Multi-line laser galvanometer radar

Abstract

The utility model relates to a multi-line laser galvanometer radar, which belongs to the technical field of radars, and comprises a box body, a laser transmitting module, a laser receiving module and a laser galvanometer, and the side surface of the box body is provided with a laser transmitting hole and a laser reflecting hole; the laser emission module comprises a laser diffusion mirror and a plurality of laser emitters, and the plurality of laser emitters and the laser diffusion mirror are fixed in the laser emission hole; the laser receiving module comprises a laser contraction mirror and a laser receiver, and the laser contraction mirror is inserted and fixed in the laser reflection hole; the laser receiver is fixed in the box body; and the laser galvanometer is fixed on the inner top surface of the box body. According to the utility model, a plurality of laser rays are diffused by a laser diffusion mirror; then the plurality of laser rays are shrunk by using the laser shrunk mirror; and finally, the reflection angles of a plurality of laser rays are changed by using the laser galvanometer, so that the design requirement that a plurality of laser emitters correspond to one laser receiver is met, the target of multiple emitters and one receiver is achieved, and the miniaturization design of the multi-line laser galvanometer radar is realized.

Description

Technical Field

[0001] This utility model relates to the field of radar technology, and in particular to a multi-line laser galvanometer radar. Background Technology

[0002] Traditional multi-line lidar typically employs a one-to-one design (one laser transmitter corresponds to one laser receiver). For example, a 16-line lidar requires 16 pairs of transmitters and receivers (16 laser transmitters and 16 laser receivers designed to be paired). While this improves transmit-receive synchronization and optical consistency, it leads to overly complex control circuitry and an excessively large overall size, hindering miniaturization and low-cost manufacturing. Furthermore, each pair of transmitters and receivers needs to be independently calibrated before leaving the factory, significantly increasing the calibration workload and extending the debugging time, resulting in a high selling price for multi-line lidar.

[0003] Therefore, how to design a miniaturized multi-line laser galvanometer radar with simple control circuitry, low manufacturing cost, wide scanning area, and the ability to transmit and receive multiple signals is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] This invention provides a multi-line laser galvanometer radar, which solves the technical problems of complex control circuits, large overall size, and cumbersome calibration work of existing multi-line laser radars with multiple transmission and reception modes.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: a multi-line laser galvanometer radar, comprising: a housing, a laser emitting module, a laser receiving module, and a laser galvanometer.

[0006] The box is internally divided into a laser emitting area and a laser reflecting area by a fixed partition. A laser emitting hole is provided on the side of the box corresponding to the laser emitting area, and a laser reflecting hole is provided on the side of the box corresponding to the laser reflecting area. The laser emitting module includes a laser diffuser and multiple laser emitters, all of which are fixed within the laser emitting holes. The laser diffuser is located at the emitting end of the multiple laser emitters and is inserted into the laser emitting holes to change the emission angle of the laser beams emitted by the multiple laser emitters and diffuse multiple laser beams.

[0007] The laser receiving module includes a laser shrinking mirror and a laser receiver. The laser shrinking mirror is inserted into the laser reflecting aperture, and its central axis is arranged parallel to the central axis of the laser diffusing mirror to change the reflection angle of the multiple diffused laser rays and shrink the multiple laser rays. The laser receiver is located in the laser reflecting area and fixed to the partition plate. The laser galvanometer is located in the laser reflecting area and fixed to the inner top surface of the housing. The central axis of the laser shrinking mirror is arranged perpendicular to the receiving axis of the laser receiver and both intersect at the same point of the laser galvanometer to converge the multiple shrunken laser rays onto the receiving axis.

[0008] The beneficial effects of this invention are as follows: It breaks through the traditional design mode of multi-line laser radar with multiple transmitters and receivers. First, a laser diffuser is used to change the emission angle of the laser beams emitted by multiple laser transmitters, thus diffusing multiple laser beams, expanding the scanning range, and improving practicality. Then, a laser converging mirror is used to change the reflection angle of multiple laser beams, thus converging multiple laser beams and reducing the size of the laser beam spots. Finally, a laser galvanometer is used to change the reflection angle of multiple laser beams. Since the central axis of the laser converging mirror and the receiving axis of the laser receiver are arranged perpendicularly and intersect at the same point of the laser galvanometer, multiple laser beams can be converged onto the receiving axis of the laser receiver, satisfying the design requirement of multiple laser transmitters corresponding to one laser receiver, achieving the goal of multiple transmitters and one receiver, and realizing the miniaturization design of multi-line laser galvanometer radar.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, the laser emitting module also includes a circuit board A, which is located within the laser emitting area and fixed to the inner side of the housing, and the plurality of laser emitters are electrically connected to the circuit board A; the laser receiving module also includes a circuit board B, which is located within the laser reflecting area and fixed to the inner side of the housing, and the laser receiver is electrically connected to the circuit board B.

[0011] Furthermore, the laser galvanometer includes a circuit board C and a galvanometer, both of which are located within the laser reflection zone. The circuit board C is fixed to the inner side of the housing. The galvanometer is fixed to the circuit board C and electrically connected to it. The central axis of the laser shrink mirror and the receiving axis of the laser receiver both intersect at the same point on the galvanometer.

[0012] Furthermore, it also includes a laser converging lens, which is located between the laser receiver and the laser galvanometer and fixed on the partition plate, and the central axis of the laser converging lens is arranged coaxially with the receiving axis.

[0013] The further beneficial effect of adopting the above is that by using a laser focusing lens located between the laser receiver and the laser galvanometer, since the central axis of the laser focusing lens is arranged coaxially with the receiving axis, multiple laser beams can be focused, reducing the distance between the galvanometer and the laser receiver, thus meeting the requirements of radar miniaturization design.

[0014] Furthermore, it also includes a base and a drive rotation mechanism. The top surface of the base is provided with a mounting groove, and a mounting cylinder is vertically fixed to the bottom of the mounting groove. The drive rotation mechanism includes a magnetic rotor, a stator wound with an electromagnetic coil, and a rotating disk. The rotor is rotatably connected to the mounting cylinder through a bearing, and its top end extends out of the mounting cylinder. The stator is sleeved on the outer periphery of the mounting cylinder. The bottom surface of the rotating disk is vertically fixed to the top end of the rotor extending out of the mounting cylinder. The bottom surface of the housing is fixed to the top surface of the rotating disk.

[0015] The further beneficial effect of adopting the above is that by using the rotating disk to drive the housing to rotate, the laser beam can be deflected circumferentially along the housing, thus expanding the scanning range of the laser beam and improving the practicality of the multi-line lidar.

[0016] Furthermore, the device includes a wireless charging assembly comprising a fixed cylinder, a rotating cylinder, a first synchronous coil, and a second synchronous coil. The fixed cylinder is sleeved on the outer periphery of the stator and its bottom end is vertically fixed to the bottom of the mounting groove. The rotating cylinder passes through the fixed cylinder and its top end is fixed to the bottom surface of the rotating disk. The first synchronous coil is wound around the outer periphery of the fixed cylinder. The second synchronous coil is wound around the inner periphery of the rotating cylinder and resonates with the first synchronous coil at the same frequency, thereby achieving wireless electrical transmission between the first and second synchronous coils.

[0017] The further beneficial effects of adopting the above are: by utilizing the wireless transmission of electricity between the first and second frequency coils, the power requirements of the electrical components inside the rotating housing can be met using the same power supply, simplifying the power line layout and meeting the simplified design requirements of multi-line lidar.

[0018] Furthermore, it also includes a position identification mechanism, which includes a code ring and an identifier. The code ring is sleeved on the outer periphery of the rotating cylinder and fixed to the top of the fixed cylinder; the identifier is fixed to the outer wall of the rotating cylinder and arranged opposite to the code ring.

[0019] The further beneficial effect of adopting the above is that by using the identifier to rotate synchronously with the rotating cylinder, since the identifier and the code ring are arranged opposite each other, the rotation position of the rotating cylinder can be known according to the position of the code ring, thereby realizing the control of the radar detection orientation.

[0020] Furthermore, it also includes a controller, which comprises a main control circuit board, a sub-control circuit board, a first optocoupler, and a second optocoupler. The bottom surface of the base is provided with a receiving groove; the main control circuit board is fixed in the receiving groove; the sub-control circuit board is located inside the rotating cylinder and fixed to the bottom surface of the rotating disk; the rotor is provided with through holes penetrating both ends therethrough; the first optocoupler is fixed on the main control circuit board and electrically connected to the main control circuit board; the second optocoupler is fixed on the sub-control circuit board and electrically connected to the sub-control circuit board, and the first optocoupler, the second optocoupler, and the through holes are arranged opposite to each other to realize wireless communication connection between the first optocoupler and the second optocoupler.

[0021] The further beneficial effect of adopting the above is that: firstly, the sub-control circuit board is fixed on the rotating disk, and then the main control circuit board is fixed in the receiving groove of the base. Since the first optocoupler fixed on the main control circuit board and the second optocoupler fixed on the sub-control circuit board are wirelessly connected, the rotating part and the fixed part can be directly connected for communication, which meets the simplified design requirements of multi-line lidar.

[0022] Furthermore, it also includes an optical cover, the open end of which is arranged downwards and covers the outer periphery of the housing, the laser diffuser and the laser shrinker, and the open end of which is fixed to the top of the base.

[0023] Furthermore, it also includes a baffle, which is located between the laser diffuser and the laser shrinker and is fixed to the outer side of the housing. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural schematic diagram of a multi-line laser galvanometer radar type 1 according to the present invention;

[0025] Figure 2 This is a three-dimensional structural schematic diagram of a type 2 multi-line laser galvanometer radar according to the present invention;

[0026] Figure 3 This is an exploded structural diagram of a multi-line laser galvanometer radar according to the present invention.

[0027] Figure 4 This is a schematic diagram of the internal structure of a multi-line laser galvanometer radar according to the present invention;

[0028] Figure 5 This is a schematic diagram of the internal structure of the laser emission module in a multi-line laser galvanometer radar according to the present invention;

[0029] Figure 6 This is a schematic diagram of the internal structure of the laser receiving module and laser focusing assembly in a multi-line laser galvanometer radar according to this utility model.

[0030] The attached diagram lists the components represented by each number as follows:

[0031] 1. Housing; 11. Laser emitting aperture; 12. Laser reflecting aperture; 2. Laser emitting module; 21. Laser diffuser; 22. Laser emitter; 23. Circuit board A; 3. Laser receiving module; 31. Laser shrink mirror; 32. Laser receiver; 33. Circuit board B; 4. Laser galvanometer; 41. Circuit board C; 42. Galvanometer; 5. Partition; 6. Base; 61. Mounting slot; 62. Receiving slot; 7. Drive rotation mechanism; 71. Rotor; 711. Through hole; 72. Stator; 73. Rotating disk; 8. Mounting cylinder; 9. Wireless charging assembly; 91. Fixed cylinder; 92. Rotating cylinder; 10. Position recognition mechanism; 101. Code ring; 102. Recognizer; 13. Controller; 131. Main control circuit board; 132. Sub-control circuit board; 133. First optocoupler; 134. Second optocoupler; 14. Optical cover; 15. Baffle; 16. Laser converging lens. Detailed Implementation

[0032] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a multi-line laser galvanometer radar includes: a housing 1, a laser emitting module 2, a laser receiving module 3, and a laser galvanometer 4.

[0034] The interior of the housing 1 is fixed with a partition 5, which divides the interior of the housing 1 into a laser emission area and a laser reflection area. The side of the housing 1 corresponding to the laser emission area is provided with a laser emission hole 11, and the side of the housing 1 corresponding to the laser reflection area is provided with a laser reflection hole 12. The laser emission module 2 includes a laser diffuser 21 and multiple laser emitters 22, all of which are fixed inside the laser emission hole 11. The laser diffuser 21 is located at the emission end of the multiple laser emitters 22 and is inserted into the laser emission hole 11 to change the emission angle of the laser beams emitted by the multiple laser emitters 22 and diffuse multiple laser beams.

[0035] The laser receiving module 3 includes a laser shrinking mirror 31 and a laser receiver 32. The laser shrinking mirror 31 is inserted into the laser reflecting hole 12 and its central axis is arranged parallel to the central axis of the laser diffusing mirror 21 to change the reflection angle of the multiple laser rays after diffusion and shrink the multiple laser rays. The laser receiver 32 is located in the laser reflecting area and is fixed on the partition plate 5. The laser galvanometer 4 is located in the laser reflecting area and is fixed on the inner top surface of the housing 1. The central axis of the laser shrinking mirror 31 and the receiving axis of the laser receiver 32 are arranged perpendicularly and intersect at the same point of the laser galvanometer 4 to converge the multiple laser rays after shrinkage onto the receiving axis.

[0036] like Figure 5 and Figure 6 As shown, in some specific embodiments, the laser emitting module 2 may further include a circuit board A23, which is located in the laser emitting area and fixed to the inner side of the housing 1, and multiple laser emitters 22 are electrically connected to the circuit board A23; the laser receiving module 3 may further include a circuit board B33, which is located in the laser reflecting area and fixed to the inner side of the housing 1, and the laser receiver 32 is electrically connected to the circuit board B33.

[0037] like Figure 6 As shown, in some specific embodiments, the laser galvanometer 4 includes a circuit board C41 and a galvanometer 42. Both the circuit board C41 and the galvanometer 42 are located within the laser reflection zone. The circuit board C41 is fixed to the inner side of the housing 1. The galvanometer 42 is fixed on the circuit board C41 and electrically connected to the circuit board C41. The central axis of the laser shrink mirror 31 and the receiving axis of the laser receiver 32 intersect at the same point on the galvanometer 42.

[0038] like Figure 3 As shown, in some specific embodiments, a laser converging lens 16 is also included. The laser converging lens 16 is located between the laser receiver 32 and the laser galvanometer 4 and is fixed on the partition 5. The central axis of the laser converging lens 16 is arranged coaxially with the receiving axis.

[0039] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some specific embodiments, it may also include a base 6 and a drive rotation mechanism 7. The top surface of the base 6 is provided with a mounting groove 61 and the bottom of the mounting groove 61 is vertically fixed with a mounting cylinder 8. The drive rotation mechanism 7 includes a magnetic rotor 71, a stator 72 wound with an electromagnetic coil and a rotating disk 73. The rotor 71 is rotatably connected to the mounting cylinder 8 through a bearing and its top end extends out of the mounting cylinder 8. The stator 72 is sleeved on the outer periphery of the mounting cylinder 8. The bottom surface of the rotating disk 73 is vertically fixed to the top end of the rotor 71 extending out of the mounting cylinder 8. The bottom surface of the housing 1 is fixed to the top surface of the rotating disk 73.

[0040] like Figure 4 As shown, in some specific embodiments, a wireless charging component 9 is also included. The wireless charging component 9 includes a fixed cylinder 91, a rotating cylinder 92, a first synchronous coil, and a second synchronous coil. The fixed cylinder 91 is sleeved on the outer periphery of the stator 72 and its bottom end is vertically fixed to the bottom of the mounting groove 61. The rotating cylinder 92 passes through the fixed cylinder 91 and its top end is fixed to the bottom surface of the rotating disk 73. The first synchronous coil is wound around the outer periphery of the fixed cylinder 91. The second synchronous coil is wound around the inner periphery of the rotating cylinder 92 and resonates with the first synchronous coil at the same frequency to realize wireless transmission of electricity between the first synchronous coil and the second synchronous coil.

[0041] like Figure 3 As shown, in some specific embodiments, a position identification mechanism 10 may also be included. The position identification mechanism includes a code ring 101 and an identifier 102. The code ring 101 is sleeved on the outer periphery of the rotating cylinder 92 and fixed to the top of the fixed cylinder 91. The identifier 102 is fixed to the outer side wall of the rotating cylinder 92 and arranged opposite to the code ring 101.

[0042] like Figure 3 As shown, in some specific embodiments, a controller 13 is also included. The controller 13 includes a main control circuit board 131, a sub-control circuit board 132, a first optocoupler 133, and a second optocoupler 134. The bottom surface of the base 6 is provided with a receiving groove 62. The main control circuit board 131 is fixed in the receiving groove 62. The sub-control circuit board 132 is located inside the rotating cylinder 92 and is fixed on the bottom surface of the rotating disk 73. The rotor 71 is provided with a through hole 711 through both ends of the rotor 71. The first optocoupler 133 is fixed on the main control circuit board 131 and is electrically connected to the main control circuit board 131. The second optocoupler 134 is fixed on the sub-control circuit board 132 and is electrically connected to the sub-control circuit board 132. The first optocoupler 133, the second optocoupler 134, and the through hole 711 are arranged opposite to each other to realize wireless communication connection between the first optocoupler 133 and the second optocoupler 134.

[0043] like Figure 1 and Figure 2 As shown, in some specific embodiments, an optical cover 14 may also be included. The open end of the optical cover 14 is arranged downward and covers the outer periphery of the housing 1, the laser diffuser 21 and the laser shrink mirror 31. The open end of the optical cover 14 is fixed to the top of the base 6.

[0044] like Figure 1 and Figure 2 As shown, in some specific embodiments, a baffle 15 may also be included, which is located between the laser diffuser 21 and the laser shrink mirror 31 and fixed to the outer side of the housing 1.

[0045] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A multi-line laser galvanometer radar, characterized in that, include: The box (1) has a partition (5) fixed inside and divides the inside of the box (1) into a laser emission area and a laser reflection area. The side of the box (1) corresponding to the laser emission area is provided with a laser emission hole (11) and the side of the box (1) corresponding to the laser reflection area is provided with a laser reflection hole (12). A laser emitting module (2) includes a laser diffuser (21) and multiple laser emitters (22), all of which are fixed inside the laser emitting hole (11). The laser diffuser (21) is located at the emitting end of the multiple laser emitters (22) and is inserted into the laser emitting hole (11) to change the emission angle of the laser beams emitted by the multiple laser emitters (22) and diffuse multiple laser beams. The laser receiving module (3) includes a laser shrinking mirror (31) and a laser receiver (32). The laser shrinking mirror (31) is inserted into the laser reflecting hole (12) and its central axis is arranged parallel to the central axis of the laser diffusing mirror (21) to change the reflection angle of the multiple laser rays after diffusion and shrink the multiple laser rays. The laser receiver (32) is located in the laser reflecting area and is fixed on the partition plate (5). A laser galvanometer (4) is located within the laser reflection zone and fixed to the inner top surface of the housing (1). The central axis of the laser shrinking mirror (31) is arranged perpendicularly to the receiving axis of the laser receiver (32) and both intersect at the same point of the laser galvanometer (4) to converge the multiple laser rays after shrinkage onto the receiving axis.

2. The multi-line laser galvanometer radar according to claim 1, characterized in that, The laser emitting module (2) further includes a circuit board A (23), which is located in the laser emitting area and fixed to the inner side of the housing (1). The plurality of laser emitters (22) are electrically connected to the circuit board A (23). The laser receiving module (3) further includes a circuit board B (33), which is located in the laser reflecting area and fixed to the inner side of the housing (1). The laser receiver (32) is electrically connected to the circuit board B (33).

3. The multi-line laser galvanometer radar according to claim 1, characterized in that, The laser galvanometer (4) includes a circuit board C (41) and a galvanometer (42). Both the circuit board C (41) and the galvanometer (42) are located within the laser reflection zone. The circuit board C (41) is fixed to the inner side of the housing (1). The galvanometer (42) is fixed to the circuit board C (41) and electrically connected to the circuit board C (41). The central axis of the laser shrink mirror (31) and the receiving axis of the laser receiver (32) intersect at the same point on the galvanometer (42).

4. The multi-line laser galvanometer radar according to claim 1, characterized in that, It also includes a laser focusing lens (16), which is located between the laser receiver (32) and the laser galvanometer (4) and fixed on the partition (5). The central axis of the laser focusing lens (16) is arranged coaxially with the receiving axis.

5. A multi-line laser galvanometer radar according to claim 1, characterized in that, It also includes a base (6) and a drive rotation mechanism (7). The top surface of the base (6) is provided with a mounting groove (61) and the bottom of the mounting groove (61) is vertically fixed with a mounting cylinder (8). The drive rotation mechanism (7) includes a magnetic rotor (71), a stator (72) wound with an electromagnetic coil and a rotating disk (73). The rotor (71) is rotatably connected to the mounting cylinder (8) through a bearing and its top end extends out of the mounting cylinder (8). The stator (72) is fitted on the outer periphery of the mounting cylinder (8). The bottom surface of the rotating disk (73) is vertically fixed to the top end of the rotor (71) extending out of the mounting cylinder (8). The bottom surface of the housing (1) is fixed to the top surface of the rotating disk (73).

6. A multi-line laser galvanometer radar according to claim 5, characterized in that, It also includes a wireless charging component (9), which includes a fixed cylinder (91), a rotating cylinder (92), a first synchronous coil and a second synchronous coil. The fixed cylinder (91) is sleeved on the outer periphery of the stator (72) and its bottom end is vertically fixed to the bottom of the mounting groove (61). The rotating cylinder (92) passes through the fixed cylinder (91) and its top end is fixed to the bottom surface of the rotating disk (73). The first synchronous coil is wound around the outer periphery of the fixed cylinder (91). The second frequency coil is wound around the inner circumference of the rotating cylinder (92) and resonates with the first frequency coil at the same frequency to achieve wireless electrical transmission between the first frequency coil and the second frequency coil.

7. A multi-line laser galvanometer radar according to claim 6, characterized in that, It also includes a position identification mechanism (10), which includes a code ring (101) and an identifier (102). The code ring (101) is sleeved on the outer periphery of the rotating cylinder (92) and fixed to the top of the fixed cylinder (91). The identifier (102) is fixed to the outer side wall of the rotating cylinder (92) and arranged opposite to the code ring (101).

8. A multi-line laser galvanometer radar according to claim 5, characterized in that, It also includes a controller (13), which includes a main control circuit board (131), a sub-control circuit board (132), a first optocoupler (133), and a second optocoupler (134). The bottom surface of the base (6) is provided with a receiving groove (62). The main control circuit board (131) is fixed in the receiving groove (62). The sub-control circuit board (132) is located inside the rotating cylinder (92) and fixed to the bottom surface of the rotating disk (73). The rotor (71) is axially provided with a through-hole that passes through both ends of it. The through hole (711) is used to connect the first optocoupler (133) to the main control circuit board (131) and electrically connect the second optocoupler (134) to the sub-control circuit board (132). The first optocoupler (133), the second optocoupler (134) and the through hole (711) are arranged opposite to each other to realize the wireless communication connection between the first optocoupler (133) and the second optocoupler (134).

9. A multi-line laser galvanometer radar according to claim 5, characterized in that, It also includes an optical cover (14), the opening end of which is arranged downward and covers the outer periphery of the housing (1), the laser diffuser (21) and the laser shrinker (31), and the opening end of the optical cover (14) is fixed to the top of the base (6).

10. A multi-line laser galvanometer radar according to claim 1, characterized in that, It also includes a baffle (15) located between the laser diffuser (21) and the laser shrink mirror (31) and fixed to the outer side of the housing (1).

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