CN105467399A - Vehicle-mounted laser radar optical system based on Light Tools and working method for same - Google Patents
Vehicle-mounted laser radar optical system based on Light Tools and working method for same Download PDFInfo
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- CN105467399A CN105467399A CN201511005335.3A CN201511005335A CN105467399A CN 105467399 A CN105467399 A CN 105467399A CN 201511005335 A CN201511005335 A CN 201511005335A CN 105467399 A CN105467399 A CN 105467399A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
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- 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
The invention provides a vehicle-mounted laser radar optical system based on Light Tools and a working method for the same. The system comprises a pulse laser, a beam expansion lens, a sway lens, variable lens diaphragms, focusing lenses and a photoelectric detector, wherein the pulse laser gives out laser beams; the beam expansion lens is placed in front of the pulse laser, the laser beams pass through the beam expansion lens to be collimated and compressed, decreased in laser divergence angle, and irradiated to the surface of the sway lens; the sway lens is disposed in an inclined manner relative to the beam expansion lens, and the laser beams are irradiated to the surface of a target by an emission window after being reflected by the sway lens; the variable lens diaphragms are disposed on two sides of the beam expansion lens, and parts of the laser beams are reflected by the sway lens and then enter the variable lens diaphragms; the focusing lenses are disposed on two sides of the beam expansion lens, and parts of the laser beams pass through the focusing lenses and are then focused and irradiated to the photoelectric detector; and the photoelectric detector is disposed behind the focusing lenses, and parts of the laser beams are irradiated to a photosurface center of the photoelectrical detector. The system and the working method provided by the invention increase optical energy which can be received by the photoelectric detector, increase a detection distance of a laser radar system, simplify an optical system of a traditional laser radar and reduce research and development cost.
Description
Technical field
The invention belongs to mobile lidar field, is a kind of mobile lidar optical system based on LightTools and method of work thereof specifically.
Background technology
Laser radar is applied to automobile collision preventing adaptive learning algorithms (ACC) system, senior drive assist system (ADAS) and Unmanned Systems and rose in recent years.Automobile intelligent drives required mobile lidar system: do not need the mass data as mapping type laser radar to go to obtain high-precision environment information, be not content with again the low spot cloud density of industrial security protection type system.According to the concrete dedicated system efficiently of road vehicle applied environment design, under the some cloud density prerequisite that effectively can detect road obstacle, real time target recognitio need be accomplished.
Mobile lidar, as the term suggests need laser radar to be installed on car body, this awareness of defecation taste mobile lidar should be different from airborne, carrier-borne laser radar and ground-based laser radar at design aspect.Mobile lidar Optical System Design is one of most important subsystem in laser radar system, and the quality of Optical System Design directly concerns the performance quality of laser radar whole system.In prior art, photodetector finally can only receive the laser emitting laser energy compared with small part; Pendulum mirror in swing process, a lot of light can not by semi-transparent semi-reflecting lens reflection enter in condenser lens, thus receive by photodetector.Add a semi-transparent semi-reflecting lens in system light path, more luminous energy reflected or is transmitted in space, adding the decay of luminous energy.
Summary of the invention
For the above-mentioned shortcoming that prior art exists, the invention provides a kind of mobile lidar optical system based on LightTools and method of work thereof, increase the luminous energy that photodetector can receive, improve the detection range of laser radar system, simplify the optical system of conventional laser radar, decrease element number used, reduce development cost.
For achieving the above object, technical scheme of the present invention is, based on the mobile lidar optical system of LightTools, comprising:
Pulsed laser, for shoot laser bundle;
Beam expanding lens, is placed in pulsed laser front, and laser beam, through beam expanding lens, realizes collimation and the compression of light beam, reduces laser beam divergence, is irradiated to pendulum mirror surface;
Pendulum mirror, is obliquely installed relative to beam expanding lens, and laser beam, after the reflection of pendulum mirror, is irradiated to target surface by launch window;
Launch window, is positioned at below pendulum mirror, allows the beam transmission of operation wavelength, the laser beam of other wavelength decayed;
The detection of a target, is placed on below launch window, and laser beam irradiation is to target surface, and part of laser beam is entered launch window by target scattering and is irradiated on pendulum mirror;
Variable lens diaphragm, is arranged on beam expanding lens both sides, and part of laser beam enters variable lens diaphragm through the reflection of overswing mirror;
Condenser lens, is arranged on beam expanding lens both sides, and part of laser beam, through condenser lens, is irradiated to photodetector;
Photodetector, is arranged on condenser lens as in focal plane, and after part of laser beam line focus lens, focusing illumination is to photodetector photosurface center.
Further, described beam expanding lens is collimator and extender mirror.
Further, described detection target surface is set as lambert's body diffuse reflection surface, scattered beam isotropy.
Further, above-mentioned mobile lidar optical system is the design of LightTools optical design software.
Further, above-mentioned mobile lidar optical system adopts optical emitting and receive optical to be total to the structure of light path.
Further, the surface that pendulum mirror is irradiated by light scribbles anti-reflection film.
Based on the method for work of the mobile lidar optical system of LightTools, be realize in said system, concrete steps are as follows:
Pulsed laser shoot laser bundle, through collimator and extender mirror, realizes collimation and the compression of laser beam, reduce laser beam divergence, be irradiated to pendulum mirror surface, pendulum mirror is driven by stepper motor, realize its deflection, thus cause the deflection of laser beam, be irradiated to detection target surface through launch window;
Part of laser beam is reflexed on pendulum mirror by launch window, enters variable lens diaphragm, then by condenser lens, focuses on photodetector photosurface center, by photoelectric detector.
As further, the surface that pendulum mirror is irradiated by light scribbles anti-reflection film.
As further, detection target surface is set as lambert's body diffuse reflection surface, scattered beam isotropy.
The present invention is owing to adopting above technical scheme, following technique effect can be obtained: the surface that pendulum mirror is irradiated by light scribbles anti-reflection film, substantially the reflectivity of 100% can be realized, this new pattern laser radar optics system architecture adopts the common light path of optical emitting and reception, increases the luminous energy entering photodetector; This system architecture is simple, improves and accepts luminous power, reduce emissive power;
Invention increases the detection range of laser radar system; Reducing portion spectroscopy element, reduces the development cost of system; Simplify system architecture simultaneously, reduce the volume of system, make this new pattern laser radar system be more suitable for being equipped on automobile platform, meet the design concept of mobile lidar.
Accompanying drawing explanation
The present invention has accompanying drawing 1 width:
Fig. 1 is the structural representation not adding ray tracing;
Fig. 2 is the front view with ray tracing;
Fig. 3 is the side view with ray tracing;
Fig. 4 is mobile lidar system acceptance luminous energy schematic diagram in prior art;
Fig. 5 receives luminous energy schematic diagram in the present embodiment.
In figure, sequence number illustrates: 1, pulsed laser, 2, beam expanding lens, 3, pendulum mirror, 4, launch window, 5, the detection of a target, 6, variable lens diaphragm, 7, condenser lens, 8, photodetector.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment 1
Based on the mobile lidar optical system of LightTools, comprising:
Pulsed laser 1, for shoot laser bundle;
Collimator and extender mirror, is placed in pulsed laser 1 front, and laser beam, through beam expanding lens 2, realizes collimation and the compression of light beam, reduces laser beam divergence, is irradiated to pendulum mirror 3 surface;
Pendulum mirror 3, is obliquely installed relative to beam expanding lens 2, and laser beam, after pendulum mirror 3 reflects, is irradiated to target surface by launch window 4; The surface that pendulum mirror 3 is irradiated by light scribbles anti-reflection film.
Launch window 4, is positioned at below pendulum mirror 3, allows the beam transmission of operation wavelength, the laser beam of other wavelength decayed;
The detection of a target 5, is placed on below launch window 4, and laser beam irradiation is to target surface, and part of laser beam is entered launch window 4 by target scattering and is irradiated on pendulum mirror 3; ; The detection of a target 5 surface set is lambert's body diffuse reflection surface, scattered beam isotropy;
Variable lens diaphragm 6, is arranged on beam expanding lens 2 both sides, and part of laser beam enters variable lens diaphragm 6 through overswing mirror 3 reflection;
Condenser lens 7, is arranged on beam expanding lens 2 both sides, and part of laser beam, through condenser lens 7, is irradiated to photodetector 8;
Photodetector 8, is arranged on condenser lens 7 as focal plane position, and part of laser beam is focused and is irradiated to photodetector 8 photosurface center.。
Above-mentioned mobile lidar optical system is the design of LightTools optical design software; Above-mentioned mobile lidar optical system adopts optical emitting and receive optical to be total to the structure of light path.LightTools is a brand-new interactive three-dimensional solid modeling software system with optical accuracy, provides go-go means directly to describe light source, lens, catoptron, beam splitter, diffraction optical element, prism, scanning drum, physical construction and light path in optical system.Due to LightTools optics and mechanical organ are integrated into unified system under process, and be furnished with the power of non-sequential face ray tracing of " placement " light source, emission of light, make it all can play an important role in each link such as academic exchange and exchanges data, problem demonstration or product promotion between system primary design, complication system design planning, ray machine Integral design, Stray light analysis, illumination system layout analysis, all departments of unit, become the instrument that people are desirable.Mobile lidar based on the design of LightTools optical design software will be more directly perceived, reliable.
Based on the method for work of the mobile lidar optical system of LightTools, be realize in said system, concrete steps are as follows:
Pulsed laser 1 shoot laser bundle, through collimator and extender mirror 2, realize collimation and the compression of laser beam, reduce laser beam divergence, be irradiated to pendulum mirror 3 surface, the surface that wherein pendulum mirror 3 is irradiated by light scribbles anti-reflection film, substantially can realize the reflectivity of 100%, pendulum mirror 3 is driven by stepper motor, realizes its deflection, thus cause the deflection of laser beam, be irradiated to the detection of a target 5 surface through launch window 4; The detection of a target 5 surface set is lambert's body diffuse reflection surface, scattered beam isotropy; Part of laser beam is reflexed on pendulum mirror 3 by launch window 4, enters variable lens diaphragm 6, then by condenser lens 7, focuses on photodetector 8 photosurface center, received by photodetector 8.
The laser radar optical system structural drawing of additional ray tracing can know that display light is at each interelement transmission route, can calculate finally by luminous energy that photoelectric detector arrives by analysis meter simultaneously.Be illustrated in figure 5 the luminous energy that this structural system can receive, the luminous energy that in this novel on-vehicle laser radar optical system, photodetector 8 can receive is 3.59% of laser emitting luminous energy, is much higher than of the prior art 0.92%.This novel on-vehicle laser radar system visible is compared to design before, and performance increases.
The application increases the luminous energy that photodetector 8 can receive, and improves the detection range of laser radar system.Simplify the optical system of laser radar, reduce element number used as far as possible, reduce development cost.Use Laser emission and laser pick-off light path altogether, make pendulum mirror 3 in swing process, more luminous energy also can be had receive by photodetector 8.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (9)
1., based on the mobile lidar optical system of LightTools, it is characterized in that, comprising:
Pulsed laser (1), for shoot laser bundle;
Beam expanding lens (2), is placed in pulsed laser (1) front, and laser beam, through beam expanding lens (2), realizes collimation and the compression of light beam, reduces laser beam divergence, is irradiated to pendulum mirror (3) surface;
Pendulum mirror (3), is obliquely installed relative to beam expanding lens (2), and laser beam, after pendulum mirror (3) reflection, is irradiated to target surface by launch window (4);
Launch window (4), is positioned at pendulum mirror (3) below, allows the beam transmission of operation wavelength, the laser beam of other wavelength decayed;
The detection of a target (5), is placed on launch window (4) below, and laser beam irradiation is to target surface, and part of laser beam is entered launch window (4) by target scattering and is irradiated on pendulum mirror (3);
Variable lens diaphragm (6), is arranged on beam expanding lens (2) both sides, and part of laser beam enters variable lens diaphragm (6) through overswing mirror (3) reflection;
Condenser lens (7), is arranged on beam expanding lens (2) both sides, and part of laser beam, through condenser lens (7), is irradiated to photodetector (8);
Photodetector (8), is arranged on condenser lens (7) as focal plane position, and part of laser beam is focused and is irradiated to photodetector (8) photosurface center.
2. the mobile lidar optical system based on LightTools according to claim 1, is characterized in that, described beam expanding lens (2) is collimator and extender mirror.
3. the mobile lidar optical system based on LightTools according to claim 2, is characterized in that, the described detection of a target (5) surface set is lambert's body diffuse reflection surface, scattered beam isotropy.
4. the mobile lidar optical system based on LightTools according to any one of claim 1-3, is characterized in that, above-mentioned mobile lidar optical system is the design of LightTools optical design software.
5. the mobile lidar optical system based on LightTools according to claim 1, is characterized in that, above-mentioned mobile lidar optical system adopts optical emitting and receive optical to be total to the structure of light path.
6. the mobile lidar optical system based on LightTools according to claim 1, is characterized in that, the surface that pendulum mirror (3) is irradiated by light scribbles anti-reflection film.
7., based on the method for work of the mobile lidar optical system of LightTools, be realize in said system, it is characterized in that, concrete steps are as follows:
Pulsed laser (1) shoot laser bundle, through collimator and extender mirror (2), realize collimation and the compression of laser beam, reduce laser beam divergence, be irradiated to pendulum mirror (3) surface, pendulum mirror (3) is driven by stepper motor, realizes its deflection, thus cause the deflection of laser beam, be irradiated to the detection of a target (5) surface through launch window (4);
Part of laser beam reflexes on pendulum mirror (3) by launch window (4), enter variable lens diaphragm (6), again by condenser lens (7), focus on photodetector (8) photosurface center, received by photodetector (8).
8. the method for work of the mobile lidar optical system based on LightTools according to claim 7, is characterized in that, the surface that pendulum mirror (3) is irradiated by light scribbles anti-reflection film.
9. the method for work of the mobile lidar optical system based on LightTools according to claim 7, is characterized in that, the detection of a target (5) surface set is lambert's body diffuse reflection surface, scattered beam isotropy.
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| CN201511005335.3A CN105467399B (en) | 2015-12-29 | 2015-12-29 | Mobile lidar optical system and its working method based on Light Tools |
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| CN201511005335.3A CN105467399B (en) | 2015-12-29 | 2015-12-29 | Mobile lidar optical system and its working method based on Light Tools |
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| CN105467399A true CN105467399A (en) | 2016-04-06 |
| CN105467399B CN105467399B (en) | 2019-02-12 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105891843A (en) * | 2016-05-18 | 2016-08-24 | 李乔 | Laser radar for vehicle anti-collision system |
| CN106019308A (en) * | 2016-05-18 | 2016-10-12 | 李乔 | Automobile anti-collision system and control method based on laser radar |
| CN108387908A (en) * | 2018-03-13 | 2018-08-10 | 成都楼兰科技有限公司 | Laser radar optical texture and laser radar apparatus |
| CN110031853A (en) * | 2017-12-22 | 2019-07-19 | 罗伯特·博世有限公司 | Laser radar apparatus for test object |
| CN110286388A (en) * | 2016-09-20 | 2019-09-27 | 创新科技有限公司 | Laser radar system and the method and medium for using its detection object |
| CN110927982A (en) * | 2019-11-20 | 2020-03-27 | 深圳市安星数字系统有限公司 | Laser homogenizing device and method |
| CN111563310A (en) * | 2019-12-30 | 2020-08-21 | 中国气象局气象探测中心 | Laser radar system simulation method |
| CN112394341A (en) * | 2020-11-26 | 2021-02-23 | 上海工程技术大学 | Vehicle-mounted laser radar range measurement testing system and method |
| WO2021197170A1 (en) * | 2020-04-03 | 2021-10-07 | 上海禾赛科技股份有限公司 | Lidar and method for detecting target object by using lidar |
| CN113552580A (en) * | 2020-04-17 | 2021-10-26 | 上海禾赛科技有限公司 | Laser radar and method for detecting target object by using same |
| WO2022110062A1 (en) * | 2020-11-27 | 2022-06-02 | 深圳市大疆创新科技有限公司 | Optical distance-measuring device and optical window thereof, and movable apparatus |
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| WO2022110062A1 (en) * | 2020-11-27 | 2022-06-02 | 深圳市大疆创新科技有限公司 | Optical distance-measuring device and optical window thereof, and movable apparatus |
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