A hybrid solid-state multi-line laser radar

Abstract

The present invention discloses a hybrid solid-state multi-line laser radar, including a base, a laser window, a laser, a transmitting end MEMS galvanometer, a rotating mirror assembly, a receiving assembly, a receiving end MEMS galvanometer and an APD receiving board. The single-line light beam emitted by the laser is scanned into a multi-line emission light beam through a controlled vibration transmitting end MEMS galvanometer, and the multi-line emission light beam is reflected to the outside of the laser window through the rotating mirror assembly and irradiated to the object to be measured in different directions; the reflected light generated by the object to be measured is injected into the laser window to form a multi-line receiving light beam, and the multi-line receiving light beam is reflected into the receiving assembly through the rotating mirror assembly, and is focused on the synchronously vibrating receiving end MEMS galvanometer, and is finally converted into a single-line light beam after reflection and enters the APD receiving board. Since the MEMS galvanometer can realize the conversion between a single-channel laser and a multi-line laser, only one laser and one APD receiving board can be provided in the entire radar system, which reduces the production cost and shortens the optical path debugging and installation time.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and more specifically, to a hybrid solid-state multi-line laser radar. Background Art

[0002] Multi-line laser radar is a type of laser radar that can detect characteristic quantities such as the position and speed of a target by emitting lasers from multiple lasers.

[0003] During the production and processing of multi-line laser radar, the debugging of laser radar takes a relatively long period of time. The number of laser lines of existing mechanical rotating laser radar is determined by the number of LD chips. Therefore, the more lines a multi-line laser radar has, the higher the production cost and the more difficult it is to debug.

[0004] In summary, how to reduce the production cost of multi-line radar and shorten the debugging cycle is an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a hybrid solid-state multi-line laser radar, which uses a MEMS galvanometer to realize the conversion of single-channel laser and multi-line laser. Therefore, only one laser and one APD receiving board are required, which greatly reduces the production cost and debugging cost, shortens the debugging cycle, and realizes the mass production of laser radar.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A hybrid solid-state multi-line laser radar, comprising a base, a laser window, a laser, a transmitting end MEMS galvanometer, a rotating mirror assembly, a receiving assembly, a receiving end MEMS galvanometer and an APD receiving board;

[0008] The single-line emission light beam emitted by the laser is excited by the vibration of the MEMS galvanometer at the emission end to become a multi-line emission light beam, and is reflected outside the laser window by the rotating mirror assembly;

[0009] The multi-line emission light beam is irradiated to the object to be measured and then reflected as a multi-line receiving light beam. The multi-line receiving light beam is incident on the laser window and then reflected by the rotating mirror assembly to the receiving assembly. The multi-line receiving light beam is focused by the receiving assembly onto the receiving end MEMS galvanometer and then converted into a single-line receiving laser by the receiving end MEMS galvanometer and then received by the APD receiving board.

[0010] The base is provided with a fixed shaft, and the rotating mirror assembly is rotatably connected to the fixed shaft;

[0011] The laser, the transmitting end MEMS galvanometer, the laser window, the receiving component, the receiving end MEMS galvanometer and the APD receiving board are all connected to the base.

[0012] Preferably, it also includes a first shading plate for separating the emission light beam and the receiving light beam, wherein the first shading plate is disposed between the rotating mirror assembly and the laser window, and the first shading plate is located between the emission light beam and the receiving light beam.

[0013] Preferably, the first light shielding plate is horizontally arranged with the base, the first light shielding plate is connected with the base via a connecting column, and the connecting column is perpendicular to the base and the first light shielding plate.

[0014] Preferably, the laser and the transmitting-end MEMS galvanometer are both connected to a first fixing frame, and the first fixing frame is connected to the receiving component.

[0015] Preferably, the APD receiving plate is mounted on an APD bracket, and the APD bracket is mounted on the receiving assembly.

[0016] Preferably, the receiving-end MEMS galvanometer is connected to a second fixing frame, and the second fixing frame is connected to the receiving component.

[0017] Preferably, the rotating mirror assembly comprises a rotating mirror turntable, a rotating mirror reflector, an isolation plate, a bearing, a code disc and a rotating mirror motor for driving the rotating mirror turntable, the rotating mirror turntable is rotatably connected to the fixed shaft through the bearing, and the rotating mirror reflector, the isolation plate and the rotating mirror motor are all connected to the rotating mirror turntable;

[0018] The code disc is coaxially arranged with the rotating mirror turntable so as to obtain the rotation angle of the rotating mirror turntable through the code disc.

[0019] Preferably, the receiving assembly comprises a receiving lens group, a receiving spacer, a pressure ring, a receiving objective lens barrel, a receiving reflector and a reflector fixing frame, and the receiving reflector is connected to the receiving objective lens barrel through the reflector fixing frame;

[0020] The receiving lens group and the pressing ring are sequentially arranged in the receiving lens barrel from the inside to the outside, a receiving spacer is arranged between two adjacent receiving lenses of the receiving lens group, and the optical axes of the three are located on the same straight line.

[0021] When the hybrid solid-state multi-line laser radar provided by the present invention is working, a single-line emission light beam emitted by the laser vibrates to become a multi-line emission light beam after passing through the MEMS galvanometer at the transmitting end, and the multi-line emission light beam is reflected out of the laser window by the rotating mirror assembly; the multi-line emission light beam is irradiated to the object to be detected and then reflected to become a multi-line receiving light beam, and the multi-line receiving light beam is reflected to the receiving assembly by the rotating mirror assembly after passing through the laser window, and is focused by the receiving assembly onto the MEMS galvanometer at the receiving end and converted into a single-line receiving light beam by the MEMS galvanometer at the receiving end, and the APD receiving board receives the single-line receiving light beam and converts the optical signal into an electrical signal.

[0022] The single-line transmitting beam and the multi-line transmitting beam can be collectively referred to as transmitting beams, the single-line receiving beam and the multi-line receiving beam can be collectively referred to as receiving beams, and the transmitting end MEMS galvanometer and the receiving end MEMS galvanometer can be collectively referred to as MEMS galvanometers.

[0023] Since the MEMS galvanometer can realize the conversion of single-channel laser and multi-line laser through high-frequency vibration, only one laser and one APD receiving board can be provided in the present invention. Compared with the design in which the number of lasers and APD receivers in the existing multi-line laser radar is the same as the number of lines, the production cost of the laser radar is greatly reduced.

[0024] At the same time, since there is only one set of laser and APD receiving board, the number of optical paths that need to be debugged and installed is only one, so compared with the existing multi-line laser radar, the optical path debugging and installation time is greatly reduced.

[0025] In addition, since the positions of the laser transmitter and the laser receiver are relatively fixed, the transmission light beam to the outside of the laser window and the reception light beam after entering the laser window are realized through the rotating mirror assembly. Therefore, the optical system as a whole is relatively stable, avoiding the influence of vibration on the optical path in the existing scheme. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0027] Figure 1 A schematic diagram of the structure of a specific embodiment of the hybrid solid-state multi-line laser radar provided by the present invention;

[0028] Figure 2 for Figure 1 A schematic diagram of the main view of the hybrid solid-state multi-line laser radar;

[0029] Figure 3 for Figure 2 A cross-sectional schematic diagram of the hybrid solid-state multi-line laser radar in the AA direction;

[0030] Figure 4 for Figure 1 A top view schematic diagram of the hybrid solid-state multi-line laser radar;

[0031] Figure 5 for Figure 1 A schematic diagram of a main view of a receiving assembly;

[0032] Figure 6 for Figure 5 A schematic cross-sectional view of the receiving assembly in the BB direction;

[0033] Figure 7 for Figure 1 A schematic diagram of the front view of the transfer mirror assembly;

[0034] Figure 8 for Figure 7 Schematic cross-sectional view of the transfer mirror assembly in the main viewing direction.

[0035] Figure 1-8 middle:

[0036] 1 is the housing, 2 is the window pressure ring, 3 is the laser window, 4 is the base, 5 is the APD bracket, 6 is the APD receiving board, 7 is the second shading plate, 8 is the laser, 9 is the first fixing frame, 10 is the transmitting end MEMS galvanometer, 11 is the receiving assembly, 111 is the reflector fixing frame L, 112 is the reflector fixing frame R, 113 is the receiving reflector, 114 is the receiving objective lens barrel, 115 is the pressure ring, 116 is the receiving spacer, 117 is the receiving lens group, 12 is the first shading plate, 13 is the rotating mirror assembly, 131 is the rotating mirror turntable, 132 is the rotating mirror reflector, 133 is the isolation plate, 134 is the code disk, 135 is the rotating mirror motor, 136 is the bearing, 14 is the base PCB, 15 is the cable fixing head, 16 is the second fixing frame, 17 is the receiving end MEMS galvanometer, 18 is the fixed shaft, and 19 is the connecting column. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The core of the present invention is to provide a hybrid solid-state multi-line laser radar, which uses a MEMS galvanometer to realize the conversion of single-channel laser and multi-line laser. Therefore, only one laser and one APD receiving board are required, which greatly reduces the production cost and debugging cost, shortens the debugging cycle, and realizes the mass production of laser radar.

[0039] Please refer to Figure 1-Figure 8 , Figure 1 A schematic diagram of the structure of a specific embodiment of the hybrid solid-state multi-line laser radar provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the main view of the hybrid solid-state multi-line laser radar; Figure 3 for Figure 1 The left side schematic diagram of the hybrid solid-state multi-line laser radar; Figure 4 for Figure 1 A top view schematic diagram of the hybrid solid-state multi-line laser radar; Figure 5 for Figure 1 A schematic diagram of a main view of a receiving assembly; Figure 6 for Figure 5 A schematic cross-sectional view of the receiving assembly at section AA; Figure 7 for Figure 1 A schematic diagram of the front view of the transfer mirror assembly; Figure 8 for Figure 7 Schematic cross-sectional view of the transfer mirror assembly in the main viewing direction.

[0040] The hybrid solid-state multi-line laser radar provided by the present invention comprises a base 4, a laser window 3, a laser 8, a transmitting end MEMS galvanometer 10, a rotating mirror assembly 13, a receiving assembly 11, a receiving end MEMS galvanometer 17 and an APD receiving board 6. The single-line transmitting light beam emitted by the laser 8 is vibrated and excited into a multi-line transmitting light beam by the transmitting end MEMS galvanometer 10, and is reflected to the outside of the laser window 3 by the rotating mirror assembly 13; the multi-line transmitting light beam is irradiated to the object to be measured and then reflected into a multi-line receiving light beam, and the multi-line receiving light beam is incident on the laser window 3 and then reflected to the receiving assembly 11 by the rotating mirror assembly 13, and is focused by the receiving assembly 11 onto the receiving end MEMS galvanometer 17 and is converted into a single-line receiving light beam by the receiving end MEMS galvanometer 17 and then received by the APD receiving board 6; a fixed shaft 18 is provided on the base 4, and the rotating mirror assembly 13 is rotatably connected to the fixed shaft 18; the laser 8, the transmitting end MEMS galvanometer 10, the laser window 3, the receiving assembly 11, the receiving end MEMS galvanometer 17 and the APD receiving board 6 are all connected to the base 4.

[0041] Among them, the transmitting end MEMS galvanometer 10 is used to receive the single-line transmitting light beam emitted by the laser 8, and scan it into a multi-line transmitting light beam through controlled vibration; the rotating mirror assembly 13 is used to reflect the multi-line transmitting light beam to the outside of the laser window 3, and reflect the multi-line receiving light beam injected into the laser window 3 to the receiving assembly 11; the multi-line receiving light beam is a reflected light beam reflected back after the multi-line transmitting light beam is irradiated to the object to be measured; the receiving assembly 11 is used to focus the multi-line receiving light beam onto the receiving end MEMS galvanometer 17; the receiving end MEMS galvanometer 17 vibrates synchronously with the transmitting end MEMS galvanometer 10, and is used to convert the multi-line receiving light beam into a single-line receiving light beam through controlled vibration; the APD receiving board 6 is used to receive the single-line receiving light beam.

[0042] The single-line transmitting beam and the multi-line transmitting beam can be collectively referred to as the transmitting beam, the single-line receiving beam and the multi-line receiving beam can be collectively referred to as the receiving beam, the transmitting end MEMS galvanometer 10 and the receiving end MEMS galvanometer 17 can be collectively referred to as the MEMS galvanometer, which is used to realize the conversion between single-channel laser and multi-line laser through high-frequency vibration.

[0043] It should be noted that, in addition to the above-mentioned structure, the hybrid solid-state multi-line laser radar also includes a shell 1, a base PCB 14 installed on the base 4, and a cable fixing head 15 installed on the shell 1 for fixing external cables. For the connection method, layout method, material and size of the above structures, please refer to the existing technology and will not be repeated here.

[0044] Please refer to Figure 1 The base 4 is connected to the outer shell 1 on all sides, together forming the boundary of the hybrid solid-state multi-line laser radar, isolating the external environment from the internal optical components.

[0045] The shape of the base 4 can be as follows Figure 4 The rectangle shown may be a circle, or any other geometric shape, as long as the requirements for the optical path setting of the internal optical element are met.

[0046] Preferably, please refer to Figure 4 The shape of the base 4 can be set to be square, which is convenient for processing and connection between the shell 1 and the base 4.

[0047] The connection between the base 4 and the housing 1 may be a non-detachable connection, such as welding, or a detachable connection, such as bolt connection.

[0048] The laser window 3 is a passage for the emission light beam and the receiving light beam to enter and exit the hybrid solid-state multi-line laser radar, and the laser window 3 can be set on the housing 1 through the window pressing ring 2. Preferably, the laser window 3 can be connected to the window pressing ring 2 by bolts.

[0049] The shape of the laser window 3 can be any geometric shape. Preferably, the laser window 3 can be set to a rounded rectangle to increase the area of ​​the light beam entrance and exit passage. At the same time, the shape of the rounded rectangle is regular, which is convenient for the processing and manufacturing of the laser window 3. For the material and size selection of the laser window 3, please refer to the prior art and will not be repeated here.

[0050] The laser 8 is used to emit a single-line laser. For the type and power of the laser 8 , please refer to the prior art and will not be described in detail here.

[0051] The transmitting end MEMS galvanometer 10 and the receiving end MEMS galvanometer 17 can respectively convert a single-line beam into a multi-line beam and a multi-line beam into a single-line beam through high-frequency vibration, and the number of lines of the converted multi-line beam is determined according to the needs in actual production. For example, in a specific embodiment, the transmitting end MEMS galvanometer 10 can convert a single-line beam into a 48-line beam through high-frequency vibration.

[0052] The relative position between the laser 8 and the transmitting end MEMS galvanometer 10 is set according to the needs in actual production conditions.

[0053] Preferably, the laser 8 and the transmitting-end MEMS galvanometer 10 can both be connected to a first fixing frame 9, and the first fixing frame 9 is connected to a receiving component 11, so that the positions of the laser 8 and the transmitting-end MEMS galvanometer 10 are determined, thereby fixing the path of the transmitting light beam between the laser 8 and the transmitting-end MEMS galvanometer 10.

[0054] Preferably, the laser 8 and the first fixing frame 9 may be connected by bolts, which has a simple connection method and is convenient for installation and disassembly.

[0055] Preferably, the transmitting end MEMS galvanometer 10 and the first fixing frame 9 can be connected by bolts, and the connection method is simple and convenient for installation and disassembly.

[0056] The receiving assembly 11 is connected to the base 4. Preferably, after the receiving assembly 11 is assembled, it can be connected to the base 4 by bolts, which is simple to connect and easy to install and disassemble.

[0057] The rotating mirror assembly 13 rotates relative to the fixed shaft 18 on the base 4 to achieve two-dimensional scanning of the transmitted light beam and the received light beam.

[0058] The APD receiving board 6 can utilize the avalanche multiplication effect of APD (avalanche photodiode) carriers to amplify the photoelectric signal to improve the sensitivity of detection. The specific structure and size of the APD receiving board 6 can refer to the prior art and will not be repeated here.

[0059] Preferably, the APD receiving board 6 can be installed on the APD bracket 5 , and the APD bracket 5 can be installed on the receiving component 11 .

[0060] Preferably, the APD receiving plate 6 can be bonded to the APD bracket 5, the connection is tight, not easy to fall off, and the connection method is simple.

[0061] Preferably, the receiving-end MEMS galvanometer 17 may be connected to the second fixing frame 16 , and the second fixing frame 16 is connected to the receiving component 11 .

[0062] During operation, the single-line emission light beam emitted by the laser 8 vibrates into a multi-line emission light beam after passing through the MEMS galvanometer 10 at the transmitting end, and the multi-line emission light beam is reflected out of the laser window 3 by the rotating mirror assembly 13; the multi-line receiving light beam reflected back from the object to be measured passes through the laser window 3 and is reflected to the receiving assembly 11 by the rotating mirror assembly 13, and is focused by the receiving assembly 11 to the MEMS galvanometer 17 at the receiving end, and the multi-line receiving light beam is converted into a single-line receiving light beam by the MEMS galvanometer 17 at the receiving end, and the APD receiving board 6 receives the single-line receiving light beam and converts the optical signal into an electrical signal.

[0063] Since the MEMS galvanometer can realize the conversion between single-channel laser and multi-line laser through high-frequency vibration, only one laser 8 and one APD receiving board 6 may be provided in this embodiment. Compared with the existing multi-line laser radar in which the number of lasers 8 and the number of APD receiving boards 6 are the same as the number of lines, the production cost of the laser radar is greatly reduced.

[0064] At the same time, since the laser 8 and the APD receiving board 6 are only one set, the number of optical paths that need to be debugged and installed is only one, so compared with the existing multi-line laser radar, the optical path debugging and installation time is greatly reduced.

[0065] In addition, since the positions of the laser 8 and the APD receiving plate 6 are relatively fixed, the emission of the transmission light beam and the reception of the reception light beam are realized through the rotating mirror assembly 13, so the overall optical system is relatively stable, avoiding the influence of vibration on the optical path in the existing solution.

[0066] On the basis of the above embodiment, in order to separate the emission light beam from the receiving light beam, a first shading plate 12 may be provided between the rotating mirror assembly 13 and the laser window 3, and the first shading plate 12 is located between the emission light beam and the receiving light beam. Figure 4 A first shading plate 12 is arranged between the rotating mirror assembly 13 and the laser window 3 .

[0067] The first light shielding plate 12 is located between the transmitting light beam and the receiving light beam. The first light shielding plate 12 can be arranged parallel to the two light beams, or the first light shielding plate 12 can be arranged obliquely between the two light beams.

[0068] Since the optical paths of the emission light beam and the receiving light beam are parallel and located in different horizontal planes, the present embodiment can completely separate the emission light beam and the receiving light beam by disposing a first light shielding plate 12 therebetween to avoid interference between the two light beams.

[0069] Preferably, the first sunshade 12 and the base 4 may be arranged horizontally, and the first sunshade 12 is connected to the base 4 via a connecting column 19 , and the connecting column 19 and the base 4 and the first sunshade 12 are all perpendicular.

[0070] The number of the connection columns 19 connecting the base 4 and the first light shielding plate 12 and the specific positions of the connection columns 19 are determined according to the fixed positions of the optical elements on the base 4 and the like.

[0071] On the basis of the above embodiments, the structure of the rotating mirror assembly 13 is defined. The rotating mirror assembly 13 may include a rotating mirror turntable 131, a rotating mirror reflector 132, an isolation plate 133, a bearing 136, a code disk 134 and a rotating mirror motor 135 for driving the rotating mirror turntable 131. The rotating mirror turntable 131 is rotatably connected to the fixed shaft 18 via the bearing 136. The rotating mirror reflector 132, the isolation plate 133 and the rotating mirror motor 135 are all connected to the rotating mirror turntable 131. The code disk 134 is coaxially arranged with the rotating mirror turntable 131 so that the rotation speed of the rotating mirror turntable 131 can be obtained through the code disk 134.

[0072] The rotating mirror reflector 132 is vertically installed on the rotating mirror turntable 131. The number of rotating mirror reflectors 132 on the rotating mirror turntable 131 and the installation angle of two adjacent rotating mirror reflectors 132 are determined according to the needs in actual production.

[0073] Preferably, please refer to Figure 4 Two rotating mirror reflectors 132 are vertically connected to the rotating mirror turntable 131, the two rotating mirror emitting mirrors 132 are parallel to each other, and the distance between the two rotating mirror reflectors 132 and the center of the rotating mirror turntable 131 is the same; two isolation plates 133 are respectively installed at the two ends of the length direction of the two rotating mirror reflectors 132, for separating the two rotating mirror emitting mirrors 132.

[0074] Please refer to Figure 6 The mirror motor 135 is sleeved in the inner cavity of the mirror turntable 131, and the bearing 136 is arranged between the mirror turntable 131 and the fixed shaft 18, so the mirror motor 135 can drive the mirror turntable 131 to rotate relative to the fixed shaft 18. Since the fixed shaft 18 is fixedly connected to the base 4, the mirror turntable 131 rotates relative to the base 4. Since the mirror reflector 132 is arranged on the mirror turntable 131, the mirror reflector 132 rotates relative to the base 4, and the incident angle of the transmitting light beam, the receiving light beam and the mirror transmitting mirror 132 can be changed.

[0075] The code disk 134 is a digital encoder for measuring angular displacement, and is connected to the signal of the rotating mirror motor 135. The output power of the rotating mirror motor 135 can be adjusted in real time by feedback through the measured rotation angle of the rotating mirror turntable 131. For the type and size of the code disk 134, please refer to the prior art, which will not be described here.

[0076] When assembling the rotating mirror assembly 13, two rotating mirror transmitting mirrors 132 are installed on both sides of the rotating mirror turntable 131, and the position of the rotating mirror reflecting mirror 132 is fixed by means of isolation plates 133 installed on both sides of the length direction of the rotating mirror reflecting mirror 132, and the isolation plates 133 are fixedly installed on the rotating mirror turntable 131; then the rotating mirror motor 135 and the bearing 136 are respectively installed in the rotating mirror turntable 131.

[0077] After the assembly is completed, the rotating mirror assembly 13 is mounted on the fixed shaft 18 , and the bearing 136 on the top of the rotating mirror turret 131 is fixed.

[0078] The bearing positioning member used to press the bearing 136 at the top end of the rotating mirror assembly 13 to fix the position of the bearing 136 can be a bolt, a pin, or other structures with similar functions.

[0079] Preferably, the fixed shaft 18 can be connected to the base 4 by bolts. For example, in a specific embodiment, the fixed shaft 18 is fixed to the base 4 by four screws, and the four screws are evenly distributed in the circumferential direction of the fixed shaft 18.

[0080] On the basis of the above embodiments, the structure of the receiving component 11 is defined, and the receiving component 11 may include a receiving lens group 117, a receiving spacer 116, a pressure ring 115, a receiving objective lens barrel 114, a receiving reflector 113 and a reflector fixing frame, and the receiving reflector 113 is connected to the receiving objective lens barrel 114 through the reflector fixing frame; the receiving lens group 117 and the pressure ring 115 are sequentially arranged in the receiving objective lens barrel 114 from the inside to the outside, and a receiving spacer 116 is provided between two adjacent receiving lenses of the receiving lens group 117, and the optical axes of the three are located on the same straight line.

[0081] Please refer to Figure 4 , Figure 7 and Figure 8 The reflector fixing frame includes a reflector fixing frame L111 and a reflector fixing frame R112, which are respectively arranged at two adjacent angles of the base 4.

[0082] The receiving lens group 117 is used to focus the multi-line reflected light beam passing through it onto the receiving end MEMS galvanometer 17. The number of receiving lenses in the receiving lens group 117 and their respective shapes need to be determined according to factors such as the distance between the receiving lens group 117 and the receiving end MEMS galvanometer 17 in actual production. In a specific embodiment of the present invention, a total of 4 convex lenses are provided in the receiving lens group 117 and a receiving spacer 116 is provided between two adjacent convex lenses, which work together to focus the multi-line reflected light beam onto the receiving end MEMS galvanometer 17.

[0083] When assembling the receiving component 11, first install the receiving lens group 117 in sequence inside the receiving objective lens barrel 114 and set the receiving spacer 116 between two adjacent receiving lenses, and then install the pressure ring 115 to lock the position of the receiving lens group 117; then connect the two receiving reflectors 113 to the two receiving objective lens barrels 114 through the reflector fixing frame L111 and the reflector fixing frame R112 respectively.

[0084] Preferably, please refer to Figure 4 A second light shielding plate 7 may be provided between the two reflector fixing frames of the receiving assembly 11. When the first light shielding plate 12 and the second light shielding plate 7 are made of the same material, the first light shielding plate 12 and the second light shielding plate 7 may be collectively referred to as a light shielding plate.

[0085] It should be noted that the first and second in the first shading plate 12 and the second shading plate 7 and the first fixing frame 9 and the second fixing frame 16 mentioned in the present application document are only used to distinguish the difference in position and do not contain any limitation on the order.

[0086] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0087] The hybrid solid-state multi-line laser radar provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A hybrid solid-state multi-line laser radar, characterized in that: It comprises a base (4), a laser window (3), a laser (8), a transmitting end MEMS galvanometer (10), a rotating mirror assembly (13), a receiving assembly (11), a receiving end MEMS galvanometer (17) and an APD receiving board (6); The single-line emission light beam emitted by the laser (8) is excited by the vibration of the emission-end MEMS galvanometer (10) to become a multi-line emission light beam, and is reflected to the outside of the laser window (3) by the rotating mirror assembly (13); The multi-line emission light beam is irradiated onto the object to be measured and then reflected as a multi-line receiving light beam. The multi-line receiving light beam is incident on the laser window (3) and then reflected onto the receiving component (11) by the rotating mirror component (13). The multi-line receiving light beam is focused onto the receiving end MEMS galvanometer (17) by the receiving end MEMS galvanometer (17) and then converted into a single-line receiving light beam by the receiving end MEMS galvanometer (17) and then received by the APD receiving board (6). The base (4) is provided with a fixed shaft (18), and the rotating mirror assembly (13) is rotatably connected to the fixed shaft (18); The laser (8), the transmitting end MEMS galvanometer (10), the laser window (3), the receiving component (11), the receiving end MEMS galvanometer (17) and the APD receiving board (6) are all connected to the base (4); The receiving assembly (11) comprises a receiving lens group (117), a receiving spacer (116), a pressure ring (115), a receiving objective lens barrel (114), a receiving reflector (113) and a reflector fixing frame, wherein the receiving reflector (113) is connected to the receiving objective lens barrel (114) via the reflector fixing frame; The reflector fixing frame comprises a reflector fixing frame L (111) and a reflector fixing frame R (112), wherein the reflector fixing frame L (111) and the reflector fixing frame R (112) are respectively arranged at two adjacent angles of the base (4), and a second light shielding plate (7) is arranged between the two reflector fixing frames; The receiving lens group (117) and the pressing ring (115) are arranged in sequence from the inside to the outside in the receiving lens barrel (114), a receiving spacer (116) is arranged between two adjacent receiving lenses of the receiving lens group (117), and the optical axes of the three are located on the same straight line.

2. The hybrid solid-state multi-line laser radar according to claim 1, characterized in that: It also includes a first shading plate (12) for separating the emission light beam and the receiving light beam, wherein the first shading plate (12) is arranged between the rotating mirror assembly (13) and the laser window (3), and the first shading plate (12) is located between the emission light beam and the receiving light beam.

3. The hybrid solid-state multi-line laser radar according to claim 2, characterized in that: The first shading plate (12) and the base (4) are arranged horizontally, the first shading plate (12) is connected to the base (4) via a connecting column (19), and the connecting column (19) and the base (4) and the first shading plate (12) are all perpendicular.

4. The hybrid solid-state multi-line laser radar according to claim 3, characterized in that: The laser (8) and the transmitting end MEMS galvanometer (10) are both connected to a first fixing frame (9), and the first fixing frame (9) is connected to the receiving component (11).

5. The hybrid solid-state multi-line laser radar according to claim 4, characterized in that: A housing (1) is mounted on the base (4), and a window pressing ring (2) for mounting the laser window (3) is provided on the housing (1).

6. The hybrid solid-state multi-line laser radar according to claim 5, characterized in that: The APD receiving plate (6) is mounted on the APD bracket (5), and the APD bracket (5) is mounted on the receiving component (11).

7. The hybrid solid-state multi-line laser radar according to claim 6, characterized in that: The receiving end MEMS oscillator (17) is connected to a second fixing frame (16), and the second fixing frame (16) is connected to the receiving component (11).

8. The hybrid solid-state multi-line laser radar according to any one of claims 1 to 7, characterized in that: The rotating mirror assembly (13) comprises a rotating mirror turntable (131), a rotating mirror reflector (132), an isolation plate (133), a bearing (136), a code disc (134), and a rotating mirror motor (135) for driving the rotating mirror turntable (131); the rotating mirror turntable (131) is rotatably connected to the fixed shaft (18) via the bearing (136); the rotating mirror reflector (132), the isolation plate (133), and the rotating mirror motor (135) are all connected to the rotating mirror turntable (131); The code disc (134) is coaxially arranged with the rotating mirror turntable (131), so that the rotation angle of the rotating mirror turntable (131) can be obtained through the code disc (134).

Images