High-precision laser radar light path device

Abstract

The utility model provides a high-precision laser radar light path device, which comprises a transmitting assembly, a reflecting mirror assembly, a scanning assembly, a reference point part and a receiving assembly, the transmitting assembly, the reflecting mirror assembly and the scanning assembly are sequentially arranged along a light path, and the reference point part is located in a scanning area of the scanning assembly. A laser beam sequentially passes through the reflector assembly and the scanning assembly along a light path, the scanning assembly adjusts the emitting direction of the laser beam and reflects the laser beam to the reference point component or the to-be-detected target, the reference point component or the to-be-detected target reflects the laser beam back to the scanning assembly, the scanning assembly reflects the laser beam to the receiving assembly, and the receiving assembly receives the laser beam. The signal is received by the receiving component; by measuring the optical signal transmission time of the reference point component in different environments, the compensation value of the corresponding environmental error is obtained, and the detection result of the to-be-detected target is compensated through the compensation value, so that the detection precision is improved on the premise of low cost.

Description

Technical Field

[0001] The utility model relates to the technical field of optical devices, and in particular to a high-precision laser radar optical path device. Background Art

[0002] LiDAR scanners and laser rangefinders are high-precision optomechanical integrated products that are widely used in a variety of scenarios. The basic components of existing laser rangefinders include transmitting light sources, receiving detectors, transmitting lens groups, receiving lens groups, scanning components, and hardware control circuits. There are many components, and the debugging and assembly process is complicated. The overall system error of the module is relatively large, resulting in poor scanning and ranging accuracy of the module.

[0003] The existing solutions mainly consider two aspects. One is to improve the processing accuracy of each component, so that each component has a better matching accuracy, and to a certain extent improve the system test accuracy. The other is to improve the requirements for optical path design, optimize the aberration of the optical system, make the divergence angle of the output light spot as small as possible, and make it easier to achieve long-distance target detection and obtain better optical path coupling efficiency and test accuracy. However, this will greatly reduce the efficiency of debugging and assembly, and greatly increase the difficulty of coupling packaging. At the same time, these two methods have limited improvement on the overall test accuracy of the module. On the contrary, due to the increase in the requirements for optical path design and raw material processing, the difficulty of coupling assembly and the cost of raw materials will increase.

[0004] In view of this, overcoming the defects of the prior art is an urgent problem to be solved in the field of this technology. Utility Model Content

[0005] The problem to be solved by the utility model is how to improve the measurement accuracy of the distance measuring device on the basis of avoiding increasing the assembly difficulty and coupling difficulty of the distance measuring device.

[0006] In a first aspect, a high-precision laser radar optical path device is provided, comprising: a transmitting component 1, a reflector component 2, a scanning component 3, a reference point component 4 and a receiving component 5, wherein the relative distance between the scanning component 3 and the reference point component 4 remains unchanged;

[0007] The transmitting component 1, the reflector component 2 and the scanning component 3 are arranged in sequence along the optical path, and the reference point component 4 is located in the scanning area of ​​the scanning component 3;

[0008] The reflector assembly 2 is used to reflect the laser beam emitted by the emitting assembly 1 to the scanning assembly 3;

[0009] The scanning component 3 is used to adjust the emission direction of the laser beam and reflect the laser beam to the reference point component 4 or the target to be detected 6; the scanning component 3 is used to reflect the laser beam reflected by the reference point component 4 or the target to be detected 6 to the receiving component 5;

[0010] The distance measurement result of the target to be detected 6 is compensated based on the distance measurement result of the reference point component 4 .

[0011] Preferably, the reference point component 4 comprises: a first reflection surface 41 and a second reflection surface 42, wherein:

[0012] The first reflecting surface 41 and the second reflecting surface 42 are arranged at a first preset angle;

[0013] The first reflection surface 41 is used to reflect the laser beam from the scanning component 3 to the second reflection surface 42;

[0014] The second reflection surface 42 is used to reflect the laser beam from the first reflection surface 41 to the scanning component 3 .

[0015] Preferably, the scanning assembly 3 comprises: a reflective turntable 31 and a mirror base 32, wherein:

[0016] The mirror base 32 is provided with a rotating shaft 35, the reflecting turntable 31 is sleeved on one end of the rotating shaft 35, and the other end of the rotating shaft 35 is connected to the output shaft of the motor. The rotating shaft 35 is used to drive the reflecting turntable 31 to rotate under the drive of the motor;

[0017] The reflection turntable 31 is provided with a reflection bevel 311 , and the reflection bevel 311 forms a second preset angle with the bottom surface of the reflection turntable 31 . The reflection bevel 311 is used to reflect the received laser beam.

[0018] Preferably, the scanning component 3 further includes an optical code disk 33 and a photoelectric reader 34, wherein:

[0019] The optical code disk 33 is sleeved on the rotating shaft 35 , and the photoelectric reader 34 is disposed on the lens seat 32 and is located at the periphery of the optical code disk 33 ;

[0020] The optical code disk 33 is used to rotate synchronously with the reflective turntable 31 , and the photoelectric reading head 34 is used to read the rotation angle of the optical code disk 33 .

[0021] Preferably, the photoelectric reader 34 includes a light emitting portion 341, a light receiving portion 342 and a connecting portion 343, wherein:

[0022] The light receiving portion 342 is disposed on the mirror seat 32 and extends to below the optical code disk 33;

[0023] The connecting portion 343 is disposed at the upper end of the light receiving portion 342 and is located at the periphery of the optical code disk 33;

[0024] The light emitting portion 341 is located at the upper end of the connecting portion 343 and extends to the upper part of the optical code disk 33;

[0025] The light emitting portion 341 is used to emit a light beam to the light receiving portion 342 , and the light receiving portion 342 is used to obtain the rotation angle of the optical code disk 33 according to the reception condition of the light beam.

[0026] Preferably, the optical code disk 33 is provided with a plurality of light-shielding portions and a plurality of light-transmitting portions, and the light-shielding portions and the light-transmitting portions are alternately arranged;

[0027] When the light shielding portion is located between the light emitting portion 341 and the light receiving portion 342 , the light beam emitted by the light emitting portion 341 is blocked by the light shielding portion;

[0028] When the light-transmitting portion is located between the light-emitting portion 341 and the light-receiving portion 342 , the light beam emitted by the light-emitting portion 341 passes through the light-transmitting portion and is received by the light-receiving portion 342 .

[0029] When the optical code disk 33 rotates, the light receiving portion 342 is used to alternately receive the light beam and generate an electrical pulse signal, and the rotation angle of the optical code disk 33 is obtained according to the number of the generated pulse signals.

[0030] Preferably, the receiving component 5 comprises: a receiving detector 51, a receiving lens 52 and a filter 53, wherein:

[0031] The filter 53 is disposed above the scanning component 3 and is used to filter the laser beam reflected by the scanning component 3;

[0032] The receiving lens 52 is disposed above the filter 53 and is used to focus the laser beam reflected by the scanning component 3;

[0033] The receiving detector 51 is located above the receiving lens 52 , and the central axis of the receiving detector 51 coincides with the central axis of the receiving lens 52 . The receiving detector 51 is used to receive the laser beam focused by the receiving lens 52 .

[0034] Preferably, the receiving detector 51 is also provided with a temperature control module;

[0035] The temperature control module is a TEC chip, and the TEC chip is used to control the temperature of the APD chip on the receiving detector 51 .

[0036] Preferably, the reflector assembly 2 includes a first reflector 21 and a second reflector 22, and the first reflector 21 and the second reflector 22 are arranged in sequence along the optical path; the first reflector 21 is used to reflect the laser beam emitted by the emitting assembly 1 to the second reflector 22, and the second reflector 22 is used to reflect the laser beam to the scanning assembly 3.

[0037] The utility model provides a high-precision laser radar optical path device, comprising: a transmitting component 1, a reflector component 2, a scanning component 3, a reference point component 4 and a receiving component 5, the transmitting component 1, the reflector component 2 and the scanning component 3 are arranged in sequence along the optical path, the reference point component 4 is located in the scanning area of ​​the scanning component 3, the laser beam passes through the reflector component 2 and the scanning component 3 in sequence along the optical path, the scanning component 3 adjusts the emission direction of the laser beam, reflects the laser beam to the reference point component 4 or the target 6 to be detected, the reference point component 4 or the target 6 to be detected reflects the laser beam back to the scanning component 3, the scanning component 3 reflects the laser beam to the receiving component 5, and is received by the receiving component 5; by measuring the optical signal transmission time for the reference point component 4 in different environments, the corresponding environmental error compensation value is obtained, and the detection result of the target 6 to be detected is compensated by the compensation value, without the need to perform higher-precision processing on each component, thereby improving the detection accuracy at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the utility model 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 some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of the structure of a high-precision laser radar optical path device provided by an embodiment of the utility model when the scanning component is directed toward the reference point component;

[0040] Figure 2 A schematic diagram of the structure of a high-precision laser radar optical path device provided by an embodiment of the utility model when measuring a target to be detected;

[0041] Figure 3 A schematic diagram of the structure of another high-precision laser radar optical path device provided by an embodiment of the utility model when the scanning component is facing the reference point component;

[0042] Figure 4 A schematic diagram of the structure of another high-precision laser radar optical path device provided by an embodiment of the utility model when measuring a target to be detected;

[0043] Figure 5 A schematic diagram of the structure of a scanning component of a high-precision laser radar optical path device provided by an embodiment of the utility model;

[0044] Figure 6 A schematic diagram of the structure of another high-precision laser radar optical path device provided by an embodiment of the utility model when the scanning component is directed toward the reference point component;

[0045] The accompanying drawings are numbered as follows:

[0046] Transmitting component 1; laser 11; transmitting lens 12; reflector component 2; first reflector 21; second reflector 22; scanning component 3; reflecting turntable 31; reflecting bevel 311; mirror base 32; optical code disk 33; photoelectric reader 34; light emitting part 341; light receiving part 342; connecting part 343; rotating shaft 35; reference point component 4; first reflecting surface 41; second reflecting surface 42; receiving component 5; receiving detector 51; receiving lens 52; filter 53; target to be detected 6. DETAILED DESCRIPTION

[0047] In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "upper", "lower", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0048] The terms "first", "second", etc. in this utility model are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this utility model, unless otherwise specified, "plurality" means two or more.

[0049] In the present invention, unless otherwise specified or limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, the term "coupling" can be a way of achieving electrical connection for signal transmission.

[0050] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0051] Embodiment 1:

[0052] Embodiment 1 of the present utility model provides a high-precision laser radar optical path device, such as Figure 1 As shown, it includes: a transmitting component 1, a reflector component 2, a scanning component 3, a reference point component 4 and a receiving component 5, wherein:

[0053] by Figure 1 Taking the viewing angle as an example, the transmitting component 1, the reflector component 2 and the scanning component 3 are sequentially arranged along the optical path, and the reference point component 4 is located in the scanning area of ​​the scanning component 3. The physical position of the reference point component 4 relative to the scanning component 3 is fixed.

[0054] In this embodiment, the transmitting component 1 is used to transmit a laser beam through a semiconductor laser, and to collimate and filter the laser beam, so as to meet the subsequent transmission requirements of the laser beam; the reflector component 2 includes multiple reflectors, and the laser beam emitted by the transmitting component 1 needs to be reflected multiple times by multiple reflectors so that the reflected laser beam can reach the scanning component 3; the receiving component 5 is used to focus the laser beam and then receive it.

[0055] like Figure 1 and Figure 2 As shown, the reflector assembly 2 is used to reflect the laser beam emitted by the transmitting assembly 1 to the scanning assembly 3; the scanning assembly 3 is used to adjust the emission direction of the laser beam and reflect the laser beam to the reference point component 4 or the target to be detected 6; the scanning assembly 3 is used to reflect the laser beam reflected back from the reference point component 4 or the target to be detected 6 to the receiving assembly 5.

[0056] The distance measurement result of the target to be detected 6 is compensated based on the distance measurement result of the reference point component 4 .

[0057] In this embodiment, the high-precision laser radar optical path device can be a ranging device, in which the laser beam emitted by the transmitting component 1 reaches the scanning component 3 after passing through the reflector component 2, wherein the components on the scanning component 3 can rotate, thereby adjusting the reflection direction of the laser beam by the scanning component 3, and by rotating the components on the scanning component 3, the reflection direction of the laser beam is aligned with the target 6 to be detected or the reference point component 4, so that the scanning component 3 reflects the laser beam to the target 6 to be detected or the reference point component 4, and the target 6 to be detected or the reference point component 4 then reflects the laser beam back to the scanning component 3, and the scanning component 3 reflects the laser beam to the receiving component 5.

[0058] In this embodiment, the target to be detected 6 is a target object that needs to be measured outside the high-precision laser radar optical path device. The distance between the target to be detected 6 and the high-precision laser radar optical path device can be measured by the high-precision laser radar optical path device; since the transmission speed of light is constant, the distance between the target to be detected 6 and the distance measuring device can be calculated by subtracting the time interval between the laser beam being emitted and the laser beam being received from the time interval between the laser beam being emitted and the laser beam being received. However, due to the influence of external environmental factors, the transmission of the laser beam will be affected. The transmission time of the laser beam may be different under different environments for the same distance, resulting in errors in the final distance measurement result and insufficient measurement accuracy. Therefore, the high-precision laser radar optical path device provided in this embodiment is also provided with a reference point component 4 for accuracy compensation of distance measurement.

[0059] The reference point component 4 is arranged inside the high-precision laser radar optical path device. The reference point component 4 can be arranged on the inner side wall of the entire device housing to ensure that the reference point component 4 is located in the scanning area of ​​the scanning component 3, and at the same time ensure that the relative distance between the reference point component 4 and the scanning component 3 remains unchanged, that is, by adjusting the scanning component 3, the scanning component 3 can reflect the laser beam to the reference point component 4. Before actually measuring the distance, the scanning component 3 is first aligned with the reference point component 4 in a standard environment (that is, an environment where no error will be generated in theory or the error generated can be ignored), and the transmission time of the laser beam corresponding to the reference point component 4 at this time is measured, and the transmission time is used as the standard transmission time; then, in the environment where the target 6 to be detected is located, the transmission time of the laser beam corresponding to the reference point component 4 at this time is measured, and the transmission time is used as the reference transmission time. The reference transmission time is subtracted from the standard transmission time to obtain the compensated transmission time; then, the transmission time of the laser beam is measured for the target 6 to be detected in this environment, and the measurement result of the target 6 to be detected is added with the compensated transmission time, so that a more accurate measurement result after compensation can be obtained. The specific compensation method is the existing technology and will not be elaborated on here.

[0060] Regarding the reflector assembly 2, considering the integration of the entire device, it is difficult for the laser beam emitted by the emitting assembly 1 to be directly aimed at the scanning assembly 3. Therefore, one or more reflectors are required to reflect the laser beam multiple times so that the reflected laser beam can reach the scanning assembly 3. This embodiment provides a preferred solution:

[0061] like Figure 3 As shown, the reflector assembly 2 includes a first reflector 21 and a second reflector 22, and the first reflector 21 and the second reflector 22 are sequentially arranged along the optical path; the first reflector 21 is used to reflect the laser beam emitted by the emitting assembly 1 to the second reflector 22, and the second reflector 22 is used to reflect the laser beam to the scanning assembly 3. The reflective surfaces of the first reflector 21 and the second reflector 22 are arranged opposite to each other, and the reflective surfaces of the first reflector 21 and the second reflector 22 are parallel to each other.

[0062] It should be noted that this embodiment does not limit the number of reflectors in the reflector assembly 2. According to the positions of the transmitting assembly 1 and the scanning assembly 3 in actual situations, reflectors of different numbers and positions can be set to ensure that the laser beam emitted by the transmitting assembly 1 can reach the scanning assembly 3.

[0063] In this embodiment, since the reference point component 4 needs to receive the laser beam from the scanning component 3 and reflect it back to the scanning component 3, the scanning component 3 then reflects the laser beam to the receiving component 5, but in this embodiment, the second reflector 22 is located between the scanning component 3 and the receiving component 5. If the reference point component 4 directly reflects the laser beam from the scanning component 3 back to the scanning component 3 according to the original optical path, then the laser beam reflected by the scanning component 3 to the receiving component 5 will be blocked by the second reflector 22. Therefore, it is necessary to adjust the optical path of the laser beam through the reference point component 4 so that the laser beam can avoid the second reflector 22 and reach the receiving component 5. Therefore, this embodiment also involves the following designs:

[0064] The reference point component 4 includes: a first reflection surface 41 and a second reflection surface 42, wherein:

[0065] like Figure 3 As shown, the first reflecting surface 41 and the second reflecting surface 42 are arranged at a first preset angle; the first reflecting surface 41 is used to reflect the laser beam from the scanning component 3 to the second reflecting surface 42; the second reflecting surface 42 is used to reflect the laser beam from the first reflecting surface 41 to the scanning component 3.

[0066] In this embodiment, the first preset angle may be 90°. Figure 3As shown, the laser beam is reflected successively on the first reflecting surface 41 and the second reflecting surface 42, so that the light path from the scanning component 3 to the reference point component 4 and the light path from the reference point component 4 to the scanning component 3 do not overlap, and the light path from the scanning component 3 to the receiving component 5 and the light path from the second reflector 22 to the scanning component 3 do not overlap, thereby ensuring that the light path from the scanning component 3 to the receiving component 5 avoids the second reflector 22, thereby avoiding the light path being blocked.

[0067] It is worth mentioning that in this embodiment, the target to be detected 6 directly reflects the received laser beam to the scanning component 3. In this process, since the laser beam will diffuse after being collimated, that is, the width of the collimated laser beam will gradually increase with the increase of the transmission distance. Figure 2 In the embodiment, since the distance between the components inside the high-precision laser radar optical path device is short, the change in the width of the collimated laser beam when it is transmitted inside the device can be basically ignored. However, the target 6 to be detected is usually far away from the scanning component 3. Therefore, after the collimated laser beam is transmitted from the scanning component 3 to the target 6 to be detected and reflected back, the width of the laser beam will increase significantly (it should be noted that Figure 2 Since it is impossible to fully express the transmission and width change of the laser beam between the scanning component 3 and the target 6 to be detected, only the laser beam emitted and received at the scanning component 3 is drawn to express the change in the width of the laser beam before and after, and the laser beam of other parts between the scanning component 3 and the target 6 to be detected is not drawn). The scanning component 3 then reflects the laser beam with increased width toward the receiving component 5. Only a middle part of the laser beam with increased width will be blocked by the second reflector 22, and the other part will avoid the second reflector 22, thereby being incident on the receiving component 5 to complete the reception of the laser beam.

[0068] In this embodiment, in order to enable the scanning component 3 to detect targets at different directions and positions, it is necessary to ensure that the direction of the scanning component 3 can be changed. Therefore, this embodiment also involves the following designs:

[0069] like Figure 3 As shown, the scanning assembly 3 includes: a reflective turntable 31 and a mirror base 32, wherein:

[0070] The mirror base 32 is provided with a rotating shaft 35, the reflecting turntable 31 is sleeved on one end of the rotating shaft 35, and the other end of the rotating shaft 35 is connected to the output shaft of a motor (not shown in the figure). The rotating shaft 35 is used to drive the reflecting turntable 31 to rotate under the drive of the motor.

[0071] It should be noted that in this embodiment, the motor can be arranged in the mirror seat 32. Figure 3The motor may be disposed in a groove disposed on the mirror base 32, the rotating shaft 35 is rotatably connected to the mirror base 32, and the rotating shaft 35 is fixed to the output shaft of the motor so as to drive the rotating shaft 35 to rotate through the motor.

[0072] In this embodiment, the mirror seat 32 is located at the bottom, and the reflection turntable 31 rotates relative to the mirror seat 32 .

[0073] The reflection turntable 31 is provided with a reflection bevel 311 , and the reflection bevel 311 forms a second preset angle with the bottom surface of the reflection turntable 31 . The reflection bevel 311 is used to reflect the received laser beam.

[0074] In this embodiment, the scanning assembly 3 faces the target 6 to be detected or the reference point component 4, which means that the reflection slope 311 of the reflection turntable 31 faces the target 6 to be detected or the reference point component 4, thereby ensuring that the laser beam from the reflector assembly 2 can be reflected by the reflection slope 311 to the target 6 to be detected or the reference point component 4. The second preset angle is set by those skilled in the art according to actual conditions.

[0075] by Figure 3 For example, the second preset angle may be 45 degrees, and the incident angle of the laser beam reflected by the reflector assembly 2 relative to the reflective slope 311 is also 45 degrees.

[0076] like Figure 3 As shown, when the reflective slope 311 of the reflective turntable 31 faces the reference point component 4 , the reflective turntable 31 reflects the laser beam from the reflector assembly 2 to the reference point component 4 .

[0077] like Figure 4 As shown, when the reflective inclined surface 311 of the reflective turntable 31 faces the target 6 to be detected, the reflective turntable 31 reflects the laser beam from the reflector assembly 2 to the target 6 to be detected.

[0078] The scanning assembly 3 also includes an optical code disk 33 and a photoelectric reader 34, wherein:

[0079] The optical code disk 33 is sleeved on the rotating shaft 35, and the photoelectric reader 34 is arranged on the mirror seat 32 and located at the periphery of the optical code disk 33; the optical code disk 33 is used to rotate synchronously with the reflective turntable 31, and the photoelectric reader 34 is used to read the rotation angle of the optical code disk 33.

[0080] like Figure 5 As shown, the photoelectric reader 34 includes a light emitting portion 341 , a light receiving portion 342 and a connecting portion 343 , wherein the light emitting portion 341 may be provided with a laser unit, and the light receiving portion 342 may be provided with a detection unit.

[0081] The light receiving portion 342 is arranged on the mirror seat 32 and extends to the bottom of the optical code disk 33; the connecting portion 343 is arranged at the upper end of the light receiving portion 342 and is located at the periphery of the optical code disk 33; the light emitting portion 341 is located at the upper end of the connecting portion 343 and extends to the top of the optical code disk 33; the light emitting portion 341 is used to emit a light beam to the light receiving portion 342, and the light receiving portion 342 is used to obtain the rotation angle of the optical code disk 33 according to the reception condition of the light beam.

[0082] The optical code disk 33 is provided with a plurality of light shielding portions and a plurality of light transmitting portions, and the light shielding portions and the light transmitting portions are alternately arranged.

[0083] When the light shielding portion is located between the light emitting portion 341 and the light receiving portion 342 , the light beam emitted by the light emitting portion 341 is blocked by the light shielding portion.

[0084] When the light-transmitting portion is located between the light-emitting portion 341 and the light-receiving portion 342 , the light beam emitted by the light-emitting portion 341 passes through the light-transmitting portion and is received by the light-receiving portion 342 .

[0085] When the optical code disk 33 rotates, the light receiving portion 342 is used to alternately receive the light beam and generate an electrical pulse signal, and the rotation angle of the optical code disk 33 is obtained according to the number of the generated pulse signals.

[0086] In this embodiment, the rotation angle of the reflective turntable 31 is read by the optical code disk 33 and the photoelectric reader 34. The optical code disk 33 is sleeved on the rotating shaft 35. When the rotating shaft 35 drives the reflective turntable 31 to rotate, it will also drive the optical code disk 33 to rotate synchronously. The photoelectric reader 34 is fixed on the mirror base 32. During the rotation of the optical code disk 33, the light emitting portion 341 continuously emits a light signal to the light receiving portion 342. The optical code disk 33 is alternately provided with a light shielding portion and a light transmitting portion. During the rotation of the optical code disk 33, the light signal of the light emitting portion 341 hits the light shielding portion and the light transmitting portion alternately. When the light signal hits the light transmitting portion, the light signal will pass through the light transmitting portion and be received by the light receiving portion 342, while the light signal will be blocked when it hits the light shielding portion. At this time, the light receiving portion 342 cannot receive the light signal. Whenever the light receiving portion 342 alternately receives a light beam, a pulse signal is generated. According to the pulse signal generated during the rotation of the optical code disk 33, the rotation angle of the optical code disk 33 can be obtained.

[0087] like Figure 3-Figure 5 As shown, the current position of the reflective turntable 31 is acquired by the photoelectric reader 34, and the acquired current position is fed back to the system, and then the angle of rotation of the reflective turntable 31 is determined according to the position of the target 6 to be detected or the reference point component 4.

[0088] like Figure 6As shown, the transmitting assembly 1 includes: a laser 11 and a transmitting lens 12, wherein:

[0089] The laser 11 and the emitting lens 12 are sequentially arranged along the optical path. The laser 11 is used to emit a laser beam, and the emitting lens 12 is used to collimate the laser beam.

[0090] In this embodiment, the laser 11 may be a semiconductor laser, and the laser 11 emits a divergent light signal, and the emission lens 12 collimates the divergent laser beam.

[0091] In this embodiment, the receiving component 5 not only needs to receive the laser beam, but also needs to focus the external laser beam. Therefore, this embodiment also involves the following designs:

[0092] like Figure 6 As shown, the receiving component 5 includes: a receiving detector 51, a receiving lens 52 and a filter 53, wherein:

[0093] The filter 53 is arranged above the scanning component 3, and is used for filtering the laser beam reflected from the scanning component 3; the receiving lens 52 is arranged above the filter 53, and is used for focusing the laser beam reflected from the scanning component 3; the receiving detector 51 is located above the receiving lens 52, and the central axis of the receiving detector 51 coincides with the central axis of the receiving lens 52, and the receiving detector 51 is used for receiving the laser beam focused by the receiving lens 52.

[0094] It should be noted that the receiving lens 52 is arranged in the reflection area of ​​the scanning component 3. Figure 6 Taking the viewing angle as an example, the receiving lens 52 is arranged above the scanning component 3.

[0095] In this embodiment, in order to ensure the position accuracy between the optical path and various components, this embodiment also involves the following designs:

[0096] like Figure 6 As shown, after the laser beam emitted by the transmitting component 1 passes through the reflector component 2 , the optical axis of the laser beam coincides with the central axis of the receiving detector 51 .

[0097] like Figure 6 As shown, the optical axis of the laser beam transmitted in the space corresponding to the reflector assembly 2 and the scanning assembly 3 coincides with the central axis of the receiving detector 51 and the central axis of the receiving lens 52 . Figure 6In the figure, the dotted line between the laser 11 and the reflector assembly 2, the dotted line in the middle of the reflector assembly 2, and the dotted line between the reflector assembly 2 and the reflective turntable 31 are the optical axes of the laser beam, and the dotted line on the receiving detector 51 is the central axis of the receiving detector 51. Figure 6 It can be seen that the dotted line between the reflector assembly 2 and the reflective turntable 31 coincides with the dotted line on the receiving detector 51 .

[0098] Since temperature has a great influence on the gain of the receiving detector 51, the carrier ionization coefficient decreases with increasing temperature, resulting in a decrease in the multiplication factor and an increase in the breakdown voltage. When used in a wide temperature range, the reverse bias voltage needs to be controlled according to the temperature change to ensure that the avalanche gain coefficient is constant at different temperature points so that the signal output is stable. Therefore, it is necessary to control the temperature of the receiving detector 51 to reduce the influence of temperature on the detection accuracy. Therefore, this embodiment also involves the following designs:

[0099] The receiving detector 51 is also provided with a temperature control module; the temperature control module is a semiconductor refrigerator (Thermoelectric cooler, abbreviated as: TEC) chip, and the TEC chip is used to control the temperature of the avalanche photodiode (Avalanche Photodiode, abbreviated as: APD) chip on the receiving detector 51.

[0100] Since temperature has a significant impact on the characteristics of the APD chip, the carrier ionization coefficient decreases with increasing temperature, resulting in a decrease in the multiplication factor and an increase in the breakdown voltage. When used in a wider temperature range, the reverse bias voltage needs to be controlled according to temperature changes to ensure that the avalanche gain coefficient is constant at different temperature points so that the signal output is stable. Therefore, in this embodiment, the temperature module is set to adjust the temperature of the APD chip on the receiving detector 51, so that the APD chip can work stably under a constant temperature state, thereby avoiding the influence of temperature changes on the detection accuracy.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision laser radar optical path device, characterized in that: include: A transmitting component (1), a reflector component (2), a scanning component (3), a reference point component (4) and a receiving component (5), wherein the relative distance between the scanning component (3) and the reference point component (4) remains unchanged; The transmitting component (1), the reflector component (2) and the scanning component (3) are arranged in sequence along the optical path, and the reference point component (4) is located in the scanning area of ​​the scanning component (3); The reflector assembly (2) is used to reflect the laser beam emitted by the emitting assembly (1) to the scanning assembly (3); The scanning component (3) is used to adjust the emission direction of the laser beam and reflect the laser beam to the reference point component (4) or the target to be detected (6); the scanning component (3) is used to reflect the laser beam reflected by the reference point component (4) or the target to be detected (6) to the receiving component (5); The distance measurement result of the target to be detected (6) is compensated based on the distance measurement result of the reference point component (4).

2. The high-precision laser radar optical path device according to claim 1, characterized in that: The reference point component (4) comprises: a first reflection surface (41) and a second reflection surface (42), wherein: The first reflecting surface (41) and the second reflecting surface (42) are arranged at a first preset angle; The first reflecting surface (41) is used to reflect the laser beam from the scanning component (3) to the second reflecting surface (42); The second reflection surface (42) is used to reflect the laser beam from the first reflection surface (41) to the scanning component (3).

3. The high-precision laser radar optical path device according to claim 1, characterized in that: The scanning assembly (3) comprises: a reflection turntable (31) and a mirror base (32), wherein: The mirror base (32) is provided with a rotating shaft (35), the reflecting turntable (31) is sleeved on one end of the rotating shaft (35), the other end of the rotating shaft (35) is connected to the output shaft of the motor, and the rotating shaft (35) is used to drive the reflecting turntable (31) to rotate under the drive of the motor; A reflective bevel (311) is provided on the reflective turntable (31), the reflective bevel (311) and the bottom surface of the reflective turntable (31) form a second preset angle, and the reflective bevel (311) is used to reflect a received laser beam.

4. The high-precision laser radar optical path device according to claim 3, characterized in that: The scanning assembly (3) further comprises an optical code disk (33) and a photoelectric reader (34), wherein: The optical code disk (33) is sleeved on the rotating shaft (35), and the photoelectric reader (34) is arranged on the mirror seat (32) and is located on the periphery of the optical code disk (33); The optical code disk (33) is used to rotate synchronously with the reflective turntable (31), and the photoelectric reading head (34) is used to read the rotation angle of the optical code disk (33).

5. The high-precision laser radar optical path device according to claim 4, characterized in that: The photoelectric reader (34) comprises a light emitting portion (341), a light receiving portion (342) and a connecting portion (343), wherein: The light receiving portion (342) is arranged on the mirror seat (32) and extends to below the optical code disk (33); The connecting portion (343) is arranged at the upper end of the light receiving portion (342) and is located at the periphery of the optical code disk (33); The light emitting portion (341) is located at the upper end of the connecting portion (343) and extends to above the optical code disk (33); The light emitting portion (341) is used to emit a light beam to the light receiving portion (342), and the light receiving portion (342) is used to obtain the rotation angle of the optical code disk (33) according to the reception condition of the light beam.

6. The high-precision laser radar optical path device according to claim 5, characterized in that: The optical code disk (33) is provided with a plurality of light-shielding portions and a plurality of light-transmitting portions, wherein the light-shielding portions and the light-transmitting portions are alternately arranged; When the light shielding portion is located between the light emitting portion (341) and the light receiving portion (342), the light beam emitted by the light emitting portion (341) is blocked by the light shielding portion; When the light-transmitting portion is located between the light-emitting portion (341) and the light-receiving portion (342), the light beam emitted by the light-emitting portion (341) passes through the light-transmitting portion and is received by the light-receiving portion (342); When the optical code disk (33) rotates, the light receiving portion (342) is used to alternately receive the light beam and generate an electrical pulse signal, and the rotation angle of the optical code disk (33) is obtained according to the number of generated pulse signals.

7. The high-precision laser radar optical path device according to claim 1, characterized in that: The receiving component (5) comprises: a receiving detector (51), a receiving lens (52) and a filter (53), wherein: The filter (53) is arranged above the scanning component (3) and is used to filter the laser beam reflected by the scanning component (3); The receiving lens (52) is arranged above the filter (53) and is used to focus the laser beam reflected by the scanning component (3); The receiving detector (51) is located above the receiving lens (52), and the central axis of the receiving detector (51) coincides with the central axis of the receiving lens (52). The receiving detector (51) is used to receive the laser beam focused by the receiving lens (52).

8. The high-precision laser radar optical path device according to claim 7, characterized in that: After the laser beam emitted by the transmitting component (1) passes through the reflector component (2), the optical axis of the laser beam coincides with the central axis of the receiving detector (51).

9. The high-precision laser radar optical path device according to claim 7, characterized in that: The receiving detector (51) is also provided with a temperature control module; The temperature control module is a TEC chip, and the TEC chip is used to control the temperature of the APD chip on the receiving detector (51).

10. The high-precision laser radar optical path device according to claim 1, characterized in that: The reflector assembly (2) comprises a first reflector (21) and a second reflector (22), wherein the first reflector (21) and the second reflector (22) are arranged in sequence along an optical path; the first reflector (21) is used to reflect a laser beam emitted by the emitting assembly (1) to the second reflector (22), and the second reflector (22) is used to reflect the laser beam to the scanning assembly (3).

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