CN107148580B - 基于一维光学发射器的二维扫描的三维激光雷达传感器 - Google Patents

基于一维光学发射器的二维扫描的三维激光雷达传感器 Download PDF

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CN107148580B
CN107148580B CN201580056540.4A CN201580056540A CN107148580B CN 107148580 B CN107148580 B CN 107148580B CN 201580056540 A CN201580056540 A CN 201580056540A CN 107148580 B CN107148580 B CN 107148580B
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A.帕卡拉
L.埃尔达达
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Quinagi Systems
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    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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    • 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
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Abstract

一种设备和方法通过飞行时间激光雷达传感器被用于三维感测，所述飞行时间激光雷达传感器具有在一维上感测的单个发射器、至少一个光检测器和二维扫描所述发射器和至少一个光检测器的机械装置。激光雷达的外壳优选是静态的，并且仅内部部件涉及机械运动。在所述激光雷达在红外线下操作时的优选实施例中，所述静态外壳具有在视觉上是不透明的并且对红外线辐射基本是透明的窗口。

Description

基于一维光学发射器的二维扫描的三维激光雷达传感器
交叉参照相关申请
本申请要求2014年10月20日提交的美国专利申请号14/517,948的优先权，其内容通过参照并入于此。
技术领域
本发明大体上涉及环境感测领域，更具体地涉及用于三维测绘和对象检测、跟踪和/或分类的成本有效的飞行时间(ToF)激光雷达传感器设备。
背景技术
激光雷达传感器是光检测和测距传感器。它是一个光学遥感模块，其可以通过使用激光的脉冲用光照射目标或地貌，并测量光子到达目标或地貌并在反射后返回到激光雷达模块中的接收器的时间，来测量距离目标或地貌中的物体的距离。基于机械运动的激光雷达传感器实现了广泛的视野。包含多个分立的单独封装的激光器的机械运动激光雷达传感器的成本和分辨率不是最佳的，因为具有多个单独封装的激光器是昂贵的并且扫描在由单独的准直激光器限定的平面中的环境在某些应用中不能实现可接受的分辨率，特别是其中那些激光雷达安装平台是静态的(例如，在用于道路/交叉路口/交通监控的杆上)应用或者当激光雷达安装平台通常是移动的但是具有静态的情况(例如，车辆停在需要在交叉路口上感测行人的交通信号灯，不能从当车辆运动/摆动/振动时获得的激光束扫描受益的情况)。
US 5,455,669公开了一种包括镜子的激光测距设备，所述镜子被安装成用于沿竖直轴旋转，该竖直轴平行于来自被发射用于偏转(deflection)到测量区域的脉冲激光的光的竖直轴，并且相对于旋转平面和所述竖直轴成角度地倾斜，以使来自准直激光器的脉冲光被在平面测量区域上转向(divert)以及使来自测量区域的反射光从所述平面测量区域被接收并且沿着竖直路径转向到光接收器装置。
US 7,746,449公开了一种光检测和测距系统，包括准直激光束，围绕扫描轴旋转的镜子单元，该镜子单元包括接收部分和相对于该接收部分的表面平面围绕扫描轴偏移一角度的透射部分，接收部分和透射部分的相应重心位于扫描轴上的共同点处。
US 7,969,558公开了基于激光雷达的3-D点云系统，其包括支撑结构，由支撑结构支撑的多个激光发射器，由支撑结构支撑的多个雪崩光电二极管检测器以及构造为使多个激光发射器和多个雪崩光电二极管检测器以至少200RPM(每分钟转数)的速度旋转的旋转部件。
美国申请2011/0216304公开了一种基于LiDAR的传感器系统，其包括基座，头部组件，构造为相对于基座旋转所述头部组件的旋转部件，头部组件的旋转限定旋转轴线；载置在头部组件中的电母板，母板限定一平面并且定位为基本上平行于旋转轴线；安装到多个发射器电路板的多个光子发射器，多个发射器电路板直接安装到母板，以及安装到多个检测器电路板的多个检测器，多个检测器电路板直接安装到母板。
发明内容
一种设备和方法通过具有单个发射器和至少一个光检测器的飞行时间激光雷达传感器被用于三维感测。所述单个发射器可以包括单个激光器，单个激光条或多个激光器(优选地为这样的形式的：集成的多激光器芯片或共同封装的激光器芯片，或者单个封装的多芯片模块)，以及在所有三种情况下，发射器输出被成像以形成其包络线是长的辐射图案以提供一维感测。所述单个发射器还可以包括耦合到光学相控阵列(OPA)的单个激光器，其将其包络线是长的辐射图案进行成像以提供一维感测，或者在一维上扫描光束以提供一维感测。所述单个发射器还可以包括耦合到衍射光学元件(DOE)或全息光学元件(HOE)的单个激光器，其中光学元件对其包络线是长的辐射图案进行成像以提供一维感测。对于所有单个发射器构造，使用机械运动(例如，自旋或镜子/棱镜/透镜/DOE/HOE/光栅扫描)来覆盖未被发射器覆盖的两个维度，导致三维感测。
当使用多个光检测器时，它们优选地包括集成的多光检测器芯片或共封装的光检测器芯片或光检测多芯片模块。
光检测器类型包括单光子雪崩二极管(SPAD)阵列，雪崩光电二极管(APD)和PIN二极管(PIN二极管是正本征负二极管，因为它们包括在p型或正型半导体区域和n型或负型半导体区域之间的轻掺杂的本征半导体区域)。
与US 5,455,669和US 7,746,449相反，本发明不具有尺度对于由机械运动覆盖的平面为正常的静态准直激光器，而是具有一发射器，该发射器通过对其包络线是长的辐射图案进行成像或通过以正常尺度进行扫掠来覆盖所述正常尺度。
与US 7,969,558和美国申请2011/0216304相反，其中所描述的设备包括多个发射器，本发明包括单个发射器。此外，与APD相反，本发明可以使用PIN二极管或优选地SPAD阵列。此外，头组件与旋转相反是静态的，并且仅当机械运动由自旋组成时所述内部转盘才自旋，或者，当机械运动由扫描组成时，光学元件(例如，镜子，棱镜，透镜，DOE，HOE，光栅)正在扫描。本发明的激光雷达的整个外部体是静态的。
附图说明
以下附图是本发明的实施例的说明，并不意图限制本发明为由形成本申请的一部分的权利要求所包含的。
图1是示意图，其提供了本发明的激光雷达的一个实施例的激光雷达10的外部视图，描绘了它的静态外壳20；
图2提供了本发明的激光雷达的一个实施例的内部视图，其倾斜以示出发射侧，描绘内部基座30，旋转转盘40，光学成像组件50，以及单个发射器60；
图3提供本发明的激光雷达的一个实施例的内部视图，其倾斜以示出接收侧，描绘内部基座30，旋转转盘40，光学成像组件50以及光检测器70。
具体实施方式
一种设备和方法通过具有单个发射器和至少一个光检测器的飞行时间激光雷达传感器被用于三维感测。
所述单个发射器可包括：
(a)单个激光器；
(b)单个激光条；
(c)多个激光器(优选为这样的形式的：集成的多激光芯片或共同封装的激光芯片，或单个封装的多芯片模块)；
其中在(a)，(b)和(c)的情况下，发射器输出被成像以形成其包络线是长的辐射图案以提供一维感测；
(d)耦合到光学相控阵列(OPA)的单个激光器，其对其包络线是长的辐射图案进行成像以提供一维感测；
(e)耦合到光学相控阵列(OPA)的单个激光器，其在一维上扫描光束以提供一维感测；
(f)耦合到衍射光学元件(DOE)的单个激光器；
(g)耦合到全息光学元件(HOE)的单个激光器；
(h)耦合到透镜的单个激光器；
其中在(f)，(g)和(h)的情况下，光学元件对其包络线是长的辐射图案成像以提供一维感测；
对于所有单个发射器构造，机械运动被用于覆盖未被发射器覆盖的两个维度，导致三维感测。
机械运动机制选项包括但不限于：
(a)自旋；
(b)镜扫描；
(c)棱镜扫描；
(d)透镜扫描；
(e)DOE扫描；
(f)HOE扫描；
(g)光栅扫描；
当使用多个光检测器时，它们优选包括但不限于以下选项：
(a)集成的多光检测器芯片；
(b)共封装的光检测器芯片；
(c)光检测多芯片模块。
光检测器类型包括但不限于：
(a)SPAD阵列；
(b)APD；
(c)PIN二极管；
本发明中的激光雷达的外壳优选是静态的，只有内部部件涉及机械运动。在本发明的一个优选实施例中，当在红外线(IR)中操作时，所述外壳的窗口材料视觉上是不透明的并且是IR透明的。

Claims (10)

1.一种飞行时间激光雷达设备，包括：
a)在一维上感测的单个光学发射器；
b)至少一个光检测器；
c)旋转所述单个光学发射器和至少一个光检测器的旋转转盘；
d)为静态的以罩住所述旋转转盘的外壳，其中静态的外壳具有在视觉上是不透明的并且对由在所述旋转转盘上的发射器发射的红外辐射基本上是透明的窗口。
2.根据权利要求1所述的飞行时间激光雷达设备，其中所述单个光学发射器包括一组元件中的一个，该一组元件包括但不限于：
a)单个激光器，该单个激光器被成像以形成其包络线是长的辐射图案以提供一维感测；
b)单个激光条，该单个激光条被成像以形成其包络线是长的辐射图案以提供一维感测；
c)多个激光器，该多个激光器被集成在一个基板上并成像以形成其包络线是长的连续辐射图案以提供一维感测；
d)多个激光器，该多个激光器被共同封装并成像以形成其包络线是长的连续辐射图案以提供一维感测；
e)耦合到光学相控阵列的单个激光器，其对其包络线是长的束形成辐射图案进行成像以提供一维感测；
f)耦合到光学相控阵列的单个激光器，其在一维上扫描束形成图案以提供一维感测；
g)耦合到衍射光学元件的单个激光器，以形成其包络线是长的辐射图案以提供一维感测；
h)耦合到全息光学元件的单个激光器，以形成其包络线是长的辐射图案以提供一维感测；
i)耦合到透镜的单个激光器，以形成其包络线是长的辐射图案以提供一维感测。
3.根据权利要求1所述的飞行时间激光雷达设备，其中所述至少一个光检测器包括一组元件中的一个，该一组元件包括但不限于：
a)单光子雪崩二极管阵列；
b)雪崩光电二极管；
c)正本征负二极管。
4.根据权利要求1所述的飞行时间激光雷达设备，包括为选自于以下一组的形式的多个光检测器，所述一组包括但不限于：
a)集成的多光检测器芯片；
b)共封装的光检测器芯片；
c)光检测多芯片模块。
5.根据权利要求1所述的飞行时间激光雷达设备，其中在二维上扫描所述单个光学发射器和所述至少一个光检测器的机械装置选自于以下包括但不限于的一组：
a)自旋；
b)镜扫描；
c)棱镜扫描；
d)透镜扫描；
e)衍射光学元件扫描；
f)全息光学元件扫描；
g)光栅扫描。
6.一种利用飞行时间激光雷达设备进行三维感测的方法，包括：
a)在一维上感测的单个光学发射器；
b)至少一个光检测器；
c)旋转所述单个光学发射器和至少一个光检测器的旋转转盘；
d)为静态的以罩住所述旋转转盘的外壳，其中静态的外壳具有在视觉上是不透明的并且对由在所述旋转转盘上的发射器发射的红外辐射基本上是透明的窗口。
7.根据权利要求6所述的方法，其中所述飞行时间激光雷达设备的所述单个光学发射器包括一组元件中的一个，该一组元件包括但不限于：
a)单个激光器，该单个激光器成像以形成其包络线是长的辐射图案以提供一维感测；
b)单个激光条，该单个激光条成像以形成其包络线是长的辐射图案以提供一维感测；
c)多个激光器，该多个激光器被集成在一个基板上并成像以形成其包络线是长的连续辐射图案以提供一维感测；
d)多个激光器，该多个激光器被共同封装并成像以形成其包络线是长的连续辐射图案以提供一维感测；
e)耦合到光学相控阵列的单个激光器，其对其包络线是长的束形成辐射图案进行成像以提供一维感测；
f)耦合到光学相控阵列的单个激光器，其在一维上扫描束形成辐射图案以提供一维感测；
g)耦合到衍射光学元件的单个激光器，以形成其包络线是长的辐射图案以提供一维感测；
h)耦合到全息光学元件的单个激光器，以形成其包络线是长的辐射图案以提供一维感测；
i)耦合到透镜的单个激光器，以形成其包络线是长的辐射图案以提供一维感测。
8.根据权利要求6所述的方法，其中所述飞行时间激光雷达设备的所述至少一个光检测器包括一组元件中的一个，该一组元件包括但不限于：
a)单光子雪崩二极管阵列；
b)雪崩光电二极管；
c)正本征负二极管。
9.根据权利要求6所述的方法，其中所述飞行时间激光雷达设备包括为选自于以下一组的形式的多个光检测器，所述一组包括但不限于：
a)集成的多光检测器芯片；
b)共封装的光检测器芯片；
c)光检测多芯片模块。
10.根据权利要求6所述的方法，其中飞行时间激光雷达设备的在二维上扫描所述单个光学发射器和所述至少一个光检测器的机械装置选自于以下的一组，该一组包括但不限于：
a)旋自旋；
b)镜扫描；
c)棱镜扫描；
d)透镜扫描；
e)衍射光学元件扫描；
f)全息光学元件扫描；
g)光栅扫描。
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