CN107153195A - Multi-line laser radar and multi-line laser radar control method - Google Patents
Multi-line laser radar and multi-line laser radar control method Download PDFInfo
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- CN107153195A CN107153195A CN201611255700.0A CN201611255700A CN107153195A CN 107153195 A CN107153195 A CN 107153195A CN 201611255700 A CN201611255700 A CN 201611255700A CN 107153195 A CN107153195 A CN 107153195A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000013307 optical fiber Substances 0.000 claims abstract description 57
- 230000003287 optical effect Effects 0.000 claims abstract description 48
- 238000007493 shaping process Methods 0.000 claims abstract description 15
- 230000006835 compression Effects 0.000 claims abstract description 14
- 238000007906 compression Methods 0.000 claims abstract description 14
- 239000000835 fiber Substances 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000004891 communication Methods 0.000 description 4
- 230000008676 import Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
-
- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of multi-line laser radar and multi-line laser radar control method are disclosed in embodiments of the invention, the multi-line laser radar includes：Generating laser, for launching laser；Compression shaping unit, for the transmitting laser coupled to be entered in transmitting terminal optical fiber；The transmitting terminal optical fiber is used to export transmitting laser to transmitting terminal optical alignment unit；It is directional light that the transmitting terminal optical alignment unit, which is used for the transmitting laser alignment,.The embodiment of the present invention can improve the vertical resolution of multi-line laser radar.
Description
Technical field
The present invention relates to detection field, more particularly to a kind of multi-line laser radar and multi-line laser radar control method.
Background technology
Laser radar is the radar system that the characteristic quantities such as position, the speed of target are detected to launch laser beam, its work
It is first to objective emission exploring laser light light beam, then by the signal reflected from target and transmission signal that receive as principle
It is compared, makees after proper treatment, so that it may obtain target for information about, for example target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Multi-line laser radar is one kind of laser radar, is to launch laser by semiconductor laser transmitter, and to echo
What optical signal was detected, multi-line laser radar includes multiple generating lasers, and each generating laser can measure one
Distance.The radiating circuit device of laser is complex, and volume is also larger, therefore foot can not be stacked in less scope
Laser line number is that the stacking quantity of generating laser is that influence multi-line laser radar is vertically differentiated in enough quantity, unit range
The key factor of rate, therefore multi-line laser radar vertical resolution of the prior art is still relatively low.
It can be seen that, existing multi-line laser radar is bulky, and vertical resolution is not high.
The content of the invention
A kind of multi-line laser radar is provided in the embodiment of the present invention, volume can be reduced, vertical resolution is improved.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical scheme：
On the one hand there is provided a kind of multi-line laser radar, it is characterised in that including：
Generating laser, for launching laser；
Compression shaping unit, for the transmitting laser coupled to be entered in transmitting terminal optical fiber；
The transmitting terminal optical fiber is used to export transmitting laser to transmitting terminal optical alignment unit；
It is directional light that the transmitting terminal optical alignment unit, which is used for the transmitting laser alignment,.
Optionally, in addition to transmitting terminal optical fiber head, set with the transmitting terminal optical fiber and transmitting terminal optical alignment unit it
Between.
Optionally, the transmitting laser goes out luminous point accurate positioned at the transmitting terminal optics after the transmitting terminal fiber exit
On the focal plane of straight unit.
Optionally, in addition to：
Receiving terminal optical alignment unit, for receiving reflection laser；
Receiving terminal optical fiber, for the reflection laser to be imported into the fiber optic collimator unit；
The fiber optic collimator unit, for the reflection laser to be focused on；
Laser pickoff, for receiving the reflection laser after the fiber optic collimator unit is focused on.
Optionally, in addition to receiving terminal optical fiber head, be arranged at the receiving terminal optical fiber and receiving terminal optical alignment unit it
Between.
Optionally, the generating laser, compression shaping unit, transmitting terminal optical fiber and transmitting terminal optical alignment unit are set
On the rotating mechanism for being placed in the laser radar.
Optionally, the receiving terminal optical alignment unit, receiving terminal optical fiber and laser pickoff are arranged at the laser
On the rotating mechanism of radar.
Second aspect there is provided a kind of multi-line laser radar control method, including：
Laser transmitter projects laser；
Compression shaping unit enters the transmitting laser coupled in transmitting terminal optical fiber；
The transmitting terminal optical fiber export laser of launching is to transmitting terminal optical alignment unit；
The transmitting laser alignment is directional light by the transmitting terminal optical alignment unit.
Optionally, the laser goes out luminous point positioned at the transmitting terminal optical alignment unit after transmitting terminal fiber exit
On focal plane.
Optionally, methods described also includes：
Receiving terminal optical alignment unit receives reflection laser；
The reflection laser is imported fiber optic collimator unit by receiving terminal optical fiber；
The fiber optic collimator unit focuses on the reflection laser；
Laser pickoff receives the reflection laser after the fiber optic collimator unit is focused on.
A kind of multi-line laser radar, including generating laser are disclosed in embodiments of the invention, for launching laser；Pressure
Contracting shaping unit, for the transmitting laser coupled to be entered in transmitting terminal optical fiber；Transmitting terminal optical fiber, for exporting transmitting laser
To transmitting terminal optical alignment unit；Transmitting terminal optical alignment unit, for being directional light by transmitting laser alignment.The present invention is implemented
The multi-line laser radar of example, transmitting laser is imported between compression shaping lens and transmitting terminal optical alignment unit using optical fiber,
The external diameter of optical fiber is very thin, more can closely install, and goes out on the focal plane so as to improve transmitting terminal optical alignment unit
The density of luminous point, improves the vertical spatial resolution of laser radar, can also reduce the volume of laser radar.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 show the structural representation of the multi-line laser radar of the embodiment of the present invention；
Fig. 2 show the structural representation of the multi-line laser radar of the embodiment of the present invention；
Fig. 3 show the light path schematic diagram of the embodiment of the present invention；
Fig. 4 show the structural representation of the multi-line laser radar of the embodiment of the present invention；
Fig. 5 show the structural representation of the multi-line laser radar of the embodiment of the present invention.
Embodiment
Following examples of the present invention provide a kind of multi-line laser radar and multi-line laser radar control method, can improve many
The vertical resolution of line laser radar, reduces volume.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 show the structural representation of the multi-line laser radar of the embodiment of the present invention, as shown in figure 1, described multi-thread sharp
Optical radar, including：
Generating laser 101, for launching laser；
Compression shaping unit 102, for the transmitting laser coupled to be entered in transmitting terminal optical fiber；
Transmitting terminal optical fiber 103, for exporting transmitting laser to transmitting terminal optical alignment unit；
Transmitting terminal optical alignment unit 105, for being directional light by the transmitting laser alignment.
In the embodiment of the present invention, the laser goes out luminous point accurate positioned at the transmitting terminal optics after transmitting terminal fiber exit
On the focal plane of straight unit.
The multi-line laser radar of the embodiment of the present invention, is used between compression shaping lens and transmitting terminal optical alignment unit
Optical fiber imports transmitting laser, and the external diameter of optical fiber is very thin, more can closely install, so as to improve transmitting terminal optical alignment
Go out the density of luminous point on the focal plane of unit, improve the vertical spatial resolution of laser radar.Simultaneously as optical fiber is very thin, also
The volume of laser radar can be reduced, cost is reduced.
Fig. 2 show the structural representation of the multi-line laser radar of the embodiment of the present invention, as shown in Fig. 2 many line laser thunders
Up to transmitting terminal optical fiber head 105 is also included, it is arranged between the transmitting terminal optical fiber 103 and transmitting terminal optical alignment unit 105.
Transmitting terminal optical fiber head can improve transmissivity of the light in transmitting terminal fiber end face, and that improves transmitting terminal fiber end face can
By property, so as to improve the performance of whole multi-line laser radar.
Fig. 3 show the light path schematic diagram of the embodiment of the present invention, as shown in figure 3, generating laser (not shown in Fig. 3) is sent out
Penetrate laser, compression shaping unit (not shown in Fig. 3) will launch laser coupled and enter in transmitting terminal optical fiber, transmitting terminal optical fiber compared with
Carefully, it is therefore not shown in figure 3, it is believed that each light path 301 is all as derived from an optical fiber.Laser is from transmitting
Hold after fiber exit, go out luminous point on the focal plane of transmitting terminal optical alignment unit 302.
In the embodiment of the present invention, a diameter of 125 microns of the optical fiber of use, pacify in the vertical direction of multi-line laser radar
The different up to 80 tunnels/10mm of density spirit is filled, is more than ten times of common laser radar in the prior art, therefore can increase substantially sharp
The vertical resolution of optical radar, can also reduce the volume of laser radar.Meanwhile, when multichannel is assembled, the small volume of optical fiber,
It is lightweight, it is also more convenient when debugging, efficiency can be improved, it is cost-effective.
Fig. 4 show the structural representation of the multi-line laser radar of the embodiment of the present invention, as shown in figure 4, the laser thunder
Up to also including：
Receiving terminal optical alignment unit 401, for receiving reflection laser；
Receiving terminal optical fiber 403, for the reflection laser to be imported into fiber optic collimator unit；
Fiber optic collimator unit 404, for the reflection laser to be focused on；
Laser pickoff 405, for receiving the reflection laser after the fiber optic collimator unit is focused on.
Also include receiving terminal optical fiber head 402, be arranged at the connection receiving terminal optical fiber 403 and receiving terminal optical alignment unit
Between 401.
The transmitting terminal of multi-line laser radar employs transmitting terminal optical fiber, can use similar structure in receiving terminal, i.e.,
It using receiving terminal optical fiber, more can closely install, reduce the volume of laser radar.
Fig. 5 show the structural representation of multi-line laser radar of the present invention, as shown in figure 5, the embodiment of the present invention is multi-thread
Laser radar includes rotating mechanism 510, communication system 520 and fixed mechanism 530.
FPGA master control systems 511, emission system 512 and reception system 513 are provided with rotating mechanism 510.
Emission system 512 includes the generating laser, compression shaping unit, transmitting terminal optical fiber and transmitting of above-described embodiment
Optical alignment unit is held to set.The concrete structure and function of emission system 512 are as described above, will not be repeated here.
Reception system 513 includes the receiving terminal optical alignment unit, receiving terminal optical fiber, fiber optic collimator unit of above-described embodiment
And laser pickoff.The concrete structure and function of reception system 513 are as described above, will not be repeated here.
In other embodiments of the present invention, fiber optic collimator unit can also be not provided with the rotating mechanism of laser radar.
Communication system 520 can be the wireless telecommunication system or line communication system transmitted with energy, for rotating mechanism
Communication between 510 and fixed mechanism 530.
It is provided with high-precision rotary angle measuring system 531 on fixed mechanism 530, FPGA data integrated system 532 and many
Road laser ranging data output interface 532 etc..
Multi-line laser radar small volume, the cost of the embodiment of the present invention are low, vertical resolution is high.
Corresponding with above-mentioned multi-line laser radar, northern inventive embodiments additionally provide a kind of multi-line laser radar controlling party
Method, including：
Laser transmitter projects laser；
Compression shaping unit enters the transmitting laser coupled in transmitting terminal optical fiber；
The transmitting terminal optical fiber export laser of launching is to transmitting terminal optical alignment unit；
The transmitting laser alignment is directional light by the transmitting terminal optical alignment unit.
Optionally, the laser goes out luminous point positioned at the transmitting terminal optical alignment unit after transmitting terminal fiber exit
On focal plane.
Optionally, methods described also includes：
Receiving terminal optical alignment unit receives reflection laser；
The reflection laser is imported fiber optic collimator unit by receiving terminal optical fiber；
The fiber optic collimator unit focuses on the reflection laser；
Laser pickoff receives the reflection laser after the fiber optic collimator unit is focused on.
The control method of the multi-line laser radar of the embodiment of the present invention, can obtain higher vertical resolution.
The control method of a kind of multi-line laser radar and multi-line laser radar is disclosed in embodiments of the invention, in transmitting
End, imports transmitting laser, in receiving terminal, also using light between compression shaping lens and transmitting terminal optical alignment unit using optical fiber
Fibre imports reflection laser.The external diameter of optical fiber is very thin, more can closely install, so as to improve transmitting terminal optical alignment list
Go out the density of luminous point on the focal plane of member, improve the vertical spatial resolution of laser radar.Simultaneously as optical fiber is very thin, may be used also
To reduce the volume of laser radar, cost is reduced.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to application specific integrated circuit, dedicated cpu, private memory, special components and parts etc. are included come real by specialized hardware
It is existing, but the former is more preferably embodiment in many cases.Understood based on such, the technical scheme sheet in the embodiment of the present invention
The part contributed in other words to prior art in matter can be embodied in the form of software product, computer software production
Product can be stored in storage medium, such as read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disc, CD etc., including some instructions are to cause a computer equipment (can be
People's computer, server, or network equipment etc.) perform described in some parts of each embodiment of the invention or embodiment
Method.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the scope of the protection.
Claims (10)
1. a kind of multi-line laser radar, it is characterised in that including：
Generating laser, for launching laser；
Compression shaping unit, for the transmitting laser coupled to be entered in transmitting terminal optical fiber；
The transmitting terminal optical fiber is used to export transmitting laser to transmitting terminal optical alignment unit；
It is directional light that the transmitting terminal optical alignment unit, which is used for the transmitting laser alignment,.
2. laser radar as claimed in claim 1, it is characterised in that also including transmitting terminal optical fiber head, is set and the transmitting
Hold between optical fiber and transmitting terminal optical alignment unit.
3. laser radar as claimed in claim 1 or 2, it is characterised in that the transmitting laser goes out from the transmitting terminal optical fiber
After penetrating, go out luminous point on the focal plane of the transmitting terminal optical alignment unit.
4. the laser radar as described in requiring 1 to 3 any one, it is characterised in that also include：
Receiving terminal optical alignment unit, for receiving reflection laser；
Receiving terminal optical fiber, for the reflection laser to be imported into the fiber optic collimator unit；
The fiber optic collimator unit, for the reflection laser to be focused on；
Laser pickoff, for receiving the reflection laser after the fiber optic collimator unit is focused on.
5. laser radar as claimed in claim 4, it is characterised in that also including receiving terminal optical fiber head, is arranged at the reception
Hold between optical fiber and receiving terminal optical alignment unit.
6. the laser radar as described in any one of claim 1 to 5, it is characterised in that the generating laser, compression shaping list
Member, transmitting terminal optical fiber and transmitting terminal optical alignment unit are arranged on the rotating mechanism of the laser radar.
7. the laser radar as described in any one of claim 4 to 6, it is characterised in that the receiving terminal optical alignment unit, connect
Receiving end optical fiber and laser pickoff are arranged on the rotating mechanism of the laser radar.
8. a kind of multi-line laser radar control method, it is characterised in that including：
Laser transmitter projects laser；
Compression shaping unit enters the transmitting laser coupled in transmitting terminal optical fiber；
The transmitting terminal optical fiber export laser of launching is to transmitting terminal optical alignment unit；
The transmitting laser alignment is directional light by the transmitting terminal optical alignment unit.
9. method as claimed in claim 8, it is characterised in that the laser goes out luminous point and be located at after transmitting terminal fiber exit
On the focal plane of the transmitting terminal optical alignment unit.
10. the method as described in requiring 8 or 9, it is characterised in that methods described also includes：
Receiving terminal optical alignment unit receives reflection laser；
The reflection laser is imported fiber optic collimator unit by receiving terminal optical fiber；
The fiber optic collimator unit focuses on the reflection laser；
Laser pickoff receives the reflection laser after the fiber optic collimator unit is focused on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611255700.0A CN107153195A (en) | 2016-12-30 | 2016-12-30 | Multi-line laser radar and multi-line laser radar control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611255700.0A CN107153195A (en) | 2016-12-30 | 2016-12-30 | Multi-line laser radar and multi-line laser radar control method |
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| CN107153195A true CN107153195A (en) | 2017-09-12 |
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| CN201611255700.0A Pending CN107153195A (en) | 2016-12-30 | 2016-12-30 | Multi-line laser radar and multi-line laser radar control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188400A (en) * | 2018-10-11 | 2019-01-11 | 上海禾赛光电科技有限公司 | laser radar |
| CN109696731A (en) * | 2019-03-04 | 2019-04-30 | 合肥嘉东光学股份有限公司 | A kind of optical emission system of multi-line laser radar |
| CN110058253A (en) * | 2019-04-28 | 2019-07-26 | 深圳力策科技有限公司 | Laser radar |
| WO2019196135A1 (en) * | 2018-04-11 | 2019-10-17 | 无锡流深光电科技有限公司 | Laser radar system and laser ranging method |
| CN111766587A (en) * | 2020-06-11 | 2020-10-13 | 苏州玖物互通智能科技有限公司 | Multi-line laser radar optical system |
| CN115840203A (en) * | 2021-12-28 | 2023-03-24 | 深圳市速腾聚创科技有限公司 | Laser emitting device, laser radar and intelligent equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115840203A (en) * | 2021-12-28 | 2023-03-24 | 深圳市速腾聚创科技有限公司 | Laser emitting device, laser radar and intelligent equipment |
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Application publication date: 20170912 |