CN113167870B - Laser receiving and transmitting system, laser radar and automatic driving equipment - Google Patents
Laser receiving and transmitting system, laser radar and automatic driving equipment Download PDFInfo
- Publication number
- CN113167870B CN113167870B CN202080005825.6A CN202080005825A CN113167870B CN 113167870 B CN113167870 B CN 113167870B CN 202080005825 A CN202080005825 A CN 202080005825A CN 113167870 B CN113167870 B CN 113167870B
- Authority
- CN
- China
- Prior art keywords
- laser
- optical fiber
- emission
- photosensitive
- echo
- 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.)
- Active
Links
- 230000003287 optical effect Effects 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 239000013307 optical fiber Substances 0.000 claims description 59
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000002592 echocardiography Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 229910044991 metal oxide Inorganic materials 0.000 description 2
- 150000004706 metal oxides Chemical class 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- RFVFQQWKPSOBED-PSXMRANNSA-N 1-myristoyl-2-palmitoyl-sn-glycero-3-phosphocholine Chemical compound CCCCCCCCCCCCCCCC(=O)O[C@@H](COP([O-])(=O)OCC[N+](C)(C)C)COC(=O)CCCCCCCCCCCCC RFVFQQWKPSOBED-PSXMRANNSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A laser transmitting/receiving system (2), a laser radar (100) and an automatic driving device (200). The laser receiving and transmitting system (2) comprises a transmitting module (21) and a receiving module (22); the emission module (21) comprises a laser emission unit (211) and an emission optical unit (212); the receiving module (22) comprises an array detector (221), wherein the array detector (221) comprises a plurality of pixel units, and each pixel unit is internally provided with a photosensitive area with an area smaller than that of the pixel unit; a laser emission unit (211) for emitting an outgoing laser; an emission optical unit (212) for forming an emission laser beam into a plurality of emission laser beams corresponding to the photosensitive region, and emitting the emission laser beams to the detection region; each photosensitive area in the receiving module (22) is used for receiving the echo laser beam returned after the outgoing laser beam corresponding to the photosensitive area is reflected by the object in the detection area. The laser receiving and transmitting system (2) improves the utilization rate of the signal light.
Description
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a laser receiving and transmitting system, a laser radar and automatic driving equipment.
Background
The existing laser receiving and transmitting system adopting array detection mainly comprises a signal light source and related driving, a beam shaping system, a beam deflection system, a receiving antenna (also called a receiving lens), an array detector, a control and signal processing system and the like. The detection distance is mainly limited by factors such as the clear aperture of the receiving lens, the transmitting power of the signal light source, the filling factor of the array detector (namely the ratio of the photosensitive area to the whole pixel area), and the like.
In conventional array detectors, there are integrated circuits, multiple layers of wiring, and increased spacing within a single pixel, except for the photosensitive area, to combat cross-talk factors between pixels, which constitute relatively large gaps between pixels. That is, the individual pixels are not all photosensitive areas, and the photosensitive areas occupy only a part of the individual pixels. The conventional array detector directly uses the floodlight source obtained after shaping the signal light source to illuminate, so that the light energy received by the photosensitive area of the array detector through the receiving lens has larger loss, the utilization rate of the light energy is photosensitive area/single pixel area, and the light energy irradiated to the area outside the photosensitive area is not utilized.
Disclosure of Invention
Aiming at the defects in the prior art, the main purpose of the embodiment of the invention is to provide a laser receiving and transmitting system, a laser radar and automatic driving equipment, which can improve the utilization rate of light energy.
The embodiment of the invention adopts a technical scheme that: the laser receiving and transmitting system comprises a transmitting module and a receiving module; the emission module comprises a laser emission unit and an emission optical unit; the receiving module comprises an array detector, wherein the array detector comprises a plurality of pixel units, and each pixel unit is internally provided with a photosensitive area with an area smaller than that of the pixel unit;
the laser emission unit is used for emitting outgoing laser; the emission optical unit is used for enabling the emergent laser to form a plurality of emergent laser beams corresponding to the photosensitive area and enabling the emergent laser beams to be emergent to the detection area; each photosensitive area in the receiving module is used for receiving the echo laser beam returned after the outgoing laser beam corresponding to the photosensitive area is reflected by the object in the detection area.
Optionally, the imaging of each of the echo laser beams on the array detector does not exceed the range of the photosensitive region receiving the echo laser beam.
Optionally, the size of each echo laser beam in the plane of the photosensitive area is the same, and the echo laser beam is the beam with the largest receivable size in the photosensitive area.
Optionally, the emission optical unit includes a diffractive optical element and a lens; the diffraction optical element is used for enabling the emergent laser to form a plurality of emergent laser beams corresponding to the photosensitive area, and the lens is used for collimating the emergent laser beams and enabling the emergent laser beams to be incident to the detection area.
Optionally, the emission optical unit includes an optical fiber array, an optical fiber beam splitting plate and a lens, one end of the optical fiber array is connected with the laser emission unit, the other end of the optical fiber array is fixed on the optical fiber beam splitting plate, the optical fiber array includes a plurality of optical fibers with the same number as the photosensitive area, and the arrangement of optical fiber fixing bits on the optical fiber beam splitting plate corresponds to the photosensitive area;
the optical fiber array and the optical fiber beam splitting plate are used for enabling the emergent laser to form a plurality of emergent laser beams corresponding to the photosensitive area, and the lens is used for collimating the emergent laser beams and enabling the emergent laser beams to be incident to the detection area.
Optionally, the laser transceiver system further includes a plurality of microlenses corresponding to the pixel units, where the microlenses are disposed on the pixel units, and the microlenses are configured to converge the echo laser beams and emit the converged echo laser beams to the photosensitive area.
The embodiment of the invention also provides a laser receiving and transmitting system, which comprises a transmitting module and a receiving module; the receiving module comprises an array detector, wherein the array detector comprises a plurality of pixel units, and each pixel unit is internally provided with a photosensitive area with an area smaller than that of the pixel unit; the laser receiving and transmitting system further comprises a plurality of microlenses corresponding to the pixel units, wherein the microlenses are arranged on the pixel units;
the emission module is used for emitting outgoing laser and enabling the outgoing laser to be emitted to the detection area; the micro lenses are used for converging echo lasers to form a plurality of echo laser beams, the echo laser beams are shot to the photosensitive areas corresponding to the echo laser beams, and the echo laser beams are returned lasers after the outgoing lasers are reflected by objects in the detection areas; each photosensitive area in the receiving module is used for receiving the echo laser beam.
Optionally, the imaging of each of the echo laser beams on the array detector does not exceed the range of the photosensitive region receiving the echo laser beam.
The embodiment of the invention also provides a laser radar, which comprises the laser receiving and transmitting system, a transmitting driving system and a control and signal processing system;
the emission driving system is used for driving the emission module;
the control and signal processing system is used for controlling the emission driving system to drive the emission module and controlling the receiving module to receive the echo laser beam.
The embodiment of the invention also provides automatic driving equipment, which comprises the driving equipment body and the laser radar, wherein the laser radar is arranged on the driving equipment body.
The embodiment of the invention has the beneficial effects that: according to the embodiment of the invention, the emitting optical unit is arranged in the emitting module, so that the emitting laser forms a plurality of emitting laser beams corresponding to the photosensitive areas of all pixel units in the array detector, or the micro lens is arranged on each pixel unit, so that the micro lens converges the echo laser to form a plurality of echo laser beams to be emitted to the photosensitive areas corresponding to the echo laser beams, the signal light energy of the coverage area of a single pixel unit is concentrated in the photosensitive areas, the light intensity of a lattice area is increased, the signal light energy value which can be received by the single pixel unit of the array detector is improved, the utilization rate of returned signal light is improved, the signal to noise ratio is enhanced, the power of a used light source is reduced, and the test distance and the ranging accuracy can be increased under the same light source power.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
Fig. 1 shows a block diagram of a laser radar according to an embodiment of the present invention;
FIG. 2 shows a schematic diagram of an array detector in an embodiment of the invention;
FIG. 3 shows a block diagram of a lidar according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of an array detector receiving a light beam in an embodiment of the invention;
FIG. 5 shows a schematic view of the laser emission effect of an embodiment of the present invention employing a diffractive optical element;
FIG. 6 shows a schematic optical path diagram of an embodiment of the present invention employing diffractive optical elements and microlenses;
FIG. 7 is a schematic diagram showing the effect of receiving echo laser light in a single pixel unit after adding a microlens according to an embodiment of the present invention;
FIG. 8 shows a schematic view of the laser exit effect of an embodiment of the present invention employing an optical fiber array and an optical fiber beam splitter plate;
FIG. 9 shows a schematic optical path diagram of an embodiment of the present invention employing an optical fiber array, an optical fiber beam splitter plate, and microlenses;
FIG. 10 is a schematic view of an optical path of a lidar according to another embodiment of the present invention;
FIG. 11 is a schematic view showing the effect of echo laser light reception in a single pixel unit before and after adding a microlens in FIG. 10;
fig. 12 is a schematic structural view of an autopilot apparatus according to an embodiment of the present invention;
fig. 13 shows a schematic structural view of an automatic driving apparatus provided in another embodiment.
Reference numerals in the specific embodiments are as follows:
the laser radar 100, the transmission driving system 1, the laser transmitting and receiving system 2, the control and signal processing system 3, the transmission module 21, the laser transmitting unit 211, the transmitting optical unit 212, the diffraction optical element 2121a, the optical fiber array 2121b, the optical fiber beam splitter 2121c, the lens 2122, the receiving module 22, the array detector 221, the receiving optical system 222, the microlens 223, the autopilot device 200, and the autopilot device body 201.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "a plurality" and "a number" is two or more (including two) unless otherwise specifically defined.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
As shown in fig. 1, an embodiment of the present invention provides a lidar 100 including a transmit drive system 1, a laser transmit receive system 2, and a control and signal processing system 3. The laser transceiver system 2 includes a transmitting module 21 and a receiving module 22, the transmitting module 21 is used for transmitting outgoing laser, and the receiving module 22 is used for receiving echo laser. The emission driving system 1 is used for driving the emission module 21. The control and signal processing system 3 is used for controlling the emission driving system 1 to drive the emission module 21 and controlling the receiving module 22 to receive the echo laser. The echo laser is returned after the outgoing laser is reflected by an object in the detection area.
As shown in fig. 2, the receiving module 22 includes an array detector 221, where the array detector 221 includes a plurality of pixel units, and each pixel unit has a photosensitive area smaller than the pixel unit. The array detector 221 may employ an array of avalanche photodiodes (Avalanche Photo Diode, APD), a silicon photomultiplier (Silicon photomultiplier, siPM), a Multi-pixel photon counter (Multi-Pixel Photon Counter, MPPC) array, a photomultiplier (photomultiplier tube, PMT) array, a single-photon avalanche diode (SPAD) array, a Charge-coupled Device (CCD), a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS), and the like, which may constitute the array-receiving Device. In addition, as shown in fig. 3, the receiving module 22 further includes a receiving optical system 222, and the receiving optical system 222 may employ a ball lens, a ball lens group, or a cylindrical lens group. The receiving optical system 222 is used to converge the echo laser light, and directs the converged echo laser light to the array detector 221. The white portion of the figure represents the pixel detection dead zone due to the absence of photosensitive areas.
In some embodiments, by disposing a specific optical device at the transmitting end, the echo laser light received by the array detector 221 is converged in the photosensitive area of the pixel unit, so as to improve the utilization rate of the signal light. As shown in fig. 3, the emission module 21 includes a laser emission unit 211 and an emission optical unit 212, the laser emission unit 211 is configured to emit outgoing laser light, and the emission optical unit 212 is configured to cause the outgoing laser light to form a plurality of outgoing laser beams corresponding to the photosensitive region and to cause the outgoing laser beams to be outgoing to the detection region. The outgoing laser beam forming a plurality of outgoing laser beams corresponding to the photosensitive area means that each outgoing laser beam forms a corresponding echo laser beam after being reflected by an object in the detection area after being outgoing to the detection area, and each echo laser beam is received by the photosensitive area of a corresponding pixel unit on the array detector 221. For example, a laser beam ob is emitted 1 After exiting to the detection region, it echoes the laser beam ib 1 Photosensitive region a of corresponding pixel unit on array detector 221 1 Receiving and emitting a laser beam ob 2 After exiting to the detection region, it echoes the laser beam ib 2 Photosensitive region a of corresponding pixel unit on array detector 221 2 Receiving, … … emitting a laser beam ob n After exiting to the detection region, it echoes the laser beam ib n Photosensitive region a of corresponding pixel unit on array detector 221 n And (5) receiving. Accordingly, each photosensitive area in the receiving module 22 is used for receiving the echo laser beam returned after the outgoing laser beam corresponding to the photosensitive area is reflected by the object in the detection area.
The emission optical unit 212 also includes a collimating optical element for collimating the outgoing laser beam and outgoing the collimated outgoing laser beam to the detection area. The Laser emitting unit 211 may be various types of signal light sources, such as a Laser Diode (LD), a vertical cavity surface emitting Laser (Vertical Cavity Surface Emitting Laser, VCSEL), an edge emitting Laser (Edge Emitting Laser, EEL), a light emitting Diode (Light Emitting Diode, LED), and the like. The collimating optics in the emission optics 212 may take the form of optical fibers and ball lens groups, individual ball lens groups, cylindrical lens groups, and the like.
The size (e.g., diameter or area) of each echo laser beam in the plane of the photosensitive region is the same. As shown in fig. 4, by controlling the size of the outgoing laser beam, the imaging of each echo laser beam on the array detector 221 is made not to exceed the range of the photosensitive area receiving the echo laser beam, that is, the incidence range of the echo laser beam received by each photosensitive area is made not to exceed the range of the photosensitive area. In some preferred embodiments, each echo laser beam is the largest size beam that can be received by the photosensitive area, i.e., each exit laser beam is the largest area beam of the receivable beams in each photosensitive area.
As shown in fig. 5, in one embodiment, the emission optical unit 212 includes a diffractive optical element (Diffractive Optical Elements, DOE) 2121a and a lens 2122 (i.e., the collimating optical element previously described). DOE 2121a is also known as a binary optic and is primarily used for laser beam shaping, such as homogenization, collimation, focusing, forming a specific pattern, etc. The DOE 2121a is configured to form outgoing laser beams corresponding to the photosensitive region, and the lens 2122 is configured to collimate the outgoing laser beams and make the outgoing laser beams incident on the detection region. A schematic of the array detector 221 receiving the outgoing laser beam is shown in fig. 4.
Because the fill factor of the array detector 221 is low, only the signal light of the photosensitive area is collected in a single pixel unit covered by the flood light source in the prior art. In the above embodiment, by adopting the DOE 2121a, the energy of the floodlight source is concentrated on the dot matrix with the same resolution ratio as m×n of the array detector 221 in the same illumination field, that is, the signal light energy of the coverage area of the single pixel unit is concentrated in the photosensitive area, so that the light intensity of the dot matrix area is increased, the signal light energy value that can be received by the single pixel unit of the array detector 221 is improved, the utilization rate of the returned signal light is improved, the signal-to-noise ratio is enhanced, the power of the used light source can be reduced, and the test distance can be increased and the ranging accuracy can be improved under the same power of the light source.
In some embodiments, besides setting a specific optical device at the transmitting end to make the echo laser received by the array detector 221 converge in the photosensitive area of the pixel unit, so as to improve the utilization rate of the signal light, a specific optical device may also be set at the receiving end, so as to further improve the convergence capability of the echo laser. As shown in fig. 6, on the basis of the embodiment provided in fig. 5, a plurality of microlenses 223 (i.e., microlens arrays) corresponding to the pixel units may be further disposed on the pixel units, where the microlenses 223 may increase the duty ratio of the pixels, converge the echo laser beams and emit the echo laser beams to the photosensitive regions, thereby reducing the problem of less filling factor of the photosensitive regions caused by the process, improving the utilization rate of the signal light, and improving the ranging capability under the same light source power. The effect of echo laser light reception in a single pixel unit after adding the microlens 223 is shown in fig. 7.
In another embodiment, as shown in fig. 8, the emission optical unit 212 includes an optical fiber array 2121b, an optical fiber beam splitting plate 2121c and a lens 2122, one end of the optical fiber array 2121b is connected to the laser emission unit 211, the other end is fixed to the optical fiber beam splitting plate 2121c, the optical fiber array 2121b includes a plurality of optical fibers having the same number as the photosensitive area, and the optical fiber fixing positions on the optical fiber beam splitting plate 2121c are arranged corresponding to the photosensitive area. Specifically, the arrangement ratio of the optical fiber fixing bits on the optical fiber splitting plate 2121c is the same as the size of the photosensitive area of the individual pixel units of the array detector 221 and the corresponding pitch ratio. The optical fiber array 2121b and the optical fiber beam splitter 2121c are configured to form outgoing laser beams corresponding to the photosensitive regions, and the lens 2122 is configured to collimate the outgoing laser beams and make the outgoing laser beams incident on the detection regions. The signal light is divided into lattice light which is completely matched with the size and the position of a photosensitive area on a pixel unit of the array detector 221 through the optical fiber array 2121b and the optical fiber beam splitting plate 2121c, the lattice light is projected through the lens 2122, the energy of a floodlight source is concentrated on a lattice with the same resolution ratio as that of M x N of the array detector 221, namely, the signal light energy of a coverage area of a single pixel unit is concentrated in the photosensitive area, the light intensity of the lattice area is increased, the signal light energy value which can be received by the single pixel unit of the array detector 221 is improved, the utilization ratio of returned signal light is improved, the signal to noise ratio is enhanced, the power of a used light source is reduced, the test distance is increased and the ranging accuracy is improved under the same light source power.
Similarly, besides setting a specific optical device at the transmitting end to make the echo laser received by the array detector 221 converge in the photosensitive area of the pixel unit, so as to improve the utilization rate of the signal light, a specific optical device may also be set at the receiving end, so as to further improve the convergence capability of the echo laser. As shown in fig. 9, on the basis of the embodiment provided in fig. 8, a plurality of microlenses 223 (i.e., microlens arrays) corresponding to the pixel units may be further disposed on the pixel units, where the microlenses 223 may increase the duty ratio of the pixels, converge the echo laser beams and emit the echo laser beams to the photosensitive regions, thereby reducing the problem of less filling factor of the photosensitive regions caused by the process, improving the utilization rate of the signal light, and improving the ranging capability under the same light source power. The effect of echo laser light reception in a single pixel unit after adding the microlens 223 is shown in fig. 7.
In some embodiments, instead of setting a specific optical device at the transmitting end, a specific optical device may be set at the receiving end, so that the echo laser light received by the array detector 221 is converged in the photosensitive area of the pixel unit, thereby improving the utilization rate of the signal light. As shown in fig. 10, in one embodiment, the laser transceiver system 2 includes a transmitting module 21 and a receiving module 22; the receiving module 22 includes an array detector 221, where the array detector 221 includes a plurality of pixel units, and each pixel unit has a photosensitive area smaller than the pixel unit; the laser transceiver system 2 further includes a plurality of microlenses 223 (i.e., microlens array) corresponding to the pixel units, and the microlenses 223 are disposed on the pixel units. The emission module 21 is used for emitting outgoing laser and enabling the outgoing laser to be emitted to the detection area; the micro lens 223 is used for converging the echo laser beams to form a plurality of echo laser beams which are emitted to a photosensitive area corresponding to the echo laser beams, wherein the echo laser beams are returned laser beams after the emitted laser beams are reflected by objects in the detection area; each photosensitive area in the receiving module 22 is used to receive the echo laser beam. The effect of increasing the echo laser light reception in the single pixel unit before and after the microlens 223 is shown in fig. 11. By adding the micro lens 223, the problem of less filling factor of the photosensitive area caused by the process can be reduced, the utilization rate of the signal light can be improved, and the distance measuring capability can be improved under the same light source power.
The size (e.g., diameter or area) of each echo laser beam in the plane of the photosensitive region is the same. As shown in fig. 4, by controlling the size of the outgoing laser beam, the imaging of each echo laser beam on the array detector 221 is made not to exceed the range of the photosensitive area receiving the echo laser beam, that is, the incidence range of the echo laser beam received by each photosensitive area is made not to exceed the range of the photosensitive area. In some preferred embodiments, each echo laser beam is the largest size beam that can be received by the photosensitive area, i.e., each exit laser beam is the largest area beam of the receivable beams in each photosensitive area.
In this embodiment, the emission module 21 also includes a laser emission unit 211 and an emission optical unit 212, the laser emission unit 211 is configured to emit outgoing laser light, the emission optical unit 212 includes a collimating optical element configured to collimate the outgoing laser beam, and the collimated outgoing laser beam is emitted to the detection area. The Laser emitting unit 211 may be various types of signal light sources, such as a Laser Diode (LD), a vertical cavity surface emitting Laser (Vertical Cavity Surface Emitting Laser, VCSEL), a light emitting Diode (Light Emitting Diode, LED), and the like. The collimating optics in the emission optics 212 may take the form of optical fibers and ball lens groups, individual ball lens groups, cylindrical lens groups, and the like.
The control and signal processing system 3 can adopt a field programmable gate array (Field Programmable Gate Array, FPGA), and the FPGA is connected with the emission driving system 1 to perform emission control of the emitted laser. The FPGA is also connected to the clock pin, the data pin, and the control pin of the receiving module 22, respectively, to perform reception control of the echo laser.
Based on the above-mentioned lidar 100, an embodiment of the present invention proposes an autopilot device 200 including the lidar 100 of the above-mentioned embodiment, where the autopilot device 200 may be an automobile, an airplane, a ship, or other devices related to intelligent sensing and detection using the lidar, and the autopilot device 200 includes a autopilot device body 201 and the lidar 100 of the above-mentioned embodiment, where the lidar 100 is mounted on the autopilot device body 201.
As shown in fig. 12, the autopilot apparatus 200 is an unmanned car, and the lidar 100 is mounted on a side surface of the car body. As shown in fig. 13, the autopilot apparatus 200 is also an unmanned car, and the lidar 100 is mounted on the roof of the car.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (9)
1. A laser transceiver system (2), characterized in that the laser transceiver system (2) comprises a transmitting module (21) and a receiving module (22); the emission module (21) comprises a laser emission unit (211) and an emission optical unit (212); the receiving module (22) comprises an array detector (221), wherein the array detector (221) comprises a plurality of pixel units, and each pixel unit is internally provided with a photosensitive area with an area smaller than that of the pixel unit;
the laser emitting unit (211) is used for emitting outgoing laser; the emission optical unit (212) is used for enabling the outgoing laser to form a plurality of outgoing laser beams corresponding to the photosensitive area and enabling the outgoing laser beams to be outgoing to a detection area; each photosensitive area in the receiving module (22) is used for receiving the echo laser beam returned after the outgoing laser beam corresponding to the photosensitive area is reflected by an object in the detection area;
the emission optical unit (212) comprises an optical fiber array (2121 b), an optical fiber beam splitting plate (2121 c) and a lens (2122), one end of the optical fiber array (2121 b) is connected with the laser emission unit (211), the other end of the optical fiber array is fixed on the optical fiber beam splitting plate (2121 c), the optical fiber array (2121 b) comprises a plurality of optical fibers with the same quantity as the photosensitive areas, and the arrangement of optical fiber fixing positions on the optical fiber beam splitting plate (2121 c) corresponds to the photosensitive areas;
the optical fiber array (2121 b) and the optical fiber beam splitting plate (2121 c) are used for enabling the emergent laser to form a plurality of emergent laser beams corresponding to the photosensitive areas, and the optical fiber array (2121 b) and the optical fiber beam splitting plate (2121 c) are used for splitting signal light into lattice light which is completely matched with the size and the position of the photosensitive areas on the pixel units of the array detector (221)；The lens (2122) is configured to collimate the outgoing laser beam and to cause the outgoing laser beam to be incident on the detection zone.
2. The laser transceiving system (2) according to claim 1, wherein an imaging of each of said echo laser beams on said array detector (221) does not exceed a range of said photosensitive area receiving said echo laser beams.
3. The laser transceiving system (2) according to claim 2, wherein each of said echo laser beams has the same size in the plane of said photosensitive area, said echo laser beam being the beam having the largest size receivable by said photosensitive area.
4. The laser transceiving system (2) of claim 1, characterized in that said emission optical unit (212) comprises a diffractive optical element (2121 a) and a lens (2122); the diffractive optical element (2121 a) is configured to form the outgoing laser beam into a plurality of outgoing laser beams corresponding to the photosensitive region, and the lens (2122) is configured to collimate the outgoing laser beam and make the outgoing laser beam incident on the detection region.
5. The laser transceiving system (2) according to claim 1, wherein said laser transceiving system (2) further comprises a plurality of microlenses (223) corresponding to said pixel units, said microlenses (223) being arranged on said pixel units, said microlenses (223) being configured to converge said echo laser beams towards said photosensitive area.
6. A laser transceiver system (2), characterized in that the laser transceiver system (2) comprises a transmitting module (21) and a receiving module (22); the emission module (21) comprises a laser emission unit (211) and an emission optical unit (212); the receiving module (22) comprises an array detector (221), wherein the array detector (221) comprises a plurality of pixel units, and each pixel unit is internally provided with a photosensitive area with an area smaller than that of the pixel unit; the laser receiving and transmitting system (2) further comprises a plurality of microlenses (223) corresponding to the pixel units, and the microlenses (223) are arranged on the pixel units;
the emitting module (21) is used for emitting outgoing laser and enabling the outgoing laser to be emitted to a detection area; the microlenses (223) are used for converging echo lasers to form a plurality of echo laser beams, and the echo laser beams are shot to the photosensitive areas corresponding to the echo laser beams, wherein the echo laser beams are returned lasers after the outgoing lasers are reflected by objects in the detection areas; each photosensitive region in the receiving module (22) is used for receiving the echo laser beam;
the emission optical unit (212) comprises an optical fiber array (2121 b), an optical fiber beam splitting plate (2121 c) and a lens (2122), one end of the optical fiber array (2121 b) is connected with the laser emission unit (211), the other end of the optical fiber array is fixed on the optical fiber beam splitting plate (2121 c), the optical fiber array (2121 b) comprises a plurality of optical fibers with the same quantity as the photosensitive areas, and the arrangement of optical fiber fixing positions on the optical fiber beam splitting plate (2121 c) corresponds to the photosensitive areas;
the optical fiber array (2121 b) and the optical fiber beam splitting plate (2121 c) are used for enabling the emergent laser to form a plurality of emergent laser beams corresponding to the photosensitive areas, and the optical fiber array (2121 b) and the optical fiber beam splitting plate (2121 c) are used for splitting signal light into lattice light which is completely matched with the size and the position of the photosensitive areas on the pixel units of the array detector (221); the lens (2122) is configured to collimate the outgoing laser beam and to cause the outgoing laser beam to be incident on the detection zone.
7. The laser transceiving system (2) of claim 6, wherein an imaging of each of said echo laser beams on said array detector (221) does not exceed a range of said photosensitive area receiving said echo laser beams.
8. A lidar (100), characterized in that the lidar (100) comprises a laser transceiving system (2) according to any of claims 1 to 7, the lidar (100) further comprising a transmit drive system (1) and a control and signal processing system (3);
the emission driving system (1) is used for driving the emission module (21);
the control and signal processing system (3) is used for controlling the emission driving system (1) to drive the emission module (21) and controlling the receiving module (22) to receive the echo laser beam.
9. An autopilot device (200) comprising a autopilot body (201) and a lidar (100) according to claim 8, wherein the lidar (100) is mounted to the autopilot body (201).
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/083289 WO2021196192A1 (en) | 2020-04-03 | 2020-04-03 | Laser transmission and reception system, lidar and self-driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113167870A CN113167870A (en) | 2021-07-23 |
| CN113167870B true CN113167870B (en) | 2023-11-24 |
Family
ID=76879207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080005825.6A Active CN113167870B (en) | 2020-04-03 | 2020-04-03 | Laser receiving and transmitting system, laser radar and automatic driving equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113167870B (en) |
| WO (1) | WO2021196192A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113640819A (en) * | 2021-09-15 | 2021-11-12 | 上海禾赛科技有限公司 | Laser radar |
| CN115963514A (en) * | 2021-10-08 | 2023-04-14 | 华为技术有限公司 | Control detection method, control device, laser radar and terminal equipment |
| CN116256724A (en) * | 2021-12-09 | 2023-06-13 | 上海禾赛科技有限公司 | Detection unit, detection array motherboard, detector and laser radar |
| CN116953668A (en) * | 2022-04-14 | 2023-10-27 | 上海禾赛科技有限公司 | Laser radar transceiver and laser radar |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103744087A (en) * | 2014-01-11 | 2014-04-23 | 桂林理工大学 | Pulse type N*N-array laser radar system |
| CN106646426A (en) * | 2016-12-27 | 2017-05-10 | 中国科学技术大学 | All-fiber laser radar for multi-transmitting single-receiving telescope array |
| CN107300705A (en) * | 2017-06-11 | 2017-10-27 | 西安飞芯电子科技有限公司 | Laser radar range system and distance-finding method based on carrier modulation |
| CN107607960A (en) * | 2017-10-19 | 2018-01-19 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
| CN107703517A (en) * | 2017-11-03 | 2018-02-16 | 长春理工大学 | Airborne multiple beam optical phased array laser three-dimensional imaging radar system |
| CN108562911A (en) * | 2018-06-29 | 2018-09-21 | 北京遥测技术研究所 | A kind of airborne large footprint lidar vegetation measuring system |
| CN208013431U (en) * | 2018-03-01 | 2018-10-26 | 深圳市镭神智能系统有限公司 | A kind of laser radar |
| CN110261872A (en) * | 2019-06-24 | 2019-09-20 | 业成科技（成都）有限公司 | Laser detecting unit |
| CN110333500A (en) * | 2019-06-17 | 2019-10-15 | 华东师范大学 | A kind of multi-beam laser radar |
| CN110632618A (en) * | 2019-11-22 | 2019-12-31 | 深圳市速腾聚创科技有限公司 | Laser radar, control method thereof and automatic driving device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783875B (en) * | 2016-05-10 | 2018-09-07 | 绵阳天眼激光科技有限公司 | A kind of aerophotogrammetry system and method for integrated scannerless laser radar |
| WO2018064520A1 (en) * | 2016-09-30 | 2018-04-05 | Magic Leap, Inc. | Projector with spatial light modulation |
| KR102578977B1 (en) * | 2018-09-19 | 2023-09-18 | 한국전자통신연구원 | Lidar system |
-
2020
- 2020-04-03 WO PCT/CN2020/083289 patent/WO2021196192A1/en active Application Filing
- 2020-04-03 CN CN202080005825.6A patent/CN113167870B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103744087A (en) * | 2014-01-11 | 2014-04-23 | 桂林理工大学 | Pulse type N*N-array laser radar system |
| CN106646426A (en) * | 2016-12-27 | 2017-05-10 | 中国科学技术大学 | All-fiber laser radar for multi-transmitting single-receiving telescope array |
| CN107300705A (en) * | 2017-06-11 | 2017-10-27 | 西安飞芯电子科技有限公司 | Laser radar range system and distance-finding method based on carrier modulation |
| CN107607960A (en) * | 2017-10-19 | 2018-01-19 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
| CN107703517A (en) * | 2017-11-03 | 2018-02-16 | 长春理工大学 | Airborne multiple beam optical phased array laser three-dimensional imaging radar system |
| CN208013431U (en) * | 2018-03-01 | 2018-10-26 | 深圳市镭神智能系统有限公司 | A kind of laser radar |
| CN108562911A (en) * | 2018-06-29 | 2018-09-21 | 北京遥测技术研究所 | A kind of airborne large footprint lidar vegetation measuring system |
| CN110333500A (en) * | 2019-06-17 | 2019-10-15 | 华东师范大学 | A kind of multi-beam laser radar |
| CN110261872A (en) * | 2019-06-24 | 2019-09-20 | 业成科技（成都）有限公司 | Laser detecting unit |
| CN110632618A (en) * | 2019-11-22 | 2019-12-31 | 深圳市速腾聚创科技有限公司 | Laser radar, control method thereof and automatic driving device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021196192A1 (en) | 2021-10-07 |
| CN113167870A (en) | 2021-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113167870B (en) | Laser receiving and transmitting system, laser radar and automatic driving equipment | |
| US20230014366A1 (en) | Laser transceiver system, lidar, and autonomous driving apparatus | |
| EP4086657A1 (en) | Laser transceiving module and light modulation method therefor, lidar, and autonomous driving device | |
| CN214795207U (en) | Solid state lidar | |
| CN113227827A (en) | Laser radar and autopilot device | |
| US20230035528A1 (en) | Lidar and automated driving device | |
| WO2022016380A1 (en) | Laser radar and autonomous driving device | |
| CN113640819A (en) | Laser radar | |
| WO2021196201A1 (en) | Laser ranging apparatus, laser ranging method, and movable platform | |
| WO2022227733A1 (en) | Optical detection device, driving vehicle, laser radar and detection method | |
| WO2021026709A1 (en) | Laser radar system | |
| CN212872895U (en) | Laser light source, light emitting unit and laser radar | |
| CN109444850A (en) | Phased-array laser radar | |
| US20230117963A1 (en) | Laser source, light emitting unit, and lidar | |
| JP2019056689A (en) | Photoelectric sensor and method of detecting objects in monitoring area | |
| CN110836724A (en) | Optical device | |
| CN215264040U (en) | Roadside sensing equipment and intelligent transportation system | |
| CN113030910A (en) | Laser radar system | |
| CN111308498A (en) | Three-dimensional imaging laser radar device | |
| CN114063088A (en) | Receiving unit of laser radar, laser radar and detection method thereof | |
| RU2618787C1 (en) | Laser longitudiner with combined laser radiator | |
| CN220399650U (en) | Lidar system and vehicle | |
| CN219285418U (en) | Laser radar | |
| US20230375672A1 (en) | Lidar device with spatial light modulators | |
| EP4310537A1 (en) | Laser radar |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |