CN110412602A - A kind of laser radar detection method and laser radar - Google Patents
A kind of laser radar detection method and laser radar Download PDFInfo
- Publication number
- CN110412602A CN110412602A CN201910591636.0A CN201910591636A CN110412602A CN 110412602 A CN110412602 A CN 110412602A CN 201910591636 A CN201910591636 A CN 201910591636A CN 110412602 A CN110412602 A CN 110412602A
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- laser radar
- emitter
- light
- angle
- emergent light
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- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 230000003287 optical effect Effects 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- 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
Abstract
This application involves a kind of method for improving radar performance more particularly to a kind of laser radar detection method and laser radars.Radar detection method described herein, the laser radar includes multiple emitters, a reception device, the search coverage of multiple emitter emergent lights is superimposed, form region to be measured, emitter timesharing emergent light, region to be measured is divided into multiple regions timesharing detection, emergent light, which is irradiated in target, to be reflected, and reflected light is received by reception device.The application passes through multiple emitter timesharing emergent lights, region timesharing to be measured is detected, it avoids the stray light in detection process between each search coverage to influence each other, improves the interference of stray light situation in entire detection viewing field, improve the anti-interference ability and stability of range performance.
Description
Technical field
The present application relates to a kind of method for improving radar performance more particularly to a kind of laser radar detection method and swash
Optical radar.
Background technique
Laser radar needs to detect entire tested region when being detected.When only one emitter of laser radar
When with a reception device, in effective detection viewing field, the signal light that all measured objects are reflected back is received simultaneously by reception device
It is imaged on a test surface, wherein nearby a part of signal light of testee is inevitably converted into reception device
Stray light, stray light mostly come from optical surface, such as the diffusing reflection on the multiple reflections of lens front and back sides, ray machine part, difficult
To be eliminated under conditions of not reducing receiving efficiency.Stray light made of these are converted as signal light, departing from measured object at
It as location of pixels, but is randomly dispersed on entire test surface, and carry the distance feature of radar surveying, will cause measurement knot
Fruit inaccuracy.
As shown in Figure 1, object A and object B be in radar visual field, and object A is relatively closer to radar, such as closely
0.5-1m, object B is far apart from radar, such as larger than 6m.Object A and the reflected signal light of object B are all in reception device
Under collection, imaging converges to corresponding pixel position respectively, and distance is closer, and signal light back is stronger.Wherein object A is returned
The very small part of the signal light returned forms stray light and is dispersed on entire imaging surface, but this part stray light intensity can and it is remote
The signal light intensity that object B is returned at distance is quite or bigger.The light for thus carrying A object distance information is covered on and should receive
In the pixel for carrying the light of B object distance information, this will make the pixel seriously less than normal to the range measurement of B object, influence most
Whole measurement result.
Summary of the invention
The embodiment of the present application is to propose a kind of laser radar detection method and laser radar, improves in existing measurement method
There are problems that interference of stray light in detection viewing field, influence range performance.
The embodiment of the present application laser radar detection method, the laser radar include multiple emitters, a reception
Device, the search coverage superposition of multiple emitter emergent lights, forms region to be measured, emitter timesharing emergent light will be to be measured
Region is divided into multiple regions timesharing detection, and emergent light, which is irradiated in target, to be reflected, and reflected light is received by reception device.
In one possible implementation, the emergent light angle of divergence is 30-85 °, each outgoing optical detection
Region partly overlaps, and superimposed region field angle to be measured is greater than field of view of receiver angle 5-10%, and the field of view of receiver angle is 50-
160°。
In one possible implementation, the emergent light angle of divergence is 45-60 °, each outgoing optical detection
Region partly overlaps, and superimposed region field angle to be measured is greater than field of view of receiver angle 5-10%, and the field of view of receiver angle is 140-
160°。
In one possible implementation, the time-sharing work is complete timesharing, i.e., when the work of each emitter
Between be staggered completely.
In one possible implementation, the emitter working time, job order can be configured.
On the other hand, a kind of laser radar, including multiple emitters, a reception device, multiple emitter outgoing
The search coverage of light is superimposed, and forms region to be measured, and emitter timesharing emergent light, emergent light, which is irradiated in target, to be reflected, and is received
Device is for receiving reflected light.
In one possible implementation, each emergent light search coverage partly overlaps, superimposed area to be measured
Domain field angle is greater than the field of view of receiver angle 5-10% of reception device.
In one possible implementation, the quantity of the emitter is 2-6.
In one possible implementation, the emitter includes light source, optical transmitting system, the light source
It is emitted after the emitted optical system processing of emergent light.
In one possible implementation, the laser radar further includes control device, and the control device is used
In control emitter time-sharing work, processing optical signal obtains measurement result.
The application detects region timesharing to be measured, is avoided and detected by multiple emitter timesharing emergent lights
Stray light in journey between each search coverage influences each other, and improves the interference of stray light situation in entire detection viewing field, is promoted
The anti-interference ability and stability of range performance.
Detailed description of the invention
Fig. 1 is background technique schematic diagram.
Fig. 2 is that there are four the laser radar schematic diagrames of emitter for the embodiment of the present application tool.
Fig. 3 is that there are two the laser radar figures of emitter for the embodiment of the present application tool.
Fig. 4 is the embodiment of the present application beam emitter schematic diagram.
In figure: 1, emitter；2, reception device；3, it is not superimposed search coverage；4, it is superimposed search coverage；5, emergent light is sent out
Dissipate angle；6, field of view of receiver angle；7, light source；8, collimation lens；9, cylindrical lens；10, object.
Specific embodiment
Further illustrate the technical solution of the application below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, device, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
The embodiment of the present application
As shown in Fig. 2, radar detection method, the laser radar includes four emitters, 1, reception device 2, multiple
The search coverage of 1 emergent light of emitter is superimposed, and forms region to be measured, region to be measured is divided by 1 timesharing emergent light of emitter
Multiple regions timesharing detection, emergent light, which is irradiated in target, to be reflected, and reflected light is received by reception device.
The application, to different search coverage timesharing emergent lights, region to be measured is distinguished respectively by multiple emitters 1,
Timesharing is detected, to avoid the stray light between 2 optical system bring each region of reception device.Emit dress in Fig. 2
It sets 1 and region to be measured is divided into 4 parts, four region timesharing are detected respectively.Wherein, the object 10 in the same area is still deposited
In interfering with each other for stray light, range performance is influenced；Since the time is staggered between different zones object 10, will not influence each other.
It is thus detected by multiple regions timesharing, improves the interference of stray light situation in entire detection viewing field, improve range performance
Anti-interference ability and stability.
The emergent light angle of divergence 5 be 30-85 °, each emergent light search coverage partly overlaps, it is superimposed to
Survey region field angle is 5-10% bigger than field of view of receiver angle, and the field of view of receiver angle 6 is 50-160 °.
Emergent light search coverage partly overlaps, and superimposed emergent light search coverage, which is divided into, is not superimposed search coverage 3, superposition
Search coverage 4, superimposed emergent light search coverage expand radar detection field angle；And the detection to superposition search coverage 4
Frequency, which is greater than, is not superimposed search coverage 3.It is higher for the look-in frequency of specific region, target area and fringe region are realized not
Same look-in frequency, meets actual detection needs.
The angle of divergence of multiple emitters is 30-85 °, be can be the same or different.Field of view of receiver angle with it is superimposed
The summation of each emergent light angle of divergence answers equal, consideration design and producing technique, and emitting area is left slightly larger than field of view of receiver about 5-10%
The right side, i.e., superimposed emergent light search coverage field angle are greater than field of view of receiver angle 5-10%, and the field of view of receiver angle 6 is 50-
160 °, guarantee that all reflected lights can be received.
The emergent light angle of divergence 5 be 45-60 °, each emergent light search coverage partly overlaps, it is superimposed to
It surveys region field angle and is greater than field of view of receiver angle 5-10%, the field of view of receiver angle 6 is 140-160 °.
In this angle of divergence numberical range, it is easier to realize in technique, and present apparatus more compact structure, volume are smaller.
The time-sharing work is complete timesharing, i.e., the working time of each emitter is staggered completely.
Emitter working time, job order can be configured.
The working time of emitter 1, job order can be set according to the direction of target area, far and near difference,
Such as 2 seconds 1 working times of emitter, 1 second 2 working time of emitter, 2 seconds 1 working times of emitter etc. guarantee to target
Measurement frequency and the measurement accuracy requirement in region.
A kind of laser radar, including 1, reception device 2 of multiple emitters, the spy of multiple 1 emergent lights of emitter
Region superposition is surveyed, forms region to be measured, 1 timesharing emergent light of emitter, emergent light, which is irradiated in target, to be reflected, reception device 2
For receiving reflected light.
Each emergent light search coverage partly overlaps, and superimposed region field angle to be measured is greater than connecing for reception device
Rating rink corner 5-10%.
The quantity of the emitter 1 is 2-6.
Emitter 1 is greater than 2, and less than 6, more than 6, then structure is excessively complicated, and design, manufacturing technique requirent are high, raw
It produces at high cost.
Fig. 2 is tool there are four the laser radar schematic diagram of emitter, and Fig. 3 is that there are two the laser radars of emitter for tool
Schematic diagram wherein has angle between the laser radar launcher emergent light optical axis of Fig. 3, and angle is 5-10 °.
The emitter includes light source 7, optical transmitting system, at the emitted optical system of light source emergent light
It is emitted after reason.
Emitter 1 can it is horizontal, vertical, be obliquely installed, the emergent light optical axis of emitter 1 in a plane,
Emitter 1 detects the target of horizontal plane, vertical plane, inclined surface.
As shown in figure 4, transmitting light source 7 is semiconductor laser, optical transmitting system is collimation lens 8, the combination of cylindrical lens 9
Or be not drawn into equal mating plate, DOE(figure).
The laser radar further includes control device (being not drawn into figure), and the control device is for controlling transmitting
Device time-sharing work, processing optical signal obtain measurement result.
The control device 10 is generally microprocessor, and emitter point can be arranged by microprocessor in operator
When work working time, job order.
Describe the technical principle of the application in conjunction with specific embodiments above.These descriptions are intended merely to explain the application's
Principle, and it cannot be construed to the limitation to the application protection scope in any way.Based on the explanation herein, the technology of this field
Personnel do not need to pay for creative labor the other specific embodiments that can associate the application, these modes are fallen within
Within the protection scope of the application.
Claims (10)
1. a kind of laser radar detection method, which is characterized in that the laser radar includes multiple emitters, a reception
Device, the search coverage superposition of multiple emitter emergent lights, forms region to be measured, emitter timesharing emergent light will be to be measured
Region is divided into multiple regions timesharing detection, and emergent light, which is irradiated in target, to be reflected, and reflected light is received by reception device.
2. laser radar detection method according to claim 1, which is characterized in that the emergent light angle of divergence is 30-
85 °, each emergent light search coverage partly overlaps, and superimposed region field angle to be measured is greater than field of view of receiver angle 5-10%,
The field of view of receiver angle is 50-160 °.
3. laser radar detection method according to claim 2, which is characterized in that the emergent light angle of divergence is 45-
60 °, each emergent light search coverage partly overlaps, and superimposed region field angle to be measured is greater than field of view of receiver angle 5-10%,
The field of view of receiver angle is 140-160 °.
4. laser radar detection method according to claim 3, which is characterized in that the time-sharing work is to divide completely
When, i.e., the working time of each emitter is staggered completely.
5. laser radar detection method according to claim 4, which is characterized in that emitter working time,
Job order can be configured.
6. a kind of laser radar, which is characterized in that including multiple emitters, a reception device, multiple emitter outgoing
The search coverage of light is superimposed, and forms region to be measured, and emitter timesharing emergent light, emergent light, which is irradiated in target, to be reflected, and is received
Device is for receiving reflected light.
7. laser radar according to claim 6, which is characterized in that each emergent light search coverage partly overlaps,
Superimposed region field angle to be measured is greater than the field of view of receiver angle 5-10% of reception device.
8. laser radar according to claim 7, which is characterized in that the quantity of the emitter is 2-6.
9. laser radar according to claim 7 or 8, which is characterized in that the emitter includes light source, transmitting light
System is emitted after the emitted optical system processing of the light source emergent light.
10. laser radar according to claim 9, which is characterized in that further include control device, the control device is used
In control emitter time-sharing work, processing optical signal obtains measurement result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591636.0A CN110412602A (en) | 2019-07-02 | 2019-07-02 | A kind of laser radar detection method and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910591636.0A CN110412602A (en) | 2019-07-02 | 2019-07-02 | A kind of laser radar detection method and laser radar |
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| CN201910591636.0A Pending CN110412602A (en) | 2019-07-02 | 2019-07-02 | A kind of laser radar detection method and laser radar |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111398976A (en) * | 2020-04-01 | 2020-07-10 | 宁波飞芯电子科技有限公司 | Detection device and method |
| WO2021051727A1 (en) * | 2020-01-06 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Lidar and device having lidar |
| CN113075644A (en) * | 2020-01-06 | 2021-07-06 | 深圳市速腾聚创科技有限公司 | Laser radar and device with laser radar |
| US20220349999A1 (en) * | 2020-01-06 | 2022-11-03 | Suteng Innovation Technology Co., Ltd. | Lidar and device having lidar |
| WO2022257138A1 (en) * | 2021-06-11 | 2022-12-15 | 深圳市大疆创新科技有限公司 | Calibration method and apparatus, and laser radar, detection system and storage medium |
| CN116593997A (en) * | 2023-07-17 | 2023-08-15 | 北京亮道智能汽车技术有限公司 | Anti-crosstalk and anti-interference method and device for laser radar |
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