CN110456325A - A kind of recognition methods of laser radar system and target object - Google Patents
A kind of recognition methods of laser radar system and target object Download PDFInfo
- Publication number
- CN110456325A CN110456325A CN201910819918.1A CN201910819918A CN110456325A CN 110456325 A CN110456325 A CN 110456325A CN 201910819918 A CN201910819918 A CN 201910819918A CN 110456325 A CN110456325 A CN 110456325A
- Authority
- CN
- China
- Prior art keywords
- light
- laser
- wave length
- light beam
- different wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
This application provides the recognition methods of a kind of laser radar system and target object, laser radar system includes: multiple laser light sources, the road Guang Gong device, light-splitting device, scanning means, optical shunt device, plus lens and multiple photoelectric detection modules.Wherein, the laser beam of multiple laser light source output different wave lengths, realizes and is encoded according to optical parameter and/or transmission feature difference.Meanwhile multiple photoelectric detection modules receive the echo beam of different wave length respectively, therefore can determine whether target object is effective according to the optical parameter and/or transmission feature of the echo beam of different wave length.It can be seen that, laser radar system provided by the embodiments of the present application, which is realized, to be encoded and is separately detected to the laser beam of multiple laser light sources transmitting, not only improve the anti-interference ability of laser radar system, and encoded compared to the different sequences generated to the same laser light source, design difficulty is reduced, is easy to implement and promotes in engineering.
Description
Technical field
This application involves laser measuring technique fields, more particularly, to the identification of a kind of laser radar system and target object
Method.
Background technique
Laser radar system is a kind of scan-type sensor using laser ranging technique, working principle and general thunder
It is similar up to system, target is detected by transmitting laser beam, and form a cloud by collecting reflected light beam and obtain
Access evidence.Laser radar system is widely used to automatic driving, unmanned, location navigation, space mapping, robot
Equal fields.
Current laser radar system usually using time-of-flight method carry out ranging, i.e., according to transmitting laser beam after receive
The distance of target object is calculated to the time of echo beam.However, since the echo beam received may will receive other
Laser radar emits the interference of light beam, or even laser beam similar in the wavelength emitted by criminal interferes, and causes laser thunder
Mistake is identified to target object up to system, leads to great security risk.
In order to solve the problems, such as above-mentioned interference, common scheme is compiled to multiple pulses of laser light source transmitting
Code, receiving end judge whether to be effective target object by code identification.However, due to needing in nanosecond other time
Multiple pulses are encoded under scale, it is more demanding to the control of laser light source, realize that difficulty is big.
Summary of the invention
The technical issues of the application solves is to provide the recognition methods of a kind of laser radar system and target object, realizes
The laser beam of multiple laser light sources transmitting is encoded and separately detected, the anti-of laser radar system is not only improved
Interference performance, and reduce design difficulty, be easy to implement and promote in engineering.
For this purpose, the technical solution that the application solves technical problem is:
In a first aspect, the embodiment of the present application provides a kind of laser radar system, comprising: multiple laser light sources, the road Guang Gong
Device, light-splitting device, scanning means, optical shunt device, plus lens and multiple photoelectric detection modules；The multiple laser light source
For emitting the laser beam of different wave length respectively；The road Guang Gong device is used to the laser beam of the different wave length being total to road
Detection light beam is obtained afterwards, and the detection light beam is exported to the light-splitting device；The light-splitting device is used for the road Guang Gong
The detection light beam of device output is transmitted through the scanning means, and the echo beam that the scanning means exports is exported to described
Optical shunt device；The scanning means connects for exporting the detection light beam that the light-splitting device exports to target object
The echo beam that the target object returns is received, the echo beam is reflexed into the light-splitting device；The optical shunt device
Echo beam for exporting the scanning means, is spatially divided into a plurality of light beam of different wave length, and by the difference
The a plurality of light beam of wavelength is exported respectively to the plus lens；The plus lens, for what is exported to the optical shunt device
A plurality of light beam plays the role of convergence, and a plurality of light beam after convergence is exported respectively to the multiple photoelectric detection module；It is described
The a plurality of light beam for the different wave length that multiple photoelectric detection modules export the plus lens detects respectively.
Optionally, laser radar system further include: multiple filtering assemblies；The multiple filtering assembly is used for the light
The a plurality of light beam of shunt device output is filtered respectively, and filtered light beam is exported to multiple photoelectric detection modules, wherein
Wavelength of the filter wavelength of the multiple filtering assembly respectively with the laser beam of the multiple laser light source transmitting matches.
Optionally, the road Guang Gong device includes the first grating device and/or first wave length light-splitting device；Wherein, described
First grating device will be for that will obtain the detection light beam of road output altogether, and by institute after the laser beam diffraction of the different wave length
Detection light beam is stated to export to the light-splitting device；The first wave length light-splitting device is used to transmit the laser beam of different wave length
Or after reflection, the detection light beam of road output altogether is obtained, and the detection light beam is exported to the light-splitting device.
Optionally, the optical shunt device includes the second grating device and/or second wave length light-splitting device；Wherein described
Two grating devices are used for the echo beam for exporting the scanning means, are diffracted on different output light paths and obtain different wave length
A plurality of light beam, and a plurality of light beam of the different wave length is exported respectively to the multiple photoelectric detection module；Described second
Wavelength splitter part is used to that the echo beam that the scanning means exports to be transmitted or be reflexed on different output light paths and obtains
The a plurality of light beam of different wave length is obtained, and a plurality of light beam of the different wave length is exported respectively to the multiple photodetection mould
Block.
Optionally, incident angle of the laser beam of each laser light source transmitting relative to first grating device, point
It is not related to the deflection angle of laser beam of different wave length that first grating device emits each laser light source.
Optionally, the laser radar system further include: detection module, for being detected according to the multiple photoelectric detection module
The a plurality of light beam arrived obtains Signal coding information, and determines whether the Signal coding information matches with initial code information, if
Successful match determines that the target object is effective target, if it fails to match, determines that the target object is invalid targets；Its
In, the optical parameter and/or biography of a plurality of light beam that the Signal coding information is detected according to the multiple photoelectric detection module
Defeated feature obtains；The optics of the laser beam for the different wave length that the initial code information emits according to the multiple laser light source
Parameter and/or transmission feature obtain.
Optionally, the detection module be used to determine the Signal coding information and initial code information difference whether
Within preset range, whether matched with the determination Signal coding information with initial code information.
Optionally, the detection module be used to determine the Signal coding information and initial code information difference whether
Within preset range；If so, determining the Signal coding information and initial code information matches；Otherwise, it determines the signal
Encoded information and initial code information mismatch.
Optionally, the multiple laser light source respectively includes adjusting component, for adjusting the ginseng of each laser light source respectively
Number；The parameter of each laser light source includes: the pulse width and/or pulse width of the laser beam of each laser light source transmitting
Degree.
Second aspect, the embodiment of the present application provide a kind of recognition methods of target object, for any one of first aspect
Laser radar system in, this method comprises: triggering the multiple laser light source respectively with prefixed time interval；It is the multiple to swash
Radiant emits the laser beam of different wave length respectively；After the laser beam of the different wave length is total to road by the road Guang Gong device
Detection light beam is obtained, the detection light beam is exported to the light-splitting device；The light-splitting device is defeated by the road Guang Gong device
Detection light beam out is transmitted through the scanning means；The scanning means by the detection light beam that the light-splitting device exports export to
On target object, and the echo beam that the target object returns is received, the echo beam is reflexed into the light-splitting device；
The light-splitting device exports the echo beam that the scanning means exports to the optical shunt device；The optical shunt device will
The echo beam of scanning means output, is spatially divided into a plurality of light beam of different wave length, and by the different wave length
A plurality of light beam is exported respectively to the plus lens；The plus lens plays a plurality of light beam that the optical shunt device exports
Convergence effect, and a plurality of light beam after convergence is exported respectively to the multiple photoelectric detection module；The multiple photodetection
The a plurality of light beam for the different wave length that module exports the plus lens detects respectively；Detection module is according to the multiple light
The a plurality of light beam that electric detecting module detects obtains Signal coding information, and determines that the Signal coding information and initial code are believed
Whether breath matches, if successful match, determines that the target object determines the target object if it fails to match for effective target
For invalid targets.
According to the above-mentioned technical solution, laser radar system provided by the embodiments of the present application include: multiple laser light sources,
The road Guang Gong device, light-splitting device, scanning means, optical shunt device, plus lens and multiple photoelectric detection modules.It is the multiple to swash
Radiant for emitting the laser beam of different wave length respectively；The road Guang Gong device is used for the laser light of the different wave length
Detection light beam is obtained after Shu Gonglu, and the detection light beam is exported to the light-splitting device；The light-splitting device is used for will be described
The detection light beam of the road Guang Gong device output is transmitted through the scanning means, and the echo beam that the scanning means is exported exports
To the optical shunt device；The scanning means is for exporting the detection light beam that the light-splitting device exports to target object
On, and the echo beam that the target object returns is received, the echo beam is reflexed into the light-splitting device；The light point
Road device is used for the echo beam that exports the scanning means, is spatially divided into a plurality of light beam of different wave length, and by institute
The a plurality of light beam for stating different wave length is exported respectively to the plus lens；The plus lens, for the optical shunt device
The a plurality of light beam of output plays the role of convergence, and a plurality of light beam after convergence is exported respectively to the multiple photodetection mould
Block；The a plurality of light beam for the different wave length that the multiple photoelectric detection module exports the plus lens detects respectively.
Wherein, the laser beam of multiple laser light sources output different wave lengths, and can be controlled separately optical parameter and/or
Transmission feature is different, it is achieved that being encoded according to optical parameter and/or transmission feature difference.Meanwhile multiple photoelectricity are visited
Survey module and receive the echo beam of different wave length respectively, thus can according to the optical parameter of the echo beam of different wave length and/
Or transmission feature determines whether target object is effective.
As it can be seen that laser radar system provided by the embodiments of the present application realizes the laser beam to the transmitting of multiple laser light sources
It is encoded and is separately detected, not only improve the anti-interference ability of laser radar system, but also swash compared to same
The different sequences that radiant generates are encoded, and are reduced design difficulty, are easy to implement and promote in engineering.
Further, since the laser beam of the different wave length of different laser light source outputs, using different photoelectric detection modules
It is received, avoids pulse train and interfere with each other the case where leading to decoding error appearance, further improve detection accuracy.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of structural schematic diagram of laser radar system provided by the embodiments of the present application；Fig. 2 is the embodiment of the present application
A kind of light path schematic diagram of road the Guang Gong device provided；
Fig. 3 is a kind of light path schematic diagram of optical shunt device provided by the embodiments of the present application；
Fig. 4 is the schematic diagram of the pulse train of different wave length provided by the embodiments of the present application；
Fig. 5 is a kind of flow diagram of the recognition methods of target object provided by the embodiments of the present application.
Specific embodiment
The technical issues of the application solves is to provide the recognition methods of a kind of laser radar system and target object, realizes
The laser beam of the different wave length of multiple laser light sources transmitting is encoded and separately detected, not only improves laser thunder
Up to the anti-interference ability of system, and design difficulty is reduced, is easy to implement and promotes in engineering.
Refering to Figure 1, the embodiment of the present application provides a kind of laser radar system 100, comprising: first laser light source
11, second laser light source 12, the road Guang Gong device 13, light-splitting device 14, optical shunt device 15, the first photoelectric detection module 16,
Two photoelectric detection modules 17, scanning means 18 and plus lens 19.
First laser light source 11 and second laser light source 12 for emitting the laser beam of different wave length respectively.For example, the
One laser light source 11 emits the laser beam of first wave length, and second laser light source 12 emits the laser beam of second wave length.
Wherein, each laser light source can respectively include adjusting component, be controlled by control module component is adjusted,
To adjust the parameter of each laser light source respectively.For example, can pulse width and/or impulse amplitude to each laser light source
Deng being adjusted respectively.Further, it is also possible to trigger 11 He of first laser light source respectively with prefixed time interval by control module
Second laser light source 12 controls the time interval of the laser beam of transmitting.
In the embodiment of the present application, the number of laser light source can be for two or greater than two, each laser light source point
Not Fa She different wave length laser beam.Each laser light source can be in certain predetermined angle between each other, specifically, each
Incident angle of the laser beam relative to first grating device of laser light source transmitting, respectively with first grating device
It is related to the deflection angle of the laser beam of the different wave length of each laser light source transmitting.
The road Guang Gong device 13 is arranged on the output light path of first laser light source 11 and second laser light source 12, and being used for will not
The laser beam of co-wavelength obtains detection light beam after being total to road, which is exported to light-splitting device 14.Wherein, the road Guang Gong device
Part 13 refers to may be implemented the optical device for being spatially total to road output, can as shown in Figure 1 be the first grating device 131, will
The laser beam of different wave length is diffracted on identical output light path, or is illustrated in figure 2 first wave length light-splitting device
132, the laser beam emitted first laser light source 11 reflects, and carries out to the laser beam that second laser light source 12 emits
Transmission, so that the laser beam of different wave length is exported to identical output light path.
Light-splitting device 14 is for separating optical path and the optical path when reception when emitting, specifically, by the road Guang Gong device 13
The detection light beam of output is transmitted through scanning means 18, and the echo beam that scanning means 18 exports is exported to optical shunt device
15。
Scanning means 18 receives the mesh for exporting the detection light beam that light-splitting device 14 exports to target object
The echo beam that object returns is marked, the echo beam is reflexed into the light-splitting device 14, light-splitting device 14 will receive
Echo beam reflexes on optical shunt device 15.
Optical shunt device 15 is used to for the echo beam received being divided into a plurality of light beam of different wave length, and by different wave length
A plurality of light beam exported respectively to plus lens 19.Wherein, optical shunt device 15 refers to may be implemented the light of different wave length
The optical device of beam spatially branch output, can be as shown in Figure 1 the second grating device 151, light-splitting device 14 is exported
Different wave length beam diffraction to different output light paths on, optical shunt device 15 or be illustrated in figure 3 the second wave
Long light-splitting device 152, reflects the echo beam of first wave length, transmits to the echo beam of second wave length, thus
So that the laser beam of different wave length is exported to different output light paths.
In order to which a plurality of light beam for exporting optical shunt device 15 is output in the same photodetection integrated circuit, Ke Yitong
Plus lens is crossed to converge a plurality of light beam.Specifically, the setting of plus lens 19 is visited in optical shunt device 15 and the first photoelectricity
It surveys between module 16, the second photoelectric detection module 17, a plurality of light beam for exporting optical shunt device 15 plays the role of convergence,
A plurality of light beam after convergence is exported respectively to the first photoelectric detection module 16 and the second photoelectric detection module 17.
In order to improve the detection efficient of photoelectric detection module, measurement accuracy is improved, can be set in photoelectric detection module front end
Set filtering assembly.Specifically, laser radar system further include: the first filtering assembly 20 and the second filtering assembly 21, first filters
Wavelength matched, the optical filtering of the second filtering assembly 21 for the laser beam that the filter wavelength of component 20 emits with first laser light source 11
The laser beam that wavelength emits with second laser light source 12 it is Wavelength matched, the first filtering assembly 20 be arranged in optical shunt device 15
And first between photoelectric detection module 16, and the light beam of the first wave length for exporting to optical shunt device 15 filters, and second
Filtering assembly 21 is arranged between optical shunt device 15 and the second photoelectric detection module 17, for what is exported to optical shunt device 15
The light beam of second wave length filters.In the embodiment of the present application, the number phase of the number with photoelectric detection module of filtering assembly
It together, can be for two or greater than two.
First photoelectric detection module 16, the second photoelectric detection module 17 detect a plurality of light beam received respectively.
Wherein, the first photoelectric detection module 16 and the second photoelectric detection module 17 can integrate in the same photodetection integrated circuit
In.In the embodiment of the present application, the number of photoelectric detection module and the number of laser light source are identical, for two or can be greater than
Two, each photoelectric detection module receives the echo beam of different wave length respectively.
The course of work of laser radar system in the embodiment of the present application includes: first laser light source 11 and second laser light
Source 12 exports the laser beam of different wave length respectively, the laser beam of different wave length by 13 road Hou Gong of the road Guang Gong device export to
Light-splitting device 14, the detection light beam that light-splitting device 14 exports total road is exported by scanning means 18 to target object, and is led to
Overscan imaging apparatus 18 receives the echo beam that target object returns, and light-splitting device 14 exports the echo beam received to light point
Road device 15, optical shunt device 15 are divided into a plurality of light beam of different wave length and respectively by the outputs of plus lens 19 to first
It is detected respectively in photoelectric detection module 16 and the second photoelectric detection module 17.Wherein plus lens 19 can be to by optical branching
The a plurality of light beam that device 15 exports plays the role of convergence, and the first filtering assembly 20 and the second filtering assembly 21 are separately positioned on first
The front end of photoelectric detection module 16 and the second photoelectric detection module 17, plays the role of optical filtering.
In the embodiment of the present application, the laser beam of different wave length, and each laser light are exported by multiple laser light sources
Source can be controlled separately, such as adjust the parameters such as respective light intensity value, performance number, pulse width and impulse amplitude respectively.Example
As shown in figure 4, first laser light source and second laser light source export a pulse respectively in single measurement, wherein first swashs
Radiant 11 export a pulse pulse width be Δ t1, impulse amplitude A1, second laser light source 12 export one
The pulse width of pulse is Δ t2, impulse amplitude A2.And it is possible to trigger first laser light source respectively with prefixed time interval
11 and second laser light source 12, so that the time interval of output pulse is Δ T1.By the difference of these parameters, realize to more
The coding of a laser beam.
In receiving end, the pulse train of single measurement can be decoded, that is, by detection module according to the first light
The a plurality of light beam that electric detecting module 11 and the second photoelectric detection module 12 detect obtains Signal coding information, and determines that signal is compiled
Whether code information matches with initial code information, and wherein initial code information refers to first laser light source 11 and second laser light
Source 12 emits the optical parameter and/or transmission feature when laser beam, the time interval of different laser beam transmittings, each laser
The amplitude etc. of the corresponding laser pulse of light beam.Signal coding information is according to the first photoelectric detection module 20 and the second photodetection mould
The optical parameter and/or transmission feature for a plurality of light beam that block 21 detects obtain.Wherein, multiple photoelectric detection modules detect
The optical parameter of a plurality of light beam may include following any one or more parameters: light intensity value, performance number, pulse width and arteries and veins
Rush amplitude；The transmission feature for a plurality of light beam that multiple photoelectric detection modules detect may include: the time interval of a plurality of light beam.
Signal coding information and initial code can be determined by the difference of Signal coding information and initial code information
Information matches.If the difference of Signal coding information and initial code information is less than preset range, it can determine that Signal coding is believed
Breath and the success of initial code information matches.Otherwise, then it can determine that Signal coding information and initial code information matches are unsuccessful.
Here preset range can be set according to specific application scenarios, herein without limiting.
When Signal coding information and the success of initial code information matches, i.e., both difference within a preset range when, table
Show the echo beam for detecting that the laser beam that laser radar system 100 emits is returned, i.e. target object is effective object；When
Both it when Signal coding information and initial code information matches fail, i.e., when difference exceeds preset range, indicates to detect
By noise (not being the echo beam that the laser beam of the transmitting of laser radar system 100 returns), i.e., target object is invalid object
Body.To realize jamproof purpose.
For example, control module triggers first laser light source 11 and second laser light source 12 respectively in two times, wherein first swashs
The power of radiant 11 is P1, and the power of second laser light source 12 is P2, and trigger delay is Δ T1.First photoelectric detection module 20
The first signal is detected, the second photoelectric detection module 21 detects second signal, and detection module judges the first signal and the second letter
Number power ratio whether matched with P1/P2 and whether the pulse daley of the first signal and the second signal matches with Δ T1, when two
When the equal successful match of person, determine that target object is effective object and the range information for calculating target object；It is any when having in the two
Person is determined as noise when it fails to match.
Laser radar system 100 provided by the embodiments of the present application includes: first laser light source 11, second laser light source 12,
The road Guang Gong device 13, optical shunt device 15, the first photoelectric detection module 16, the second photoelectric detection module 17, is swept light-splitting device 14
Imaging apparatus 18 and plus lens 19.Wherein, first laser light source 11 and second laser light source 12 export the laser light of different wave length
Beam, and can be controlled separately optical parameter and/or transmission feature difference, it is achieved that according to optical parameter and/or transmission
Feature difference is encoded.Meanwhile first photoelectric detection module 16 and the second photoelectric detection module 17 receive different wave length respectively
Echo beam, therefore can determine target object according to the optical parameter and/or transmission feature of the echo beam of different wave length
Whether effectively.
As it can be seen that laser radar system 100 provided by the embodiments of the present application realizes the laser to the transmitting of multiple laser light sources
Light beam is encoded and is separately detected, and not only improves the anti-interference ability of laser radar system, but also compared to same
The different sequences that a laser light source generates are encoded, and are reduced design difficulty, are easy to implement and promote in engineering.
Further, since the laser beam of the different wave length of different laser light source outputs, using different photoelectric detection modules
It is received, avoids pulse train and interfere with each other the case where leading to decoding error appearance, further improve detection accuracy.
Accordingly, as shown in figure 5, the embodiment of the present application also provides a kind of recognition methods of target object, for above-mentioned
In any embodiment of laser radar system 100, this method comprises:
301: triggering multiple laser light sources respectively with prefixed time interval.
302: multiple laser light sources emit the laser beam of different wave length respectively.
The laser beam of different wave length is total to behind road and obtains detection light beam by 303: Guang Gong road device 13, by the detection light beam
It exports to the light-splitting device 14.
304: the detection light beam that the road Guang Gong device 13 exports is transmitted through scanning means 18 by light-splitting device 14.
305: scanning means 18 exports the detection light beam that light-splitting device 14 exports to target object, and receives the mesh
The echo beam that object returns is marked, the echo beam is reflexed into the light-splitting device 14.
306: light-splitting device 14 exports the echo beam that scanning means 18 exports to optical shunt device 15.
307: the echo beam that optical shunt device 15 exports scanning means 18 is spatially divided into a plurality of of different wave length
Light beam, and a plurality of light beam of the different wave length is exported respectively to plus lens 19.
308: a plurality of light beam that plus lens 19 exports optical shunt device 15 plays the role of convergence, and will be more after convergence
Light beam is exported respectively to the multiple photoelectric detection module.
309: multiple photoelectric detection modules detect a plurality of light beam for the different wave length that plus lens 19 exports respectively.
310: detection module obtains Signal coding information according to a plurality of light beam that multiple photoelectric detection modules detect, and really
Determine whether Signal coding information matches with initial code information, if successful match, determines that the target object is effective target, if
It fails to match, determines that the target object is invalid targets.
Optical parameter and/or transmission when above-mentioned initial code information includes different laser light source transmitting laser beams is special
Sign.The optical parameter and/or transmission feature for a plurality of light beam that Signal coding information can be detected according to photoelectric detection module obtain
.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of laser radar system characterized by comprising multiple laser light sources, the road Guang Gong device, light-splitting device, scanning
Device, optical shunt device, plus lens and multiple photoelectric detection modules；
The multiple laser light source for emitting the laser beam of different wave length respectively；
The road Guang Gong device obtains detection light beam after being used to for the laser beam of the different wave length being total to road, by the detection light
Beam is exported to the light-splitting device；
The light-splitting device is used to for the detection light beam that the road Guang Gong device exports being transmitted through the scanning means, and will be described
The echo beam of scanning means output is exported to the optical shunt device；
The scanning means receives the mesh for exporting the detection light beam that the light-splitting device exports to target object
The echo beam that object returns is marked, the echo beam is reflexed into the light-splitting device；
The optical shunt device is used for the echo beam for exporting the scanning means, is spatially divided into a plurality of of different wave length
Light beam, and a plurality of light beam of the different wave length is exported respectively to the plus lens；
The plus lens, a plurality of light beam for exporting to the optical shunt device play the role of convergence, and will be after convergence
A plurality of light beam is exported respectively to the multiple photoelectric detection module；
The a plurality of light beam for the different wave length that the multiple photoelectric detection module exports the plus lens detects respectively.
2. laser radar system according to claim 1, which is characterized in that further include: multiple filtering assemblies；
The a plurality of light beam that the multiple filtering assembly is used to export the optical shunt device is filtered respectively, will be filtered
Light beam is exported to multiple photoelectric detection modules, wherein the filter wavelength of the multiple filtering assembly respectively with the multiple laser
The wavelength of the laser beam of light source transmitting matches.
3. laser radar system according to claim 1, which is characterized in that the road Guang Gong device includes the first rasterizer
Part and/or first wave length light-splitting device；
Wherein, first grating device is used to that the spy of road output altogether after the laser beam diffraction of the different wave length, will to be obtained
Light beam is surveyed, and the detection light beam is exported to the light-splitting device；The first wave length light-splitting device is used for different wave length
Laser beam transmission or reflection after, obtain the detection light beam of road output altogether, and the detection light beam exported to described point
Optical device.
4. laser radar system according to claim 1, which is characterized in that the optical shunt device includes the second rasterizer
Part and/or second wave length light-splitting device；Wherein
Second grating device is used for the echo beam for exporting the scanning means, is diffracted on different output light paths and obtains
The a plurality of light beam of different wave length is obtained, and a plurality of light beam of the different wave length is exported respectively to the multiple photodetection mould
Block；
The second wave length light-splitting device is used to that the echo beam that the scanning means exports to be transmitted or be reflexed to different
The a plurality of light beam of different wave length is obtained on output light path, and a plurality of light beam of the different wave length is exported respectively to the multiple
Photoelectric detection module.
5. laser radar system according to claim 3, which is characterized in that the laser beam phase of each laser light source transmitting
For the incident angle of first grating device, each laser light source is emitted with first grating device respectively difference
The deflection angle of the laser beam of wavelength is related.
6. laser radar system according to claim 1, which is characterized in that further include:
Detection module, a plurality of light beam for being detected according to the multiple photoelectric detection module obtain Signal coding information, and
It determines whether the Signal coding information matches with initial code information, if successful match, determines that the target object is effective
Target determines that the target object is invalid targets if it fails to match；
Wherein, the optical parameter for a plurality of light beam that the Signal coding information is detected according to the multiple photoelectric detection module
And/or transmission feature obtains；
The optical parameter of the laser beam for the different wave length that the initial code information emits according to the multiple laser light source and/
Or transmission feature obtains.
7. laser radar system according to claim 6, which is characterized in that the detection module is for determining the signal
Whether the difference of encoded information and initial code information is within preset range, with the determination Signal coding information and initial volume
Whether code information matches.
8. laser radar system according to claim 6, which is characterized in that the detection module is for determining the signal
Whether the difference of encoded information and initial code information is within preset range；
If so, determining the Signal coding information and initial code information matches；
Otherwise, it determines the Signal coding information and initial code information mismatch.
9. laser radar system according to claim 1, which is characterized in that the multiple laser light source respectively includes adjusting
Component, for adjusting the parameter of each laser light source respectively；The parameter of each laser light source includes: each laser light source hair
The pulse width and/or impulse amplitude for the laser beam penetrated.
10. a kind of recognition methods of target object, which is characterized in that be used for laser thunder as described in any one of claim 1 to 9
Up in system, which comprises
Trigger the multiple laser light source respectively with prefixed time interval；
The multiple laser light source emits the laser beam of different wave length respectively；
The laser beam of the different wave length is total to behind road and obtains detection light beam by the road Guang Gong device, and the detection light beam is defeated
Out to the light-splitting device；
The detection light beam that the road Guang Gong device exports is transmitted through the scanning means by the light-splitting device；
The scanning means exports the detection light beam that the light-splitting device exports to target object, and receives the object
The echo beam that body returns, reflexes to the light-splitting device for the echo beam；
The light-splitting device exports the echo beam that the scanning means exports to the optical shunt device；
The echo beam that the optical shunt device exports the scanning means is spatially divided into a plurality of light of different wave length
Beam, and a plurality of light beam of the different wave length is exported respectively to the plus lens；
The plus lens plays the role of convergence to a plurality of light beam that the optical shunt device exports, and by a plurality of light after convergence
Beam is exported respectively to the multiple photoelectric detection module；
The a plurality of light beam for the different wave length that the multiple photoelectric detection module exports the plus lens detects respectively；
Detection module obtains Signal coding information according to a plurality of light beam that the multiple photoelectric detection module detects, and determines institute
It states whether Signal coding information matches with initial code information, if successful match, determines that the target object is effective target, if
It fails to match, determines that the target object is invalid targets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819918.1A CN110456325A (en) | 2019-08-31 | 2019-08-31 | A kind of recognition methods of laser radar system and target object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819918.1A CN110456325A (en) | 2019-08-31 | 2019-08-31 | A kind of recognition methods of laser radar system and target object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110456325A true CN110456325A (en) | 2019-11-15 |
Family
ID=68490322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910819918.1A Pending CN110456325A (en) | 2019-08-31 | 2019-08-31 | A kind of recognition methods of laser radar system and target object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110456325A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988891A (en) * | 2019-12-26 | 2020-04-10 | 广州市慧建科技有限公司 | Laser scanning target identification system and method |
| CN111025322A (en) * | 2019-12-26 | 2020-04-17 | 广州市慧建科技有限公司 | Laser target identification system and method based on modulated wave |
| CN111308443A (en) * | 2020-04-14 | 2020-06-19 | 深圳市镭神智能系统有限公司 | Laser radar |
| CN113655465A (en) * | 2021-08-12 | 2021-11-16 | 重庆理工大学 | Anti-interference laser radar based on multi-wavelength continuous scanning |
| WO2022170535A1 (en) * | 2021-02-09 | 2022-08-18 | 深圳市大疆创新科技有限公司 | Distance measurement method, distance measurement device, system, and computer readable storage medium |
| CN115079145A (en) * | 2022-08-18 | 2022-09-20 | 深圳煜炜光学科技有限公司 | Method and device for improving anti-interference capability of laser radar |
| WO2023103728A1 (en) * | 2021-12-08 | 2023-06-15 | 陈家梁 | Laser radar probe and laser radar |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105814451A (en) * | 2013-12-10 | 2016-07-27 | 三菱电机株式会社 | Laser radar device |
| US10061019B1 (en) * | 2017-03-28 | 2018-08-28 | Luminar Technologies, Inc. | Diffractive optical element in a lidar system to correct for backscan |
| CN109445119A (en) * | 2018-11-19 | 2019-03-08 | 深圳市速腾聚创科技有限公司 | Laser transmitting system |
| CN109597050A (en) * | 2018-11-16 | 2019-04-09 | 上海禾赛光电科技有限公司 | A kind of laser radar |
| CN109597090A (en) * | 2018-12-13 | 2019-04-09 | 武汉万集信息技术有限公司 | Multi-wavelength laser radar range unit and method |
-
2019
- 2019-08-31 CN CN201910819918.1A patent/CN110456325A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105814451A (en) * | 2013-12-10 | 2016-07-27 | 三菱电机株式会社 | Laser radar device |
| US10061019B1 (en) * | 2017-03-28 | 2018-08-28 | Luminar Technologies, Inc. | Diffractive optical element in a lidar system to correct for backscan |
| CN109597050A (en) * | 2018-11-16 | 2019-04-09 | 上海禾赛光电科技有限公司 | A kind of laser radar |
| CN109445119A (en) * | 2018-11-19 | 2019-03-08 | 深圳市速腾聚创科技有限公司 | Laser transmitting system |
| CN109597090A (en) * | 2018-12-13 | 2019-04-09 | 武汉万集信息技术有限公司 | Multi-wavelength laser radar range unit and method |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988891A (en) * | 2019-12-26 | 2020-04-10 | 广州市慧建科技有限公司 | Laser scanning target identification system and method |
| CN111025322A (en) * | 2019-12-26 | 2020-04-17 | 广州市慧建科技有限公司 | Laser target identification system and method based on modulated wave |
| CN110988891B (en) * | 2019-12-26 | 2021-06-08 | 广州市慧建科技有限公司 | Laser scanning target identification system and method |
| CN111025322B (en) * | 2019-12-26 | 2021-10-26 | 广州市慧建科技有限公司 | Laser target identification system and method based on modulated wave |
| CN111308443A (en) * | 2020-04-14 | 2020-06-19 | 深圳市镭神智能系统有限公司 | Laser radar |
| WO2022170535A1 (en) * | 2021-02-09 | 2022-08-18 | 深圳市大疆创新科技有限公司 | Distance measurement method, distance measurement device, system, and computer readable storage medium |
| CN113655465A (en) * | 2021-08-12 | 2021-11-16 | 重庆理工大学 | Anti-interference laser radar based on multi-wavelength continuous scanning |
| WO2023103728A1 (en) * | 2021-12-08 | 2023-06-15 | 陈家梁 | Laser radar probe and laser radar |
| CN115079145A (en) * | 2022-08-18 | 2022-09-20 | 深圳煜炜光学科技有限公司 | Method and device for improving anti-interference capability of laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110456325A (en) | A kind of recognition methods of laser radar system and target object | |
| CN108132471B (en) | Method, medium and laser radar system for transmitting and receiving laser pulse | |
| CN108351413B (en) | Compact chip-level LIDAR solution | |
| JP6894082B2 (en) | Spatial profiling system and method | |
| CN106125064B (en) | Space scanning mode for array laser radar system | |
| CN105938197A (en) | Light wave rangefinder | |
| CN108089194A (en) | A kind of photon counting laser radar based on compound pseudorandomcode | |
| WO2014024196A4 (en) | Friend or foe identification system and method | |
| CN109923437B (en) | Laser radar system | |
| JP2008506927A (en) | Traffic safety system | |
| JP2009516157A (en) | Spatial area monitoring apparatus and method | |
| CN110058252A (en) | A kind of laser transmitting-receiving device and laser ranging system | |
| US11531104B2 (en) | Full waveform multi-pulse optical rangefinder instrument | |
| CN112740066A (en) | Anti-interference processing method and device for multi-pulse laser radar system | |
| CN105974429B (en) | Light wave distance measuring instrument | |
| CN103293531A (en) | Laser radar device | |
| JP2021520497A (en) | LIDAR measurement system with wavelength conversion | |
| CN111257910A (en) | Laser radar system and laser radar detection method | |
| CN105324688B (en) | Modularized optical device for scanning engine | |
| KR101260280B1 (en) | Device and method for optically scanning 3 dimensional object | |
| CN110869802A (en) | Method and lidar device for scanning a scanning region by means of at least two pulse-coded beams | |
| KR102061040B1 (en) | Invisible LiDAR or Laser Scanning Apparatus | |
| US8368873B2 (en) | Proximity to target detection system and method | |
| US20210156997A1 (en) | Lidar and method for optical remote sensing | |
| CN114585942A (en) | Method for generating optical pulses for a lidar system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 201821 Building 2, park 468, xinlai Road, Jiading District, Shanghai Applicant after: Shanghai Hesai Technology Co., Ltd Address before: Block B, L2, Langhong Bridge World Center, 1588 Zhuguang Road, Qingpu District, Shanghai, 20102 Applicant before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant after: Shanghai Hesai Technology Co.,Ltd. Address before: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant before: Shanghai Hesai Technology Co., Ltd |
|
| CB02 | Change of applicant information |