A laser radar that can isolate stray light

Abstract

The present application discloses a laser radar capable of isolating stray light, including a laser emitting component and a laser receiving component whose optical axes are relatively arranged, as well as a rotatable reflector and a stray light isolation component. The rotatable reflector includes a first reflector arranged obliquely with respect to the optical axis of the laser emitting component and a second reflector arranged obliquely with respect to the optical axis of the laser receiving component, which is located between the laser emitting component and the laser receiving component, and can rotate around the rotation axis under power drive to change the direction of the emission light beam emitted by the laser emitting component; the stray light isolation component is arranged at the junction of the first reflector and the second reflector, dividing the laser radar into a laser emitting area and a laser receiving area which are relatively and isolated. The stray light isolation component is provided with a stray light isolation part for eliminating the stray light of the emission light beam and the receiving light beam. In the above manner, the present application can eliminate the stray light of the emission light beam and the receiving light beam, thereby effectively suppressing the stray light.

Description

Technical Field

[0001] The present application relates to the field of measurement and mapping technology, and in particular to a laser radar capable of isolating stray light. Background Art

[0002] The laser radar emits a light beam which is reflected by surrounding objects to form a receiving light beam, which is then received by the laser receiving component of the laser radar, thereby sensing surrounding objects. Laser radar has the characteristics of high measurement resolution, high speed, small size and light weight.

[0003] After long-term research, the inventors of the present application discovered that the stray light of the emission light beam emitted by the laser emitting component of the existing laser radar may be received by the laser receiving component, and the stray light of the receiving light beam may enter the laser emitting component, thereby reducing the measurement accuracy of the laser radar. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a laser radar that can isolate stray light, which can reduce the stray light of the transmitted light beam and the received light beam, thereby effectively suppressing the stray light.

[0005] In order to solve the above technical problems, the technical solution adopted in the present application is: to provide a laser radar capable of isolating stray light, the laser radar comprising: a laser emitting component and a laser receiving component whose optical axes are relatively arranged, and a rotatable reflector and a stray light isolation component; the rotatable reflector comprises a first reflector arranged obliquely to the optical axis of the laser emitting component and a second reflector arranged obliquely to the optical axis of the laser receiving component, the rotatable reflector is located between the laser emitting component and the laser receiving component, and the rotatable reflector can rotate around its own axis under power drive to change the direction of the emission light beam emitted by the laser emitting component; the stray light isolation component is arranged around the junction of the first reflector and the second reflector, dividing the laser radar into a laser emitting area and a laser receiving area which are relatively and isolated; wherein the stray light isolation component is provided with a stray light isolation part for eliminating the stray light of the emission light beam and the receiving light beam.

[0006] The beneficial effects of the present application are as follows: different from the prior art, the laser radar capable of isolating stray light provided by the present application has a stray light isolation component arranged at the junction of the first reflector and the second reflector, dividing the laser radar into a laser emitting area and a laser receiving area which are relatively and isolated from each other, and the stray light isolation component is provided with a stray light isolation part which can eliminate the emitted light beam and the received light beam, so that the stray light of the emitted light beam extending toward the laser receiving component and the stray light of the received light beam extending toward the laser emitting component are eliminated by the stray light isolation part, thereby effectively suppressing the stray light and thereby improving the measurement accuracy of the laser radar. 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 It is a structural schematic diagram of an embodiment of a laser radar capable of isolating stray light of the present application;

[0009] Figure 2 yes Figure 1 A schematic structural diagram of an embodiment of the first isolation plate and the third isolation plate;

[0010] Figure 3 yes Figure 1 A schematic structural diagram of another embodiment of the first isolation plate and the third isolation plate;

[0011] Figure 4 yes Figure 1 A schematic structural diagram of another embodiment of the first isolation plate and the third isolation plate;

[0012] Figure 5 yes Figure 1 A schematic structural diagram of another embodiment of the first isolation plate and the third isolation plate;

[0013] Figure 6 yes Figure 1 A schematic structural diagram of an embodiment of a second isolation plate;

[0014] Figure 7 It is a schematic structural diagram of another embodiment of the laser radar capable of isolating stray light in the present application. 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 1 The structure diagram of an embodiment of the laser radar capable of isolating stray light of the present application is shown in FIG. The laser radar capable of isolating stray light of the present application 1 comprises: a laser emitting component 10 and a laser receiving component 20 arranged with their optical axes (shown by the dotted line in the figure) relative to each other. In an implementation scenario, Figure 1As shown, the laser emitting component 10 and the laser receiving component 20 are located on the same axis (shown by the dotted line in the figure). The laser radar 1 that can isolate stray light in the present application further includes: a rotatable reflector 30, and the rotatable reflector 30 includes a first reflector 301 that is tilted to the optical axis of the laser emitting component 10 and a second reflector 302 that is tilted to the optical axis of the laser receiving component 20. In one implementation scenario, the first reflector 301 and the second reflector 302 are plane reflectors. In one implementation scenario, the angle between the first reflector 301 and the second reflector 302 is within a preset range, such as 89°-91°, for example, 89°, 90°, 91°, etc. The rotatable reflector 30 is located between the laser emitting component 10 and the laser receiving component 20, and the rotatable reflector 30 can rotate around the rotation axis (shown by the dotted line in the figure) under power drive to change the direction of the emission light beam A emitted by the laser emitting component 10. In one implementation scenario, as Figure 1 As shown, the optical axis of the laser emitting assembly 10, the optical axis of the laser receiving assembly 20, and the rotation axis of the rotatable reflector 30 are located on the same axis (shown by the dotted line in the figure). The rotatable reflector 30 can be driven to rotate by a motor or by human power through a mechanical connection.

[0017] The laser radar 1 that can isolate stray light in the present application also includes: a stray light isolation component 40, which is arranged at the junction of the first reflector 301 and the second reflector 302, and divides the laser radar 1 that can isolate stray light into a laser emission area 50 and a laser receiving area 60 that are relatively and isolated. In one implementation scenario, the surface of the stray light isolation component is black to absorb as much stray light as possible. In one implementation scenario, the stray light isolation component 40 can be made of metal, such as aluminum alloy, steel, etc. In another implementation scenario, the stray light isolation component is made of plastic, such as polyethylene, polyvinyl chloride, etc. The stray light isolation component 40 is also provided with a stray light isolation part 401, which is used to reduce the stray light of the emission light beam A and the receiving light beam B (as shown by the dotted arrow). As shown in the figure, when the stray light of the emission light beam A in the laser emission area 50 (shown by the dotted line) is about to extend to the laser receiving area 60, it enters the stray light isolation part 401, and is reflected multiple times in the stray light isolation part 401, and the energy of the stray light is reduced after multiple reflections. Furthermore, even if the stray light escapes from the stray light isolation part 401 after multiple attenuations, it cannot interfere with the laser receiving component 20 because its energy is attenuated below the detectable threshold. When the stray light (shown by the dotted line) of the receiving light beam B in the laser receiving area 60 is about to extend to the laser emitting area 50, it enters the stray light isolation part 401 and is reflected by the stray light isolation part 401 to emit the laser radar 1 that can isolate the stray light. The stray light reflection method shown in this embodiment is only for principle explanation and does not limit the stray light reflection method in actual use.

[0018] Through the above-mentioned implementation mode, the laser radar 1 capable of isolating stray light of the present application has a stray light isolation component 40 arranged at the junction of the first reflector 301 and the second reflector 302, thereby dividing the laser radar 1 capable of isolating stray light into a laser emitting area 50 and a laser receiving area 60 which are relatively and isolated from each other, and the stray light isolation component 40 is provided with a stray light isolation portion 401 (circled in a dotted circle in the figure) which can eliminate the emitted light beam A and the received light beam B, so that the stray light of the emitted light beam A extending toward the laser receiving component 20 and the stray light of the received light beam B extending toward the laser emitting component 10 are eliminated by the stray light isolation portion 401, thereby effectively suppressing the stray light and thereby improving the measurement accuracy of the laser radar 1 capable of isolating stray light.

[0019] Please continue reading Figure 1 , the stray light isolation component 40 includes a first isolation plate 40a, a second isolation plate 40b, and a third isolation plate 40c. Among them, the first isolation plate 40a is arranged near the laser emitting component 10 at the junction of the first reflector 301 and the second reflector 302 of the rotatable reflector 30, and is fixedly connected to the rotatable reflector 30. In one implementation scenario, the first isolation plate 40a is made of metal, such as aluminum alloy, steel, etc. In other implementation scenarios, the first isolation plate 40a can also be made of plastic, such as polyethylene, polyvinyl chloride, etc. The first isolation plate 40a can be fixedly connected to the rotatable reflector 30 by glue, screws, etc. The surface of the first isolation plate 40a is black to absorb more stray light. The second isolation plate 40b is close to the laser receiving component 20 and is fixedly connected to the junction of the first reflector 301 and the second reflector 302 of the rotatable reflector 30. In one implementation scenario, the second isolation plate 40b is made of metal, such as aluminum alloy, steel, etc. In other implementation scenarios, the second isolation plate 40b is made of plastic, such as polyethylene, polyvinyl chloride, etc. The second isolation plate 40b can be fixedly connected to the rotatable reflector 30 by glue, screws, etc. The second isolation plate 40b can also be fixedly connected to the first isolation plate 40a near the junction of the first reflector 301 and the second reflector 302. In one implementation scenario, the second isolation plate 40b can be fixedly connected to the first isolation plate 40a by glue. In another implementation scenario, the second isolation plate 40b and the first isolation plate 4a are provided with consistent screw holes, and then fixedly connected to each other by bolts matching the screw holes. The surface of the second isolation plate 40b is black to absorb more stray light. The third isolation plate 40c is close to the laser receiving assembly 20 and is fixedly connected to the housing 70 of the laser radar 1 that can isolate stray light. The housing 70 may include a mounting mechanism for mounting the laser emitting assembly 10 and the laser receiving assembly 20 and the rotatable reflector 30, and an outer cover for transmitting the emission light beam and the receiving light beam. The surface of the third isolation plate 40c is black to absorb more stray light.

[0020] Among them, the first isolation plate 40a, the second isolation plate 40b, and the third isolation plate 40c are respectively perpendicular to the rotation axis, and the first isolation plate 40a and the third isolation plate 40c are partially stacked. The stacking place of the first isolation plate 40a and the third isolation plate 40c forms at least a part of the stray light isolation part 401. When the rotatable reflector 30 rotates, the first isolation plate 40a and the second isolation plate 40b rotate with the rotatable reflector, and the third isolation plate 40c is relatively stationary.

[0021] See also Figure 2 , Figure 2 for Figure 1 The first isolation plate 40a includes a first end portion 40a1 close to the rotatable reflector and a second end portion 40a2 fixedly connected to the first end portion 40a1 end to end, and the third isolation plate 40c includes a third end portion 40c1 close to the rotatable reflector 30 and a fourth end portion 40c2 fixedly connected to the third end portion 40c1 end to end, and the second end portion 40a2 and the third end portion 40c1 are stacked.

[0022] At least one first groove C is provided on the side of the second end 40a2 facing the laser receiving component 20. The number of the first grooves C is 1, 2, 3, 4, etc. In an implementation scenario, in order to increase the number of times the stray light is reflected, as many first grooves C as possible can be set. In an implementation scenario, in order to increase the number of times the stray light is reflected, the depth of the first groove C is set to be greater than a preset threshold, such as 1 cm, 2 cm, etc. At least one second groove D matching the first groove C is provided on the side of the third end 40c1 facing the laser emitting component 10. The number of the second grooves D is 1, 2, 3, 4, etc. In an implementation scenario, in order to increase the number of times the stray light is reflected, as many second grooves D as possible can be set. In an implementation scenario, in order to increase the number of times the stray light is reflected, the depth of the second groove D is set to be greater than a preset threshold, and the preset threshold can be set according to actual conditions, such as 1 cm, 2 cm, etc. The first groove C is meshed with the second groove D, and the meshing area of ​​the two is defined as the first stray light isolation portion 4011, which is used to isolate the stray light entering the first stray light isolation portion 4011 (see Figure 1 The first groove C and the second groove D are both rectangular.

[0023] See also Figure 3-5 , the first groove C and the second groove D are any one of a rectangle, a triangle, a trapezoid, or a combination of two or more. Figure 3 As shown, the first groove C and the second groove D are both triangular. Figure 4 As shown, the first groove C and the second groove D are both trapezoidal. Figure 5As shown, the first groove C is a rectangle and the second groove D is a triangle. In other implementation scenarios, the first groove C and the second groove D may also be other shapes, such as arcs, etc. This embodiment does not specifically limit the shapes of the first groove C and the second groove D.

[0024] See also Figure 6 , Figure 6 for Figure 1 Schematic diagram of the structure of an embodiment of the second isolation plate 40b in FIG. The second isolation plate 40b includes a fifth end 40b1 close to the rotatable reflector 30 and a sixth end 40b2 vertically fixedly connected to the fifth end 40b1 and away from the rotatable reflector 30. The portion of the sixth end 40b2 extending toward the laser receiving assembly 20 and beyond the third isolation plate 40c is defined as a second stray light isolation portion 4012, which is used to reflect stray light to reduce the energy of the stray light. In one embodiment, in order to reduce as much stray light as possible without reducing the normal received light beam, the height of the second stray light isolation portion 4012 is set to be greater than the first height threshold and less than the second height threshold, and the first height threshold can be set to 0.5 cm, 0.6 cm, 0.7 cm, 0.8 cm, etc. The second height threshold can be set to 1 cm, 1.1 cm, 1.2 cm, 1.3 cm, etc.

[0025] See also Figure 7 , Figure 7 The schematic diagram of the structure of another embodiment of the laser radar 1 capable of isolating stray light of the present application is shown in FIG. The optical axis (dashed line E) of the laser emitting component 10 is parallel to the optical axis (dashed line F) of the laser receiving component 20, and the optical axes of the two are perpendicular to the rotation axis (dashed line G) of the rotatable reflector 30.

[0026] The first reflector 301 includes a first mirror 3011 and a second mirror 3012 that are fixedly connected. The laser emitting assembly 10 is arranged opposite to the first mirror 3011. The emitted light beam H is reflected by the first mirror 3011 and the second mirror 3012 and then emitted to the laser radar 1 that can isolate stray light. In an implementation scenario, the first mirror 3011 and the second mirror 3012 are plane reflectors.

[0027] The second reflector 302 includes a third mirror 3021 close to the second mirror 3012 and a fourth mirror 3022 fixedly connected to the third mirror 3021. The laser receiving assembly 20 is arranged opposite to the fourth mirror 3022. The receiving light beam I is reflected by the third mirror 3021 and the fourth mirror 3022 and then received by the laser receiving assembly 20. In an implementation scenario, the third mirror 3021 and the fourth mirror 3022 are plane reflectors.

[0028] In one implementation scenario, the laser emitting assembly 10 and the laser receiving assembly 20 are fixedly connected to the same mounting mechanism as the rotatable reflector 30 , so that the laser emitting assembly 10 and the laser receiving assembly 20 rotate synchronously with the rotatable reflector 30 .

[0029] Through the above-mentioned implementation, the stray light isolation component 40 of the laser radar 1 that can isolate stray light in the present application is also applicable to the situation where the optical axis E of the laser emitting component 10 and the optical axis F of the laser receiving component 20 are not coaxial. The present application does not limit the specific positions of the optical axis E of the laser emitting component 10 and the optical axis F of the laser receiving component 20 of the laser radar 1 that can isolate stray light.

[0030] 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 laser radar capable of isolating stray light, characterized in that: The laser radar comprises: A laser emitting component and a laser receiving component whose optical axes are arranged relative to each other; A rotatable reflector, comprising a first reflector tilted relative to the optical axis of the laser emitting assembly and a second reflector tilted relative to the optical axis of the laser receiving assembly, wherein the rotatable reflector is located between the laser emitting assembly and the laser receiving assembly, and the rotatable reflector can rotate around its own axis under power drive to change the direction of the emission light beam emitted by the laser emitting assembly; A stray light isolation component is arranged at the junction of the first reflector and the second reflector, dividing the laser radar into a laser emission area and a laser receiving area that are relatively and isolated from each other, wherein the stray light isolation component is provided with a stray light isolation part for eliminating stray light of the emission light beam and the receiving light beam, and the stray light isolation component at least comprises: A first isolation plate is disposed around the junction near the laser emitting assembly and is fixedly connected to the rotatable reflector; The third isolation plate is close to the laser receiving component and fixedly connected to the shell of the laser radar, and the first isolation plate and the third isolation plate are respectively perpendicular to the rotation axis. The first isolation plate and the third isolation plate are partially stacked, and the two are meshed with each other at the stacking point to form at least a part of the stray light isolation part. When the rotatable reflector rotates, the first isolation plate rotates with the rotatable reflector, and the third isolation plate is relatively stationary.

2. The laser radar according to claim 1, characterized in that: The stray light isolation component also includes: a second isolation plate, close to the laser receiving assembly, comprising a fifth end close to the rotatable reflector and a sixth end vertically fixedly connected to the fifth end and away from the rotatable reflector, the second isolation plate being fixedly connected to the junction between the first reflector and the second reflector of the rotatable reflector, or being fixedly connected to the first isolation plate near the junction; The fifth end of the second isolation plate is perpendicular to the rotation axis, and when the rotatable reflector rotates, the second isolation plate rotates along with the rotatable reflector.

3. The laser radar according to claim 1, characterized in that: The first isolation plate comprises a first end portion close to the rotatable reflector and a second end portion fixedly connected to the first end portion end to end, the third isolation plate comprises a third end portion close to the rotatable reflector and a fourth end portion fixedly connected to the third end portion end to end, and the second end portion is stacked with the third end portion; At least one first groove is provided on the side of the second end facing the laser receiving component, and at least one second groove matching the first groove is provided on the side of the third end facing the laser emitting component. The first groove is engaged with the second groove, and the area where the two are engaged is defined as a first stray light isolation portion, which is used to reflect the stray light entering the first stray light isolation portion multiple times to reduce the energy of the stray light.

4. The laser radar according to claim 3, characterized in that: The first groove and the second groove are in the shape of any one of a rectangle, a triangle, and a trapezoid, or a combination of two or more thereof.

5. The laser radar according to claim 3, characterized in that: The surfaces of the first isolation plate and the third isolation plate are black.

6. The laser radar according to claim 2, characterized in that: The portion of the sixth end portion extending toward the laser receiving component and beyond the third isolation plate is defined as a second stray light isolation portion, which is used to reflect the stray light to reduce the energy of the stray light.

7. The laser radar according to claim 6, characterized in that: The surface of the second isolation plate is black.

8. The laser radar according to claim 1, characterized in that: The optical axis of the laser emitting component, the optical axis of the laser receiving component, and the rotation axis of the rotatable reflector are located on the same axis.

9. The laser radar according to claim 1, characterized in that: The optical axis of the laser emitting component is arranged parallel to the optical axis of the laser receiving component, and the optical axis is perpendicular to the rotation axis of the rotatable reflector.

10. The laser radar according to claim 9, characterized in that: The first reflector includes a first mirror and a second mirror that are fixedly connected, the laser emitting assembly is arranged opposite to the first mirror, and the emission light beam is emitted from the laser radar after being reflected by the first mirror and the second mirror; The second reflector includes a third mirror close to the second mirror and a fourth mirror fixedly connected to the third mirror. The laser receiving component is arranged opposite to the fourth mirror. The receiving light beam is received by the laser receiving component after being reflected by the third mirror and the fourth mirror.

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