CN108931781A - high speed three-dimensional laser radar system based on VCSEL laser light source - Google Patents
high speed three-dimensional laser radar system based on VCSEL laser light source Download PDFInfo
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- CN108931781A CN108931781A CN201810515874.9A CN201810515874A CN108931781A CN 108931781 A CN108931781 A CN 108931781A CN 201810515874 A CN201810515874 A CN 201810515874A CN 108931781 A CN108931781 A CN 108931781A
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- laser
- vcsel
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- light source
- vcsel laser
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of high speed three-dimensional laser radar system based on VCSEL laser light source, which includes for emitting the VCSEL laser beam emitting device of VCSEL laser beam, high-rate laser scanner, image collecting device and three-dimensional data processing module；To target, described image acquisition device is connected to three-dimensional data processing module for transmitting after the light beam of the VCSEL laser beam emitting device passes through high-rate laser scanner；High-speed vibrating mirror is provided on the high-rate laser scanner.The present invention uses VCSEL laser imaging, has power strong, the high advantage of pulse power.And after collocation high-rate laser scanner, quickly laser scanning can be gone out, to collect larger range of 3-D image, the present invention passes through the method that high-speed vibrating mirror scans by using VCSEL laser, has the advantages that scanning speed fastly and image clearly.
Description
Technical field
The present invention relates to auxiliary driving technology fields more particularly to a kind of high speed three-dimensional based on VCSEL laser light source to swash
Optical detection and ranging system.
Background technique
The laser of the laser radar of domestic development mainly uses semiconductor pumped YAG laser, scanning mode at present
Double resonance scarnning mirror or oval helical scanning are mainly used, imaging rate is in 10 frames/below the second.Existing laser radar, which has, to be swept
It is low to retouch speed, image quality is poor, the close disadvantage of underpower detection range.
Summary of the invention
Shortcoming present in view of the above technology, the present invention provide a kind of high speed three based on VCSEL laser light source
Laser radar system is tieed up, which passes through the method for high-speed vibrating mirror scanning using VCSEL laser, has scanning speed fast and image
Clear advantage.
To achieve the above object, the present invention provides a kind of high speed three-dimensional laser radar system based on VCSEL laser light source,
Including the VCSEL laser beam emitting device, high-rate laser scanner, image collecting device and three for emitting VCSEL laser beam
Dimension data processing module；Transmitting is described to target after the light beam of the VCSEL laser beam emitting device passes through high-rate laser scanner
Image collecting device is connected to three-dimensional data processing module；High-speed vibrating mirror is provided on the high-rate laser scanner；
The VCSEL laser beam emitting device emits VCSEL laser beam, the swing which passes through high-speed vibrating mirror
It scans after the laser beam high speed of transmitting is changed direction to target；The acquisition of described image acquisition device is reflected by target
Scattering laser, collected scattering laser is sent to three-dimensional data processing module, and the three-dimensional data processing module calculates mesh
Target distance, and calculated result is shown in car terminals.
Wherein, the three-dimensional data processing module includes timing unit, meter speed unit and radar chip, described image acquisition
Device is connected with timing unit, and the timing unit and meter speed unit are connected with the input terminal of radar chip, and institute
The output end for stating radar chip is connected with car terminals；The timing unit measurement laser pulse reaches target and is returned again by target
The round-trip time of reception device is returned to, the meter speed unit calculates the light velocity, and the radar chip is according to the two-way time and light
Speed calculates the distance of target.
Wherein, the high-rate laser scanner further includes transmission mechanism, the high-speed vibrating mirror and the transmission mechanism mutually company of driving
It connects, the high-speed vibrating mirror swings back and forth under the drive of the transmission mechanism, and light is scanned away to target.
Wherein, the transmission mechanism is cam drive or motor.
Wherein, the VCSEL laser beam emitting device includes VCSEL laser light source and beam converter, the VCSEL laser
Light source is connected by beam converter with high-rate laser scanner, and VCSEL laser light source adjusts laser by beam converter
It is expanded into the beam and focus greater than target size size after beam and focus, and is irradiated to mesh after scanning by high-rate laser scanner
It puts on.
Wherein, the beam converter is diffusion sheet, lens, lens group or diffraction optical element DOE.
Wherein, described image acquisition device includes picture receiver and additional device, the receiving end of the additional device with
Target connection, the transmitting terminal of the additional device are connected to timing unit by picture receiver；The reflected scattering of target
Laser first passes through after additional device is polymerized to small light spot and enters back into picture receiver part.
Wherein, described image receiving device uses complementary metal oxide semiconductor CMOS or charge coupled device ccd；Institute
Additional device is stated using lens or lens group.
The beneficial effects of the invention are as follows：Compared with prior art, the high speed provided by the invention based on VCSEL laser light source
Three-dimensional laser radar system, the system mainly include VCSEL laser beam emitting device, high-rate laser scanner, image collecting device
With three-dimensional data processing module；VCSEL laser beam emitting device emits laser beam to target, and high-rate laser scanner passes through high speed
Galvanometer, which is swung, changes scanning of the direction completion to target for the laser high-speed of transmitting；Image collecting device, which receives, passes through target object
Reflected scattering laser.The three-dimensional data processing module is by radar chip to the target surface three-dimensional data after conversion
It is handled, three-dimensional data processing module uses pulsed laser ranging, issues a very narrow laser arteries and veins using VCSEL laser
Punching, measurement laser pulse reaches the round-trip time that target is returned to reception device by target again, according to the two-way time and light
Speed calculates the distance of target, and obtained distance measurement result is finally sent to car terminals and is shown；Using VCSEL laser at
Picture has power strong, the high advantage of pulse power.It, can be quickly by laser scanning and after collocation high-rate laser scanner
It goes out, to collect larger range of 3-D image, the present invention passes through the side that high-speed vibrating mirror scans by using VCSEL laser
Method has the advantages that scanning speed is fast and image clearly.
Detailed description of the invention
Fig. 1 is the block diagram of the high speed three-dimensional laser radar system of the invention based on VCSEL laser light source；
Fig. 2 is the working principle diagram of the high speed three-dimensional laser radar system of the invention based on VCSEL laser light source；
Fig. 3 is the structure chart of high speed laser scanner of the present invention.
Specific embodiment
In order to more clearly state the present invention, the present invention is further described with reference to the accompanying drawing.
Please refer to Fig. 1-3, the high speed three-dimensional laser radar system provided by the invention based on VCSEL laser light source, including
For emitting VCSEL laser beam emitting device 1, high-rate laser scanner 2, image collecting device 3 and the three-dimensional of VCSEL laser beam
Data processing module 4；Transmitting is described to target 5 after the light beam of the VCSEL laser beam emitting device passes through high-rate laser scanner
Image collecting device is connected to three-dimensional data processing module；High-speed vibrating mirror 21 is provided on the high-rate laser scanner 2；
The VCSEL laser beam emitting device emits VCSEL laser beam, the swing which passes through high-speed vibrating mirror
It scans after the laser beam high speed of transmitting is changed direction to target；The acquisition of described image acquisition device is reflected by target
Scattering laser, collected scattering laser is sent to three-dimensional data processing module, and the three-dimensional data processing module calculates mesh
Target distance, and calculated result is shown in car terminals 6.
Further referring to Fig. 2, the three-dimensional data processing module 4 includes timing unit 41, meter speed unit 42 and radar
Chip 43, described image acquisition device are connected with timing unit, and the timing unit and meter speed unit with radar chip
Input terminal be connected, and the output end of the radar chip is connected with car terminals；The timing unit measures laser arteries and veins
It is flushed to the round-trip time for returning to reception device by target again up to target, the meter speed unit calculates the light velocity, the radar core
Piece calculates the distance of target according to the two-way time and the light velocity.Certainly, three-dimensional data processing module is not limited to using upper
The laser radar range algorithm stated can also use other algorithms.
Referring to Fig. 3, the high-rate laser scanner 2 further includes transmission mechanism（It is not shown）, the high-speed vibrating mirror and pass
Motivation structure is mutually drivingly connected, and the high-speed vibrating mirror swings back and forth under the drive of the transmission mechanism, by light scan away to
Target.The transmission mechanism is cam drive or motor.See that Fig. 3, laser irradiation galvanometer enter according to light reflection principle
Penetrating area of light reflected light, vertical normal angle is equal with galvanometer, i.e. the angle θ, and high-speed vibrating mirror rotates simultaneously, and reflection angular occurs inclined
Turn.
In the present embodiment, the VCSEL laser beam emitting device 1 includes VCSEL laser light source 11 and beam converter 12,
The VCSEL laser light source is connected by beam converter with high-rate laser scanner, and VCSEL laser light source is become by light beam
It is expanded into the beam and focus greater than target size size after parallel operation adjustment laser beam hot spot, and is swept by high-rate laser scanner
It is irradiated in target after retouching.The angle of divergence of VCSEL laser is generally 10 ° ~ 40 °, and light spot shape is circle, directly projects away
Light beam is difficult to meet laser ranging requirement, need optical beam transformation device carry out expand outgoing beam spot size and collimation,
Optical beam transformation device can use diffusion sheet, lens, lens group or diffraction optical element DOE, which is specifically selected need according to sharp
Radiant feature.
In the present embodiment, described image acquisition device 3 includes picture receiver 31 and additional device 32, the assistor
The receiving end of part is connect with target, and the transmitting terminal of the additional device is connected to timing unit by picture receiver；Target is anti-
The scattering laser being emitted back towards, which first passes through after additional device is polymerized to small light spot, enters back into picture receiver part.Described image receiving device
Using complementary metal oxide semiconductor CMOS or charge coupled device ccd；The additional device uses lens or lens group.
Compared to the prior art, the high speed three-dimensional laser radar system provided by the invention based on VCSEL laser light source, should
System mainly includes VCSEL laser beam emitting device, high-rate laser scanner, image collecting device and three-dimensional data processing module；
VCSEL laser beam emitting device emits laser beam to target, and high-rate laser scanner swings swashing transmitting by high-speed vibrating mirror
Light high speed changes scanning of the direction completion to target；Image collecting device is received to swash by the reflected scattering of target object
Light.The three-dimensional data processing module is handled the target surface three-dimensional data after conversion by radar chip, three dimensions
Pulsed laser ranging is used according to processing module, issues a very narrow laser pulse using VCSEL laser, measurement laser pulse arrives
Up to target again by target return to reception device the round-trip time, calculated according to the two-way time and the light velocity target away from
From obtained distance measurement result is finally sent to car terminals and is shown；Using VCSEL laser imaging, have power strong, arteries and veins
Rush the high advantage of power.And after collocation high-rate laser scanner, quickly laser scanning can be gone out, to collect more
Large-scale 3-D image, the present invention pass through the method that high-speed vibrating mirror scans by using VCSEL laser, have scanning speed fast
And the advantages of image clearly.
Disclosed above is only several specific embodiments of the invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think variation should all fall into protection scope of the present invention.
Claims (8)
1. a kind of high speed three-dimensional laser radar system based on VCSEL laser light source, which is characterized in that including for emitting
VCSEL laser beam emitting device, high-rate laser scanner, image collecting device and the three-dimensional data of VCSEL laser beam handle mould
Block；The light beam of the VCSEL laser beam emitting device emits after passing through high-rate laser scanner to target, described image acquisition device
It is connected to three-dimensional data processing module；High-speed vibrating mirror is provided on the high-rate laser scanner；
The VCSEL laser beam emitting device emits VCSEL laser beam, the swing which passes through high-speed vibrating mirror
It scans after the laser beam high speed of transmitting is changed direction to target；The acquisition of described image acquisition device is reflected by target
Scattering laser, collected scattering laser is sent to three-dimensional data processing module, and the three-dimensional data processing module calculates mesh
Target distance, and calculated result is shown in car terminals.
2. the high speed three-dimensional laser radar system according to claim 1 based on VCSEL laser light source, which is characterized in that
The three-dimensional data processing module includes timing unit, meter speed unit and radar chip, described image acquisition device and timing list
Member is connected, and the timing unit and meter speed unit are connected with the input terminal of radar chip, and the radar chip
Output end is connected with car terminals；The timing unit measurement laser pulse reaches target and returns to reception device by target again
The round-trip time, the meter speed unit calculates the light velocity, and the radar chip calculates target according to the two-way time and the light velocity
Distance.
3. the high speed three-dimensional laser radar system according to claim 1 based on VCSEL laser light source, which is characterized in that
The high-rate laser scanner further includes transmission mechanism, and the high-speed vibrating mirror is mutually drivingly connected with transmission mechanism, the high speed vibration
Mirror swings back and forth under the drive of the transmission mechanism, and light is scanned away to target.
4. the high speed three-dimensional laser radar system according to claim 3 based on VCSEL laser light source, which is characterized in that
The transmission mechanism is cam drive or motor.
5. the high speed three-dimensional laser radar system according to claim 1 based on VCSEL laser light source, which is characterized in that
The VCSEL laser beam emitting device includes VCSEL laser light source and beam converter, and the VCSEL laser light source passes through light beam
Converter is connected with high-rate laser scanner, and VCSEL laser light source expands after adjusting laser beam hot spot by beam converter
Great achievement is greater than the beam and focus of target size size, and is irradiated in target after being scanned by high-rate laser scanner.
6. the high speed three-dimensional laser radar system according to claim 5 based on VCSEL laser light source, which is characterized in that
The beam converter is diffusion sheet, lens, lens group or diffraction optical element DOE.
7. the high speed three-dimensional laser radar system according to claim 2 based on VCSEL laser light source, which is characterized in that
Described image acquisition device includes picture receiver and additional device, and the receiving end of the additional device is connect with target, described
The transmitting terminal of additional device is connected to timing unit by picture receiver；The reflected scattering laser of target first passes through auxiliary
Device enters back into picture receiver part after being polymerized to small light spot.
8. the high speed three-dimensional laser radar system according to claim 7 based on VCSEL laser light source, which is characterized in that
Described image receiving device uses complementary metal oxide semiconductor CMOS or charge coupled device ccd；The additional device is adopted
With lens or lens group.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810515874.9A CN108931781A (en) | 2018-05-25 | 2018-05-25 | high speed three-dimensional laser radar system based on VCSEL laser light source |
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| CN201810515874.9A CN108931781A (en) | 2018-05-25 | 2018-05-25 | high speed three-dimensional laser radar system based on VCSEL laser light source |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109950793A (en) * | 2019-05-10 | 2019-06-28 | 苏州长光华芯半导体激光创新研究院有限公司 | VCSEL array light source system based on MEMS micromirror scanning |
| CN109980502A (en) * | 2019-05-10 | 2019-07-05 | 苏州长光华芯半导体激光创新研究院有限公司 | VCSEL single-shot luminous point light-source system based on MEMS micromirror scanning |
| CN110068831A (en) * | 2019-04-02 | 2019-07-30 | 深圳市速腾聚创科技有限公司 | Glisten radar and its emitter and detection method |
| CN110940989A (en) * | 2019-12-20 | 2020-03-31 | 深圳市镭神智能系统有限公司 | Galvanometer and laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110068831A (en) * | 2019-04-02 | 2019-07-30 | 深圳市速腾聚创科技有限公司 | Glisten radar and its emitter and detection method |
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| CN109980502A (en) * | 2019-05-10 | 2019-07-05 | 苏州长光华芯半导体激光创新研究院有限公司 | VCSEL single-shot luminous point light-source system based on MEMS micromirror scanning |
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