A single-line lidar

Abstract

The present invention discloses a single-line lidar, comprising: a transmitting component for emitting a laser beam, a light-passing component for allowing the laser beam emitted by the transmitting component to pass through, and a receiving component for receiving the laser after being reflected by an external object. The light-emitting side of the transmitting component and the light-incident side of the receiving component are located on both sides of the light-passing component and are relatively separated, and the laser beam emitted by the transmitting component and the laser received by the receiving component do not interfere with each other. By completely separating the transmission and reception, the transmitted light and the received light do not interfere with each other, so there is no risk of the transmitted light leaking to the reception, preventing the impact on the survey of the lidar. Moreover, compared with the traditional structure, the receiving lens of the present invention does not need to be perforated, so its size can be made smaller.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and particularly to a single-line lidar. Background Art

[0002] Lidar has excellent performance in fields such as map construction, obstacle avoidance, and ranging, and is widely used in industries such as robots, AGVs (logistics handling), and driverless. Currently, most lidars produced by lidar companies at home and abroad use pulse TOF (time-of-flight ranging method) for ranging, and the lidars mostly use the structural methods of parallel axes and coaxial axes. In coaxial lidars, generally, the emission and reception are on the same side. A laser emitter is placed by opening a hole at the receiving lens, and a receiving detector is placed behind the emitter. For example, a lidar disclosed in Publication No. CN110058253A. This structure greatly wastes the aperture of the receiving lens. Moreover, when the detection distance becomes farther and the receiving aperture needs to be increased, the receiving lens will become very large, thus increasing the cost and the processing difficulty. Also, since the emission and reception are in the same direction, it increases the risk of leakage of the emitted light to the reception. Summary of the Invention

[0003] The object of the present invention is to overcome the deficiencies of the prior art and provide a single-line lidar that completely separates the two beams of emitted light and incident light without interference with each other.

[0004] The technical solution of the present invention is as follows: A single-line lidar includes: a transmitting component for emitting a laser beam, a light-passing component for allowing the laser beam emitted by the transmitting component to pass through, and a receiving component for receiving the laser reflected by an external object;

[0005] The light-emitting side of the transmitting component and the light-incident side of the receiving component are located on both sides of the light-passing component and are relatively separated, and the laser beam emitted by the transmitting component and the laser received by the receiving component do not interfere with each other.

[0006] Further, the single-line lidar of the present invention further includes a first reflecting component and a second reflecting component. The first reflecting component is located on the light-emitting side of the transmitting component and is used to reflect the laser beam emitted by the transmitting component to the light-passing component. The second reflecting component is used to reflect the outgoing light coming from the light-passing component and reflect the laser coming from the outside to the receiving component.

[0007] Further, the single-line lidar of the present invention further includes a third reflecting component, and the third reflecting component is used to reflect the light reflected by the second reflecting component to the receiving component.

[0008] Further, the single-line lidar of the present invention further includes a transmitting lens for collimating the outgoing light emitted by the transmitting component. The transmitting lens is disposed at the incident end of the light-passing component, and the collimated outgoing light passes through the center of the light-passing component.

[0009] Furthermore, this single-line lidar further includes a rotating assembly for driving the second reflection assembly to rotate.

[0010] Furthermore, this single-line lidar further includes a receiving lens, which is located on the light incident side of the receiving assembly and is used to converge the received light to the receiving assembly.

[0011] Furthermore, the light passing component includes a light passing cylinder and an L-shaped tube, and the light passing cylinder is tightly connected to the L-shaped tube.

[0012] Furthermore, the second reflection assembly is located at the bent portion of the L-shaped tube, and the light passing cylinder passes through the middle of the third reflection assembly.

[0013] Furthermore, this single-line lidar further includes an infrared cover and a base. The infrared cover is located at the top of the single-line lidar, and the base is located at the bottom of the single-line lidar.

[0014] Furthermore, this single-line lidar further includes a bracket for fixing the rotating assembly.

[0015] Adopting the above solution, the present invention has the following beneficial effects:

[0016] 1. This lidar completely separates the transmission and reception, and the transmitted light and the received light do not interfere with each other. Therefore, there is no risk of the transmitted light leaking to the reception, preventing the detection result of the lidar from being affected.

[0017] 2. Compared with the traditional structure, this receiving lens does not need to be perforated, so its size can be made smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the present invention.

[0019] Figure 2 is a cross-sectional view of the present invention.

[0020] Figure 3 is a schematic diagram of the internal partial structure of the present invention.

[0021] Figure 4 is a schematic structural diagram of the light passing component and the second reflection assembly of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Please refer to Figures 1 to 3, the present invention provides a single-line lidar, comprising: a transmitting assembly 1 for emitting a laser beam, a light-passing assembly 2 for allowing the laser beam emitted by the transmitting assembly 1 to pass through, and a receiving assembly 3 for receiving the laser reflected by an external object. The light-emitting side of the transmitting assembly 1 and the light-incident side of the receiving assembly 3 are located on both sides of the light-passing assembly 2 and are relatively separated, and the laser beam emitted by the transmitting assembly 1 and the laser received by the receiving assembly 3 do not interfere with each other. Specifically, the laser beam emitted by the transmitting assembly 1 enters the incident end of the light-passing assembly 2, and then is emitted from the exit end of the light-passing assembly 2. The emitted laser is reflected by an external object and then returns to the receiving assembly 3 of the lidar, and the receiving assembly 3 analyzes and calculates the azimuth of the external object and the distance from the lidar ( Figure 1 where 100 in is the path of the emitted light, and 200 is the path of the received light). Since the transmitting assembly 1 and the receiving assembly 3 are located on both sides of the lidar, and the light emitted by the transmitting assembly 1 must pass through the light-passing assembly 2 before being emitted, the light-passing assembly 2 isolates the emitted light inside, so the light emitted by the transmitting assembly 1 and the light received by the receiving assembly 3 do not interfere with each other, thereby preventing the light emitted by the transmitting assembly 1 from leaking and accidentally entering the receiving assembly 3, and preventing it from affecting the calculation of the receiving assembly 3.

[0024] The single-line lidar provided by the present invention further includes a transmitting lens 4 for collimating the emitted light emitted by the transmitting assembly 1. The transmitting lens 4 is provided at the incident end of the light-passing assembly 2, and the light emitted by the transmitting assembly 1 passes through the center of the light-passing assembly 2 after being collimated by the transmitting lens 4.

[0025] The single-line lidar provided by the present invention further includes a first reflecting assembly 5 and a second reflecting assembly 6. The first reflecting assembly 5 is located on the light-emitting side of the transmitting assembly 1 and is used for reflecting the laser beam emitted by the transmitting assembly 1 to the light-passing assembly 2. The second reflecting assembly 6 is used for reflecting the emitted light coming from the light-passing assembly 2 and reflecting the laser coming from the outside to the receiving assembly 3.

[0026] Specifically, in this embodiment, the light emitted by the transmitting assembly 1 is parallel to the horizontal direction, and the incident light at the incident end of the light-passing assembly 2 is parallel to the vertical direction. Therefore, the first reflecting assembly 5 forms a 45° angle with both the horizontal direction and the vertical direction. The horizontally emitted light from the transmitting assembly 1 is reflected by the first reflecting assembly 5 and then enters the light-passing assembly 2 in the vertical direction. The second reflecting assembly 6 is located above the first reflecting assembly 5, and the second reflecting assembly 6 forms a 45° angle with both the horizontal direction and the vertical direction. The vertically incident light at the incident end of the light-passing assembly 2 is reflected by the second reflecting assembly 6 and then emitted in the horizontal direction. The emitted light is reflected by an external object and then reflected back to the receiving assembly 3 by the second reflecting assembly 6.

[0027] The single-line lidar provided by the present invention further includes a third reflection component 7, which is used to reflect the light reflected by the second reflection component 6 to the receiving component 3. Specifically, a small hole is provided in the middle of the third reflection component 7, and the light passing component 2 passes through the hole in the middle of the third reflection component 7. The external light reflected by the second reflection component 6 is reflected by the third reflection component 7 and then enters the receiving component 3.

[0028] This single-line lidar further includes a rotating component 8 for driving the second reflection component 6 to rotate, which is used to adjust the emission direction of the laser. The rotating component 8 includes: a code disk 81, a motor 82 for driving the second reflection component 6 and the code disk 81 to rotate, and an optocoupler 83 for detecting the rotation angle of the code disk 81. The optocoupler 83 is vertically arranged and perpendicular to the plane where the code disk 81 is located. There is an origin marking part on the code disk 81. When the origin marking part is directly opposite to the optocoupler 83, the optocoupler 83 can identify that the second reflection component 6 and the code disk 81 are in the initial position. When the second reflection component 6 rotates, the optocoupler 83 can cooperate with the counting holes on the code disk 81 to judge the emission direction of the light emitted by the second reflection component 6, so as to assist the lidar in identifying the rotation angle of the motor 82, and further identify the orientation of external obstacles.

[0029] Please refer to Figure 4 , the light passing component 2 includes a light passing cylinder 21 and an L-shaped tube 22, and the light passing cylinder 21 is tightly connected to the L-shaped tube 22. The light passing cylinder 21 and the L-shaped tube 22 are cylindrical. The L-shaped tube 22 includes a horizontal tube 221 and a vertical tube 222. The vertical tube 222 is the incident end of the L-shaped tube 22, and the horizontal tube 221 is the outgoing end of the L-shaped tube 22. The light collimated by the emission lens 4 is in the same direction as the length direction of the vertical tube 222. The second reflection component 6 forms a 45° angle with both the length directions of the vertical tube 222 and the horizontal tube 221. After the light collimated by the emission lens 4 enters the vertical tube 222 and is reflected by the second reflection component 6, the propagation direction of the light is flipped by 90° and emitted in the horizontal direction. There is a cut at the connection between the vertical tube 222 and the horizontal tube 221, and the second lens 6 is arranged at this cut. The axis of the rotating output shaft of the rotating component 8 is also in the same direction as the length direction of the vertical tube 222. Therefore, when the rotating component 8 drives the second reflection component 6 and the light passing component 2 to rotate, the light emission direction of the light passing component 2 can also rotate 360° in the horizontal plane to detect obstacles in all directions.

[0030] The single-line lidar provided by the present invention further includes a receiving lens 9, which is located on the light incident side of the receiving component 3 and is used to converge the received light to the receiving component 3. Compared with the traditional structure, the receiving lens 9 in this lidar does not need to be perforated, so its size can be made smaller, and making it aspherical can better converge light.

[0031] This single-line lidar further includes an infrared cover 10 and a base 11. The infrared cover 10 is located at the top of the single-line lidar, and the base 11 is located at the bottom of the single-line lidar. The infrared cover 10 and the base 11 are fixedly connected. The infrared cover 10 is made of a light-transmitting material and covers the periphery of the rotating assembly 8 and the second reflecting assembly 6, which can protect the rotating assembly 8 and the second reflecting assembly 6, and can also allow light to be transmitted and received through the infrared cover 10 while filtering most of the interfering light. The base cover 11 covers the periphery of the transmitting assembly 1 and the receiving assembly 3, playing a protective role.

[0032] This single-line lidar further includes a bracket 12 that fixes the rotating assembly 8 and the second reflecting assembly 6.

[0033] Adopting the above solution, the present invention has the following beneficial effects:

[0034] 1. In this lidar, the transmission and reception are completely separated, and the transmitted light and the received light do not interfere with each other. Therefore, there is no risk of the transmitted light leaking to the reception, preventing the influence on the lidar survey.

[0035] 2. Compared with the traditional structure, this receiving lens does not need to be perforated, so its size can be made smaller.

[0036] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A single-line lidar, characterized in that, Comprising: A transmitting component for emitting a laser beam, a light-transmitting component for allowing the laser beam emitted by the transmitting component to pass through, and a receiving component for receiving the laser after being reflected by an external object; The light-emitting side of the transmitting component and the light-incident side of the receiving component are located on both sides of the light-transmitting component and are relatively separated, and the laser beam emitted by the transmitting component and the laser received by the receiving component do not interfere with each other; It further includes a first reflecting component and a second reflecting component. The first reflecting component is located on the light-emitting side of the transmitting component and is used to reflect the laser beam emitted by the transmitting component to the light-transmitting component. The second reflecting component is used to reflect the outgoing light coming from the light-transmitting component and reflect the laser coming from the outside to the receiving component; It further includes a third reflecting component, and the third reflecting component is used to reflect the light reflected by the second reflecting component to the receiving component; It further includes a transmitting lens for collimating the outgoing light emitted by the transmitting component. The transmitting lens is arranged at the incident end of the light-transmitting component, and the collimated outgoing light passes through the center of the light-transmitting component; It further includes a rotating component for driving the second reflecting component to rotate; The light-transmitting component includes a light-transmitting cylinder and an L-shaped tube, and the light-transmitting cylinder is tightly connected to the L-shaped tube; The second reflecting component is located at the bend of the L-shaped tube, and the light-transmitting cylinder passes through the middle of the third reflecting component.

2. The single-line lidar according to claim 1, wherein It further includes a receiving lens, and the receiving lens is located on the light-incident side of the receiving component and is used to converge the received light to the receiving component; 3. The single-line lidar according to claim 1, wherein It further includes an infrared cover and a base. The infrared cover is located at the top of the single-line lidar, and the base is located at the bottom of the single-line lidar.

4. The single-line lidar according to claim 1, characterized in that, It further includes a bracket, and the bracket fixes the rotating component.

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