size of the first hole 3021 is larger than the size of the emission light beam A; and / or, the size of the first hole 3021 is larger than the size of the outgoing light beam C formed after the emission light beam A is reflected by the first reflector 301. In an implementation scenario, in order to make the first reflector 301 reflect as little as possible on the receiving light beam B, so that as much of the receiving light beam B as possible is received by the laser receiving component 20 after being reflected by the second reflector 302, the size of the first reflector 301 can be set to be similar to the size of the emission light beam A. In an implementation scenario, the first reflector 301, the second reflector 302, and the first hole 3021 are set to be rectangular. In another implementation scenario, the first reflector 301, the second reflector 302, and the first hole 3021 are set to other shapes, such as: circle, triangle, diamond, etc.

[0033] One end of the first reflector 301 is fixedly connected to a surface 3023 opposite to the reflective surface 3022 of the second reflector 302, so that the emission light beam A is reflected by the first reflector 301 to form an output light beam C, which is then emitted to the object through the first hole 3021. The orthographic projections of the center of the first reflector (dashed arrow 3 in the figure) and the center of the second reflector (dashed arrow 4 in the figure) on the plane F parallel to the rotation axis and perpendicular to the output light beam C coincide. Figure 6 As shown, the two coincide with the point indicated by the dashed arrow 5 on plane E. The optical axes of the first reflector 301 and the second reflector 302 coincide with the axis BC (as shown in FIG. Figure 6 BC is indicated by a dotted line in the figure).

[0034] The angle between the first reflector 301 and the second reflector 302 is a third preset angle θ. In one implementation scenario, the third preset angle θ is 89°-91°, such as 89°, 90°, 91°, etc. In one implementation scenario, the first reflector 301 and the second reflector 302 are fixedly connected by glue, and in another implementation scenario, the first reflector 301 and the second reflector 302 are fixed by other mechanical connection methods such as pins and buckles. In another implementation scenario, the first reflector 301 and the second reflector 302 are integrally formed.

[0035] See also Figure 7 , Figure 7 for Figure 6 The structure diagram of an embodiment of the reflector assembly 30 is shown in FIG.

[0036] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A common optical path laser radar, characterized in that: The common optical path laser radar comprises: Laser transmitting assembly and laser receiving assembly; A reflector group, comprising a first reflector arranged obliquely with respect to the optical axis of the laser emitting assembly and a second reflector arranged obliquely with respect to the optical axis of the laser receiving assembly, wherein the reflector group is located between the laser emitting assembly and the laser receiving assembly, wherein at least the first reflector in the reflector group can rotate to change the direction of an emission light beam emitted by the laser emitting assembly, wherein the second reflector is relatively fixedly connected to the first reflector so that the second reflector rotates synchronously with the first reflector, wherein a first hole is provided in the second reflector so that the emission light beam passes through the first hole and is reflected by the first reflector to form an exit light beam and is emitted to an object, and / or the emission light beam is reflected by the first reflector to form the exit light beam and is emitted to the object through the first hole; Among them, the first reflector is used to reflect the emission light beam, and the second reflector is used to reflect the receiving light beam formed by the object based on the emission light beam. The optical axis of the first reflector coincides with the optical axis of the second reflector. The optical axis of the first reflector represents the optical axis of the outgoing light beam, and the optical axis of the second reflector represents the optical axis of the receiving light beam.

2. The common optical path laser radar according to claim 1, characterized in that: The reflector group can rotate around the rotation axis to at least realize the rotation of the first reflector; A first center line of the first hole coincides with a second center line of the second reflector; The orthographic projections of the first center line, the second center line, and the rotation axis on a plane parallel to the rotation axis and perpendicular to the outgoing light beam are located on the same straight line.

3. The common optical path laser radar according to claim 2, characterized in that: In the case where the emission light beam passes through the first hole and is reflected by the first reflector to form an emission light beam and is emitted to the object, the size of the first hole is greater than the size of the emission light beam.

4. The common optical path laser radar according to claim 2, characterized in that: When the emission light beam is reflected by the first reflector to form the outgoing light beam and then emitted to the object through the first hole, the size of the first hole is larger than the size of the outgoing light beam formed by the emission light beam after being reflected by the first reflector.

5. The common optical path laser radar according to any one of claims 1 to 4, characterized in that: The first reflector is disposed through the first hole of the second reflector, and the first hole divides the first reflector in half, a portion of the emitted light beam passes through the first hole and is reflected by the first reflector to form a first emitted light beam and is emitted to the object, and another portion of the light beam is reflected by the first reflector to form a second emitted light beam and is emitted to the object through the first hole; The center of the first hole, the center of the first reflector, and the center of the second reflector coincide with each other.

6. The common optical path laser radar according to claim 5, characterized in that: The included angle between the first reflector and the second reflector is a first preset angle, and the first preset angle is 89 degrees to 91 degrees.

7. The common optical path laser radar according to any one of claims 1 to 4, characterized in that: One end of the first reflector is fixedly connected to the reflective surface of the second reflector, so that the emission light beam passes through the first hole and is reflected by the first reflector to form an outgoing light beam that is emitted to the object; The orthographic projections of the center of the first reflector and the center of the second reflector on a plane parallel to the rotation axis of the reflector group and perpendicular to the outgoing light beam coincide, and the reflector group can rotate around the rotation axis.

8. The common optical path laser radar according to claim 7, characterized in that: The included angle between the first reflector and the second reflector is a second preset angle, and the second preset angle is 89 degrees to 91 degrees.

9. The common optical path laser radar according to any one of claims 1 to 4, characterized in that: One end of the first reflector is fixedly connected to a surface opposite to a reflective surface of the second reflector, so that the emission light beam is reflected by the first reflector to form the outgoing light beam and then is emitted to the object through the first hole; The orthographic projections of the center of the first reflector and the center of the second reflector on a plane parallel to the rotation axis of the reflector group and perpendicular to the outgoing light beam coincide, and the reflector group can rotate around the rotation axis.

10. The common optical path laser radar according to claim 9, characterized in that: The included angle between the first reflector and the second reflector is a third preset angle, and the third preset angle is 89 degrees to 91 degrees.

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