A transceiving coaxial 360° three-dimensional scanning laser radar

Abstract

The utility model discloses a kind of transceiving coaxial 360 three-dimensional scanning laser radars, belong to laser detection technical field, including casing, the inside of casing is provided with transmitting assembly, light splitting prism, receiving assembly, the top of casing is provided with rotating mechanism, rotating mechanism is provided with light guide prism, right-angle prism and MEMS micromirror, cone lens, optical communication light source, wireless power supply magnetic coil, optical communication receiving device, the top of casing is provided with optical window.The utility model passes through optical communication interactive information, only MEMS micromirror is rotated, main control and transmission, receiving are fixed on casing unmoved, shaping is carried out to optical communication light source, realized with radar transceiving light path in rotating shaft coaxial, and do not interfere with each other influence, transmission and receiving main device are placed on casing not in rotation, can be directly conventional power supply, greatly reduce power consumption, do not need midway data transmission, directly processable data, optical communication only handles the information transmission of MEMS micromirror, interactive data greatly reduce, scanning rate increases.

Description

Technical Field

[0001] This utility model relates to the field of laser detection technology, and in particular to a coaxial 360° three-dimensional scanning laser radar. Background Technology

[0002] Currently, 360° 3D scanning radar typically uses the motor's rotating shaft for optical communication. The main components, including the transmitter, receiver, and MEMS micromirrors, are all located on the rotor's load-bearing platform, powered wirelessly as the motor rotates. However, wireless power supply suffers from high power consumption and low conversion efficiency, leading to increased overall power consumption. Furthermore, it requires secondary data transmission to the stationary main control board. Since the motor rotates in only one direction, communication between the MEMS micromirrors and the main control board via wires is impossible. Conventional optical communication schemes often have the rotating shaft occupied by the radar's transmitting and receiving optical paths, preventing optical communication. Alternatively, all transmitting and receiving components can be placed on the motor rotor's load-bearing platform, with the rotating shaft used for optical communication. This results in large data transmission volumes, and optical communication cannot process signals quickly. Utility Model Content

[0003] The purpose of this invention is to provide a coaxial 360° three-dimensional scanning lidar for transmitting and receiving, thereby solving the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] This utility model discloses a coaxial 360° three-dimensional scanning lidar, comprising a housing. A transmitting component is located near the bottom of the housing. A beam splitter is positioned above the transmitting component, and a receiving component is located to the right of the beam splitter. A rotating mechanism is located at the top of the housing, and a light guide prism, a right-angle prism, and a MEMS micromirror are mounted on the rotating mechanism. The light guide prism guides light after passing through the beam splitter onto the right-angle prism, and the right-angle prism deflects the light onto the MEMS micromirror. An optical window is located at the top of the housing.

[0006] A conical lens is provided on the rotating mechanism, an optical communication light source is provided above the conical lens, and an optical communication receiving device is provided on the bracket inside the housing.

[0007] The rotating mechanism is also equipped with a wireless electromagnetic coil.

[0008] Furthermore, the emitting component includes a pulsed laser diode, and an emitting lens is disposed above the pulsed laser diode. The emitting lens is used to collimate the diverging laser emitted by the pulsed laser diode.

[0009] Furthermore, the receiving component includes a receiving lens, and a photodetector is disposed on the right side of the receiving lens. The receiving lens is used to focus external signal energy onto the photosensitive surface of the photodetector.

[0010] Furthermore, the two short faces of the light guide prism are respectively provided with a reflecting surface I and a reflecting surface II, and the two long faces are respectively provided with an anti-reflection surface I and an anti-reflection surface II.

[0011] Furthermore, the rotating mechanism includes an inner rotor motor, and the output end of the inner rotor motor is provided with a motor rotor load plate. The light guide prism, the right-angle prism, the MEMS micromirror, the optical communication light source, the conical lens, and the wireless electromagnetic coil are all disposed on the motor rotor load plate.

[0012] Furthermore, the wireless power supply coil includes a wireless power supply rotor and a wireless power supply stator. The wireless power supply stator is fixed to the housing and remains stationary. The wireless power supply rotor rotates synchronously with the motor rotor load plate, cutting magnetic field lines to supply power.

[0013] Furthermore, the optical communication receiving device responds to the optical communication light source emitting an optical signal, and its receiving position is exactly within the circular light spot shaped by the conical lens.

[0014] Furthermore, the wavelength of the optical communication light source is different from the operating wavelength of the radar.

[0015] Furthermore, the angle of the MEMS micromirror can be tilted by ±15°.

[0016] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0017] This invention features a 360° rotating motor at the bottom of the radar, which drives the upper MEMS micromirror to rotate. Each micromirror performs a 60° reciprocating scan in the vertical direction, satisfying the requirement of 360° horizontal and 60° vertical three-dimensional spatial scanning. Information is exchanged via optical communication. Only the MEMS micromirror rotates, while the main control, transmitter, and receiver are fixed on the housing. The advantage lies in the reshaping of the optical communication light source, achieving coaxiality with the radar's light path on the rotation axis without interference. Simultaneously, the main transmitter and receiver components are placed on the housing and do not rotate, allowing for direct conventional power supply and significantly reducing power consumption. No intermediate data transmission is required; data can be processed directly. The optical communication only handles the information transmission of the MEMS micromirror, greatly reducing the amount of interactive data and increasing the scanning rate. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings.

[0019] Figure 1This is a schematic diagram of the overall structure of the coaxial 360° three-dimensional scanning lidar of this utility model;

[0020] Figure 2 This is a schematic diagram of the structure of this utility model after the optical window is hidden;

[0021] Figure 3 This is a schematic diagram of the internal structure of the casing of this utility model;

[0022] Figure 4 This is a cross-sectional view of the coaxial 360° three-dimensional scanning lidar for transmitting and receiving according to this utility model.

[0023] Figure 5 This is a schematic diagram of the structure of the light guide prism of this utility model;

[0024] Figure 6 This is a schematic diagram of the structure of the right-angle prism and MEMS micromirror of this utility model;

[0025] Figure 7 This is a schematic diagram of the scanning angle α when the MEMS micromirror of this invention is tilted at -15°.

[0026] Figure 8 This is a schematic diagram of the scanning angle α of the MEMS micromirror of this invention when tilted by +15°;

[0027] Figure 9 This is a schematic diagram of the structure of the present invention after the light passes through the conical lens;

[0028] Figure 10 This is a schematic diagram of the structure of the light spot of this utility model;

[0029] Figure 11 This is a schematic diagram of the beam between the optical communication light source, the conical lens, and the optical communication receiving device of this utility model;

[0030] Figure 12 This is a cross-sectional view of the mounting position of the motor rotor load plate of this utility model;

[0031] Figure 13 This is an optical path diagram of the emission process of this utility model;

[0032] Figure 14 This is an optical path diagram of the receiving process of this utility model;

[0033] Figure 15 This is the overall optical path diagram of this utility model.

[0034] Explanation of reference numerals in the attached figures: 1. Photodetector; 2. Receiving lens; 3. Pulsed laser diode; 4. Emitting lens; 5. Beam splitter; 6. Light guide prism; 601. Reflecting surface I; 602. Reflecting surface II; 603. Anti-reflective surface I; 604. Anti-reflective surface II; 7. Right-angle prism; 701. Right-angle prism reflective film; 8. MEMS micromirror; 9. Optical communication light source; 10. Conical lens; 11. Bearing bracket; 12. Bearing; 1201. Bearing stator; 1202. Bearing rotor; 13. Internal rotor motor; 1301. Rotating shaft; 1302. Motor rotor; 1303. Motor stator; 14. Wireless power supply coil; 1401. Wireless power supply rotor; 1402. Wireless power supply stator; 15. Optical communication receiver; 16. Optical window; 17. Fixing bracket; 18. Motor rotor load plate; 19. Beam. Detailed Implementation

[0035] like Figures 1-15 As shown, a coaxial 360° three-dimensional scanning lidar includes a housing. A transmitting component is located near the bottom of the housing. A beam splitter 5 is positioned above the transmitting component, and a receiving component is located to the right of the beam splitter 5. A rotating mechanism is located at the top of the housing, and a light guide prism 6, a right-angle prism 7, and a MEMS micromirror 8 are mounted on the rotating mechanism. The light guide prism 6 guides light after passing through the beam splitter 5 onto the right-angle prism 7, and the right-angle prism 7 deflects the light onto the MEMS micromirror 8. An optical window 16 is located at the top of the housing.

[0036] A conical lens 10 is provided on the rotating mechanism, an optical communication light source 9 is provided above the conical lens 10, and an optical communication receiver 15 is provided on the bracket inside the housing.

[0037] The rotating mechanism is also equipped with a wireless electromagnetic coil 14.

[0038] The emitting assembly includes a pulsed laser diode 3, and an emitting lens 4 is disposed above the pulsed laser diode 3. The emitting lens 4 is used to collimate the divergent laser emitted by the pulsed laser diode 3. The pulsed laser diode 3 and the emitting lens 4 are installed inside the emitting lens tube. The pulsed laser diode 3 (PLD) is a semiconductor device that can emit laser light in pulse form, and the laser light emitted has divergent characteristics; the emitting lens 4 collimates the divergent laser light emitted by the PLD, and the collimated light is approximately parallel.

[0039] The receiving assembly includes a receiving lens 2, and a photodetector 1 is disposed on the right side of the receiving lens 2. The receiving lens 2 is used to focus external signal energy onto the photosensitive surface of the photodetector 1. The photodetector 1 and the receiving lens 2 are installed inside the receiving lens barrel. The photodetector 1 (APD) is a photodetector with internal gain. By applying a reverse bias voltage to form a strong electric field, when photons excite charge carriers to enter the depletion layer, avalanche multiplication effect is generated through collisional ionization, thereby amplifying and detecting weak light signals. The receiving lens 2 focuses external signal energy onto the photosensitive surface of the APD.

[0040] The beam splitter 5 is a cemented mirror with a 1 / 2 reflectivity coated on the cemented surface. When a beam is incident on the cemented surface at a 45° angle, it will achieve the function of general transmission and half reflection.

[0041] like Figure 5 As shown, the light guide prism 6 has a reflective film coated on its two short sides, and reflective surface I 601 and reflective surface II 602 are formed on the two short sides respectively. It has an anti-reflective film coated on its long side, and anti-reflective surface I 603 and anti-reflective surface II 604 are formed on the two long sides respectively. Based on this, the light guide is realized. At the same time, while rotating 360 degrees around the rotation axis 1301, the light can also be rotated 360 degrees. It is a key light guide device for realizing 360° scanning.

[0042] like Figure 6 As shown, the right-angle prism 7 has a right-angle prism reflective film 701. The right-angle prism 7 mainly redirects and reflects light to the reflector in the MEMS micromirror 8. The reflector in the MEMS micromirror 8 can achieve an angle tilt of ±15°, ultimately achieving a scanning range of ±30°. Figures 7-8 As shown, the scanning angle α is 30°.

[0043] like Figures 9-10 As shown, the optical communication light source 9 is a light source that modulates the emission frequency of a signal. When it shines on the conical lens 10, the light will be deflected to form a circular diverging light spot. This continuous circular light spot will be transmitted to the optical communication receiver 15 as the motor rotates. The receiver is a separate receiving board, which is fixed on the housing support and can continuously receive and analyze the changes in the light source frequency to obtain the required information.

[0044] like Figure 11As shown, the optical communication receiver 15 can respond to the optical signal emitted by the optical communication source 9. Its receiving position is precisely within the circular light spot shaped by the conical lens 10, and is not on the optical axis of the operating wavelength, thus achieving optical communication signal reception without interference. Specifically, the optical communication source 9 emits an optical signal, which is then shaped to form a beam 19, which is received by the optical communication receiver 15. The wavelength of the optical communication source 9 is different from the radar's operating wavelength.

[0045] The rotating mechanism includes an inner rotor motor 13, and a motor rotor load plate 18 is provided at the output end of the inner rotor motor 13. The light guide prism 6, the right-angle prism 7, the MEMS micromirror 8, the optical communication light source 9, the conical lens 10, and the wireless electromagnetic coil 14 are all disposed on the motor rotor load plate 18. Figure 12 As shown, the internal rotor motor 13 includes a motor rotor 1302 and a motor stator 1303. The motor rotor 1302 is rigidly connected to the rotating shaft 1301. A fixed bracket 17 is installed inside the housing, and a bearing fixed bracket 11 is installed inside the fixed bracket 17. The axis of the bearing fixed bracket 11 is coaxial with the rotating shaft 1301. Its main function is to fix the bearing stator 1201 in the bearing 12. The bearing stator 1201 in the bearing 12 is inside, and the bearing rotor 1202 is outside. The bearing rotor 1202 is fixed together with the motor rotor 1302 to ensure that the motor rotor 1302 drives the bearing rotor 1202 while rotating, so as to stabilize the rotational sway. When the motor rotor 1302 rotates, it will drive the motor rotor load plate 18 to rotate together.

[0046] The wireless power supply coil 14 includes a wireless power supply rotor 1401 and a wireless power supply stator 1402. The wireless power supply stator 1402 is fixed and stationary to the housing. The wireless power supply rotor 1401 rotates synchronously with the motor rotor load plate 18, cutting magnetic field lines to supply power. The power required for MEMS micromirrors 8 and optical communication and signal processing comes from the wireless power generated by the motor driving the coil to cut the magnetic field.

[0047] Optical window 16 is a smooth surface product that transmits laser light, produced by injection molding of PC material. In addition to effectively transmitting laser light, it can also isolate the machine from the external environment, thus playing a certain protective role.

[0048] like Figure 13As shown, the pulsed laser diode 3 emits laser light with a divergence angle. After being collimated by the emitting lens 4, it becomes approximately parallel light. After passing through the beam splitter prism 5, half of the energy is emitted to the light guide prism 6. After being guided by the light, it is emitted to the right-angle prism 7 and then to the MEMS micromirror 8. The MEMS micromirror 8 has a 30° swing function inside. Depending on the angle of the incident light, it can achieve an output light angle range of 60° (the reflection angle β is 60°). Finally, it shines through the optical window 16 onto a distant target object.

[0049] like Figure 14 As shown, the target object irradiated by the laser will reflect light, which is approximately parallel light. This reflected light passes sequentially through the optical window 16, the reflector in the MEMS micromirror 8, the right-angle prism 7, the light guide prism 6, and the beam splitter prism 5. At the beam splitter prism 5, half of the energy is reflected to the receiving lens 2, where it is focused and finally focused onto the photodetector 1. The process from the pulsed laser diode 3 to the photodetector 1 constitutes one ranging process; the receiving angle γ is 60°.

[0050] like Figure 15 The image shown is a complete ray diagram of this embodiment.

[0051] The scanning module mainly consists of MEMS micromirrors 8 fixed on the motor rotor load plate 18, capable of 360° horizontal rotation; simultaneously, the MEMS micromirrors 8 scan vertically, forming an approximately sinusoidal circular scanning path under their combined action. The scanning range is 360° horizontally × 60° vertically. Its advantage lies in the adjustable 360° rotation speed of the motor and the adjustable vibration rate of the MEMS micromirrors. Through their interaction, the frequency or density of the scanned sine wave can be adjusted. The frequency or density conforms to the following: when the motor speed is constant, the faster the vibration rate of the MEMS micromirrors, the greater the scanning density; when the vibration rate of the MEMS micromirrors is constant, the slower the motor speed, the greater the scanning density.

[0052] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A coaxial 360° three-dimensional scanning lidar for transmitting and receiving, characterized in that: The device includes a housing, an emitting component located near the bottom of the housing, a beam splitter (5) located above the emitting component, a receiving component located to the right of the beam splitter (5), a rotating mechanism located at the top of the housing, a light guide prism (6), a right-angle prism (7) and a MEMS micromirror (8) located on the rotating mechanism, the light guide prism (6) guiding the light after passing through the beam splitter (5) onto the right-angle prism (7), the right-angle prism (7) reversing and reflecting the light onto the MEMS micromirror (8), and an optical window (16) located at the top of the housing. A conical lens (10) is provided on the rotating mechanism, an optical communication light source (9) is provided above the conical lens (10), and an optical communication receiving device (15) is provided on the bracket inside the housing. The rotating mechanism is also equipped with a wireless electromagnetic coil (14).

2. The coaxial 360° three-dimensional scanning lidar according to claim 1, characterized in that: The emitting component includes a pulsed laser diode (3), and an emitting lens (4) is disposed above the pulsed laser diode (3). The emitting lens (4) is used to collimate the divergent laser emitted by the pulsed laser diode (3).

3. The coaxial 360° three-dimensional scanning lidar according to claim 1, characterized in that: The receiving component includes a receiving lens (2), and a photodetector (1) is disposed on the right side of the receiving lens (2). The receiving lens (2) is used to focus external signal energy onto the photosensitive surface of the photodetector (1).

4. The coaxial 360° three-dimensional scanning lidar according to claim 1, characterized in that: The light guide prism (6) has two short surfaces with a reflective surface I (601) and a reflective surface II (602) respectively, and two long surfaces with an anti-reflection surface I (603) and an anti-reflection surface II (604) respectively.

5. The coaxial 360° three-dimensional scanning lidar according to claim 1, characterized in that: The rotating mechanism includes an inner rotor motor (13), and the output end of the inner rotor motor (13) is provided with a motor rotor load plate (18). The light guide prism (6), the right angle prism (7), the MEMS micromirror (8), the optical communication light source (9), the conical lens (10) and the wireless electromagnetic coil (14) are all provided on the motor rotor load plate (18).

6. The coaxial 360° three-dimensional scanning lidar according to claim 5, characterized in that: The wireless power supply coil (14) includes a wireless power supply rotor (1401) and a wireless power supply stator (1402). The wireless power supply stator (1402) is fixed to the housing and remains stationary. The wireless power supply rotor (1401) rotates synchronously with the motor rotor load plate (18) to cut magnetic field lines and supply power.

7. The coaxial 360° three-dimensional scanning lidar according to claim 1, characterized in that: The optical communication receiver (15) responds to the optical communication light source (9) by emitting an optical signal, and its receiving position is exactly in the circular light spot shaped by the conical lens (10).

8. The coaxial 360° three-dimensional scanning lidar according to claim 1, characterized in that: The wavelength of the optical communication light source (9) is different from the working wavelength of the radar.

9. The coaxial 360° three-dimensional scanning lidar according to claim 1, characterized in that: The angle of the MEMS micromirror (8) can be tilted by ±15°.

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