CN110007291B - Receiving system and laser radar - Google Patents
Receiving system and laser radar Download PDFInfo
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- CN110007291B CN110007291B CN201910304418.4A CN201910304418A CN110007291B CN 110007291 B CN110007291 B CN 110007291B CN 201910304418 A CN201910304418 A CN 201910304418A CN 110007291 B CN110007291 B CN 110007291B
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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
- G01S7/486—Receivers
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention is suitable for the technical field of laser detection, and provides a receiving system and a laser radar, wherein the receiving system comprises: the receiving assembly comprises a plurality of receiving units, and the plurality of receiving units are arranged on the same reference surface; and the optical filter component is arranged on the light incident side of the receiving component and comprises a middle view field optical filter and a plurality of edge view field optical filters, the middle view field optical filter is arranged corresponding to the middle part of the reference surface and is parallel to the middle part of the reference surface, the edge view field optical filters are arranged corresponding to the edge area of the reference surface, and one end, far away from the middle area, of each edge view field optical filter is obliquely arranged towards the light incident side of the edge view field optical filter. According to the invention, the optical filter inclined relative to the middle area is arranged in the edge area corresponding to the reference surface of the receiving unit, so that the incidence angle can be reduced when a large-angle reflected laser beam is incident to the edge field optical filter, the proportion of the reflected laser beam entering the edge field optical filter is improved, the energy of the reflected laser beam received by the receiving unit is further improved, and the detection distance and the detection performance are improved.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a receiving system and a laser radar.
Background
The laser radar is a radar system which emits laser beams to detect characteristic quantities of a target such as position, speed and the like, and the working principle of the radar system is that the detection laser beams are emitted to the target, then received signals reflected from the target are compared with the emitted signals, and after appropriate processing is carried out, relevant information of the target, such as parameters of target distance, direction, height, speed, attitude, even shape and the like, can be obtained.
A filter is generally required to be added in front of the receiving unit of the laser radar to prevent stray light of other bands from entering the receiving unit. After the reflected laser of the laser radar is converged by the receiving and focusing unit, the incident angle of the reflected laser at the edge field of view is larger; the larger the incident angle is, the lower the transmittance is, and the energy of the reflected laser beam entering the receiving unit is affected, thereby affecting the ranging capability of the laser radar.
Disclosure of Invention
The invention aims to provide a receiving system, aiming at solving the technical problem of low receiving rate caused by large incident angle of reflected laser at the edge field of view of the existing laser radar entering an optical filter and the receiving system.
The present invention is achieved as such, a receiving system comprising:
the receiving assembly comprises a plurality of receiving units, and the receiving units are arranged on the same reference surface; and
the optical filter assembly is arranged on the light incidence side of the receiving assembly and comprises a middle view field optical filter and a plurality of edge view field optical filters; the middle field filter is arranged in the middle of the corresponding and parallel to the reference surface; the edge view filter is arranged corresponding to the edge area of the reference surface, and one end, far away from the middle area, of the edge view filter is obliquely arranged towards the light incident side of the edge view filter.
In one embodiment, two opposite sides of the middle field filter are respectively provided with one of the edge field filters.
In one embodiment, the inclination angles of the two edge field filters are both 5-10 °.
In one embodiment, the middle area and the edge area are arranged along a vertical direction, and an angle of view of the receiving assembly in the vertical direction is-15 ° +15 °.
In one embodiment, the projected area of the intermediate field of view filter on the reference plane is larger than the projected area of one of the edge field of view filters on the reference plane.
In one embodiment, the receiving system further comprises a frame assembly, and the intermediate field of view filter and the edge field of view filter are both fixedly mounted on the frame assembly.
In one embodiment, the frame assembly comprises a plurality of frames, the frames are in one-to-one correspondence with the edge field filters or the middle field filters, and the inclination angles of the edge field filters are fixed by the inclination angles of the frames on which the edge field filters are located.
In one embodiment, the receiving system further comprises a receiving focusing unit disposed at the light incident side of the optical filter assembly.
The present invention also aims to provide a lidar comprising:
an emission system including a plurality of emission units for emitting outgoing laser beams; and
the receiving system according to each of the embodiments described above is configured to receive a reflected laser beam, where the reflected laser beam is a laser beam returned after the outgoing laser beam is reflected by an object.
In one embodiment, the emission system further includes an emission collimation unit disposed on the light exit side of the emission unit and used for collimating the emergent laser beam emitted by the emission unit
The receiving system and the laser radar thereof provided by the invention have the beneficial effects that:
the receiving system comprises a receiving assembly and an optical filter assembly arranged on the light incident side of the receiving assembly, wherein the receiving assembly comprises a plurality of receiving units arranged on the same reference surface, the optical filter assembly comprises a middle view field optical filter and a plurality of edge view field optical filters, the middle view field optical filter is arranged corresponding to the middle part of the reference surface and parallel to the middle part of the reference surface, the edge view field optical filters are arranged corresponding to the edge area of the reference surface, and one end of the edge field filter, which is far away from the middle field, is obliquely arranged towards the light inlet side of the edge field filter, so that when the received large-angle reflected laser beam is incident to the edge field filter, the incidence angle can be reduced, thereby improving the proportion of the reflected laser beams with large angles entering the edge field filter, further, the energy of the reflected laser beam that can be received by the receiving unit is improved, the receiving rate of the reflected laser beam is increased, and the overall receiving performance is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser radar provided in an embodiment of the present invention;
fig. 2 is a schematic front structural diagram of a receiving system according to an embodiment of the present invention;
fig. 3 is a schematic side view of a receiving system according to an embodiment of the present invention.
The designations in the figures mean:
100-lidar, 1-transmitting system, 11-transmitting unit, 12-transmitting collimating unit, 3-object, 6-receiving system, 61-receiving component, 610-receiving unit, 62-optical filter component, 621-middle field optical filter, 622-edge field optical filter, 63-receiving focusing unit, 601-middle area, 602-edge area, 7-controller, 8-shell.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the patent. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.
Referring to fig. 2 and 3, an embodiment of the invention first provides a receiving system 6, which includes a receiving assembly 61 and a filter assembly 62 disposed on a light incident side of the receiving assembly 61, wherein the receiving assembly 61 includes a plurality of receiving units 610, the receiving units 610 are arranged on a same reference plane (not shown), the filter assembly 62 includes a middle field filter 621 and a plurality of edge field filters 622, the middle field filter 621 is disposed corresponding to and parallel to a middle area 601 of the reference plane, for filtering the reflected laser beam incident towards the middle area 601 of the reference plane, an edge field filter 622 is arranged in correspondence with the edge area 602 of the reference plane, for filtering the reflected laser beam incident toward the edge area 602 of the reference plane, and the end of the edge field filter 622 away from the area of the middle 601 is disposed obliquely toward the light incident side thereof.
In the receiving system 6 provided by the embodiment of the present invention, the optical filter assembly 62 includes the middle field optical filter 621 and a plurality of edge field optical filters 622, the middle field optical filter 621 is disposed corresponding to and parallel to the middle area 601 of the reference surface where the receiving unit 610 is located, the edge field optical filters 622 are disposed corresponding to the edge area 602 of the reference surface, and one end of the edge field optical filter 622 away from the middle area 601 is disposed obliquely toward the light incident side thereof, so that the incident angle when the large-angle light beam enters the edge field optical filters 622 can be reduced, thereby increasing the proportion of the large-angle reflected laser beam entering the edge field optical filters 622, further increasing the energy of the reflected laser beam received by the receiving unit 610, increasing the receiving rate of the reflected laser beam, and improving the receiving performance.
In one embodiment, the receiving system 6 further comprises a frame assembly (not shown) for fixing the edge field filter 622 and the middle field filter 621 on the light incident side of the receiving assembly 61 and keeping the edge field filter 622 at an inclined angle.
Specifically, the frame assembly may include a plurality of frames, each frame being used to mount and fix one of the edge field filters 622 or the middle field filter 621, and the inclination angle of the edge field filter 622 is determined and fixed by the inclination angle of the frame on which it is located.
The receiving system 6 provided by this embodiment may be used in any light receiving device that needs to receive incident light with a large angle for imaging and/or detection, for example, a camera module of an electronic terminal device or a laser radar. The edge field filter 622 may have different inclination angles in different light receiving devices. In an embodiment, referring to fig. 1, the receiving system 6 further includes a receiving focusing unit 63 disposed on the light incident side of the optical filter assembly 62, and configured to focus the reflected laser beam and then enter the optical filter assembly 62, so that the reflected laser beam received by the receiving system 6 can be received by the receiving assembly 61 after being converged, thereby improving the detection distance and the detection performance.
Specifically, the receiving focusing unit 63 may be a focusing lens, which may include a single lens or a lens group.
Taking the example that the receiving system 6 provided by the embodiment of the present invention is applied to a laser radar as an example, the embodiment of the present invention further provides a laser radar 100, and the following further specifically describes other structural features of the receiving assembly 6 in combination with the specific description of the laser radar 100.
Referring to fig. 1 to 3, an embodiment of the invention provides a laser radar 100, including a housing 8, and a transmitting system 1, a receiving system 6 and a controller 7 disposed in the housing 8, where the transmitting system 1 includes a plurality of transmitting units 11, the transmitting units 11 are configured to transmit outgoing laser beams, the outgoing laser beams are reflected after being emitted to an object 3, the receiving system 6 is configured to receive reflected laser beams reflected by the object 3 and returned, the receiving unit 610 is configured to convert received optical signals into electrical signals and transmit the electrical signals to the controller 7, the controller 7 is electrically connected to the transmitting system 1 and the receiving system 6, respectively, and calculates information of the object 3, such as distance and the like, by comparing the emitted laser beams with the received reflected laser beams; in this laser radar 100, the end of the edge field filter 622 in the filter assembly 62 that is away from the intermediate field of view 601 is inclined toward the direction away from the receiving system 6, that is, toward the side of the object 3.
In the laser radar 100 provided by the embodiment of the present invention, the optical filter assembly 62 in the receiving system 6 divides the middle area 601 and the edge area 602 of the reference surface of the receiving unit 610, and the edge area 602 of the reference surface is provided with an optical filter inclined with respect to the middle area 601, so that the incident angle of the large-angle laser beam incident on the edge view field optical filter 622 can be reduced, thereby increasing the ratio of the large-angle incident reflected laser beam entering the edge view field optical filter 622, further increasing the energy of the reflected laser beam received by the receiving unit 610, increasing the receiving rate of the reflected laser beam, and improving the receiving performance.
In this embodiment, the receiving unit 610 of the laser radar 100 is an APD (Avalanche photodiode), and a plurality of APDs are arranged in an array on the reference plane. Referring to fig. 2 and 3, the radar laser 100 can obtain a larger angle of view in one direction, which is a vertical direction in the present embodiment, and a smaller angle of view in a direction perpendicular to the vertical direction, which is a horizontal direction in the present embodiment, and can perform 360 ° rotation scanning in the horizontal direction, and the maximum incident angle of the reflected laser beam in the horizontal direction is smaller than that in the vertical direction. Therefore, in the present embodiment, the middle area 601 and the edge area 602 are arranged in the vertical direction, and the edge area 602 is located above and below the middle area 601, and there is no need to divide any edge area in the horizontal direction.
The plurality of edge regions 602 are symmetrically distributed about the middle region 601. For example, the upper and lower portions of the middle region 601 may be divided into one edge region 602, two edge regions 602, and N (N ≧ 3) edge regions 602, depending on the size of the reference plane of the laser radar 100. When there are a plurality of edge regions 602 on each side of the middle region 601, the inclination angle of the edge field filter 622 with respect to the reference plane toward the light entrance side gradually increases from the middle region 601 to both sides.
Taking the application of the laser radar 100 to the field of environment sensing of an autonomous vehicle as an example, the overall size of the laser radar 100 is generally about 10 cm × 10 cm. Therefore, in a preferred embodiment, the middle area 601 can be divided into an edge area 602 above and below, and accordingly, an edge filter 622 is disposed above and below the middle filter 621. Therefore, the number and the installation complexity of the edge field filters 622 can be reduced on the basis of considering detection results, and the installation cost is reduced.
Further, the sizes of the intermediate field filter 621 and the edge field filter 622 are also determined based on the area of the reference plane of the laser radar 100 and the arrangement of the receiving units 610. In the present embodiment, the receiving units 610 are distributed more in the middle area 601 of the reference plane. Therefore, the projection area of the middle field filter 621 on the reference plane is larger than the projection area of one of the edge field filters 622 on the reference plane. Preferably, the ratio of the projected areas of the middle field filter 621 and one of the edge field filters 622 is about 2:1, and the ratio of the projected heights in the vertical direction is 2:1 when the lengths in the horizontal direction are the same, i.e., the middle field filter 621 and the two edge field filters 622 are used for filtering half of the area on the reference plane, respectively.
More specifically, in the field of environment perception of an autonomous vehicle, the field angle in the vertical direction generally needs to reach-15 ° to +15 °. The angle of incidence of the reflected laser beam on the intermediate-field filter 621 may be maintained at 0-10. The two edge field filters 622 may be inclined at an angle of 5 deg. -10 deg. with respect to the middle field filter 621 so that the incident angle of the reflected laser beam on the edge field filters 622 may be maintained within 0 deg. -10 deg.. Therefore, the incident angle of the reflected laser beam at each position on the filter assembly 62 can be kept within 10 °, and the incidence rate of the reflected laser beam is greatly improved.
In one embodiment, the outgoing laser beam emitted by the emitting unit 11 of the laser radar 100 is infrared light, and the middle field filter 621 and the edge field filter 622 are both infrared band pass filters, which allow infrared light to pass through and exclude ultraviolet light, visible light, and the like. More specifically, the wavelength range of the outgoing laser beam emitted by the emission unit 11 is 900 nm to 1000 nm.
In one embodiment, referring to fig. 1, the emission system 1 further includes an emission collimating unit 12 disposed on the light emitting side of the emission unit 11 for collimating the emergent laser beam emitted from the emission unit 11.
In particular, the emission collimation unit 12 may be a collimation lens, which may also comprise a single lens or a set of lenses.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A receiving system, comprising:
the receiving assembly comprises a plurality of receiving units, and the receiving units are arranged on the same reference surface; and
the optical filter assembly is arranged on the light incidence side of the receiving assembly and comprises a middle view field optical filter and a plurality of edge view field optical filters; the middle field filter is arranged in the middle of the corresponding and parallel to the reference surface; the edge view filter is arranged corresponding to the edge area of the reference surface, and one end, far away from the middle area, of the edge view filter is obliquely arranged towards the light incident side of the edge view filter; the edge regions of the reference plane are distributed symmetrically with respect to the middle region of the reference plane.
2. The receiver system of claim 1, wherein one of the edge field filters is disposed on each of opposite sides of the middle field filter.
3. The receiver system of claim 2, wherein the two edge field filters are tilted at an angle of 5 ° to 10 °.
4. The receiving system of claim 3, wherein the middle area and the edge area are arranged along a vertical direction, and an angle of view of the receiving module in the vertical direction is-15 ° to +15 °.
5. The receiving system of claim 2, wherein a projected area of the intermediate field of view filter on the reference plane is larger than a projected area of one of the edge field of view filters on the reference plane.
6. A receiving system according to claim 1, wherein the receiving system further comprises a frame assembly, the intermediate field of view filter and the edge field of view filter each being fixedly mounted to the frame assembly.
7. The receiving system of claim 6, wherein the frame assembly comprises a plurality of frames, the frames are in one-to-one correspondence with the fringe field filters or the intermediate field filters, and the tilt angles of the fringe field filters are fixed by the tilt angles of the frames on which the fringe field filters are located.
8. The receiving system of claim 1, wherein the receiving system further comprises a receiving focusing unit disposed on the light entrance side of the optical filter assembly.
9. A lidar, comprising:
an emission system including a plurality of emission units for emitting outgoing laser beams; and
the receiving system of any one of claims 1 to 8, configured to receive a reflected laser beam, the reflected laser beam being a laser beam returned after the outgoing laser beam is reflected by an object.
10. The lidar of claim 9, wherein the transmitting system further comprises a transmitting collimating unit disposed on a light exit side of the transmitting unit and configured to collimate the outgoing laser beam emitted by the transmitting unit.
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| CN201910304418.4A CN110007291B (en) | 2019-04-16 | 2019-04-16 | Receiving system and laser radar |
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| CN201910304418.4A CN110007291B (en) | 2019-04-16 | 2019-04-16 | Receiving system and laser radar |
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| CN109100708A (en) * | 2018-09-26 | 2018-12-28 | 中国科学院合肥物质科学研究院 | A kind of dual wavelength surveys steam laser radar caliberating device and scaling method |
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