CN107153200A - Laser radar and laser radar control method - Google Patents
Laser radar and laser radar control method Download PDFInfo
- Publication number
- CN107153200A CN107153200A CN201710377471.8A CN201710377471A CN107153200A CN 107153200 A CN107153200 A CN 107153200A CN 201710377471 A CN201710377471 A CN 201710377471A CN 107153200 A CN107153200 A CN 107153200A
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- laser
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- radar
- optical path
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000003287 optical effect Effects 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006870 function Effects 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
- 238000009877 rendering Methods 0.000 description 1
- 230000035939 shock 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
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- Engineering & Computer Science (AREA)
- 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 kind of laser radar and laser radar control method are disclosed in embodiments of the invention, the laser radar includes：One generating laser, for launching shoot laser；One-dimensional galvanometer, the optical path direction for changing the shoot laser in vertical direction；Rotational structure, is arranged at after the one-dimensional galvanometer, the optical path direction for changing the shoot laser in the horizontal direction.The embodiment of the present invention can reduce the cost of laser radar, improve the vertical resolution of laser radar.
Description
Technical field
The present invention relates to detection field, more particularly to a kind of laser radar and 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.
Laser radar of the prior art, if to realize 3-D scanning, that is, realizes the scanning of 360 scopes, it is necessary to multiple
Generating laser.The cost of the generating laser used in laser radar is higher, therefore the multiple laser of use of the prior art
The cost of the laser radar of transmitter is also very high.In addition, the vertical resolution of laser radar of the prior art is by unit length
On generating laser number determine, because generating laser has certain volume, it is impossible to wirelessly arranged in unit length,
Therefore the vertical resolution of laser radar of the prior art is also than relatively low.
The content of the invention
In the embodiment of the present invention provide a kind of laser radar and laser radar control method, can reduce laser radar into
This, improves the vertical resolution of laser radar.
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 laser radar, including：
One generating laser, for launching shoot laser；
One-dimensional galvanometer, the optical path direction for changing the shoot laser in vertical direction；
Rotational structure, is arranged at after the one-dimensional galvanometer, the light for changing the shoot laser in the horizontal direction
Road direction.
Optionally, the rotational structure is rotating mirror.
Optionally, the rotational structure is relay lens.
Optionally, the laser radar also includes collimation unit, is arranged at the generating laser and the one-dimensional galvanometer
Between, the shoot laser for collimating the laser transmitter projects.
Optionally, the laser radar also includes receiver, and for receiving reflection laser, the reflection laser is change light
Shoot laser behind the direction of road reflected through testee after laser.
Optionally, the receiver is planar array type receiver.
Optionally, the laser radar also includes focusing unit, is arranged at before the receiver, described anti-for focusing on
Laser is penetrated, the reflection laser is the laser after the shoot laser changed after optical path direction reflects through testee, the focusing
Reflection laser afterwards is received by the receiver.
Second aspect includes there is provided a kind of laser radar control method, methods described：
One laser transmitter projects shoot laser；
One-dimensional galvanometer changes the optical path direction of the shoot laser in vertical direction；
Rotational structure changes the optical path direction of the shoot laser in the horizontal direction, and the rotational structure is arranged at described
After one-dimensional galvanometer.
Optionally, methods described also includes：
The rotational structure is rotating mirror.
Optionally, methods described also includes：
The rotational structure is relay lens.
Optionally, methods described also includes：
Collimation unit collimates the shoot laser of the laser transmitter projects, and the collimation unit is arranged at the laser hair
Between emitter and the one-dimensional galvanometer.
Optionally, methods described also includes：
Receiver receives reflection laser, and the reflection laser is anti-through testee to change the shoot laser after optical path direction
Laser after penetrating.
Optionally, methods described also includes：
The receiver is planar array type receiver.
Optionally, methods described also includes：
Focusing unit, focuses on the reflection laser, and the focusing unit is arranged at before the receiver, and the reflection swashs
Light is changes the laser after the shoot laser after optical path direction reflects through testee, and the reflection laser after the focusing is by described
Receiver is received.
Disclose a kind of laser radar in embodiments of the invention, including generating laser, one-dimensional galvanometer and rotation
Structure, because the embodiment of the present invention has only used a generating laser, because can be with cost-effective；Meanwhile, laser of the present invention
Radar makes a shoot laser of a laser transmitter projects change light path in vertical direction using one-dimensional galvanometer, due to one
The reverse speed of dimension galvanometer is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to improve laser
The vertical resolution of radar；In addition, the rotational structure in the embodiment of the present invention changes the shoot laser in the horizontal direction
Optical path direction, so as to realize the 3-D scanning of 360 deg.
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 schematic diagram of the laser radar of the embodiment of the present invention；
Fig. 2 show the shoot laser of the laser transmitter projects of the embodiment of the present invention by the hot spot after one-dimensional galvanometer
Figure；
Fig. 3 show the schematic diagram of the laser radar of the embodiment of the present invention；
Fig. 4 show the schematic diagram of the laser radar control method of the embodiment of the present invention.
Embodiment
Following examples of the present invention provide a kind of laser radar, can reduce the cost of laser radar, improve laser radar
Vertical resolution
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 schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 1, the laser radar includes：
One generating laser 110, for launching shoot laser；
One-dimensional galvanometer 120, the optical path direction for changing the shoot laser in vertical direction；
Rotational structure 130, is arranged at after the one-dimensional galvanometer, for changing the shoot laser in the horizontal direction
Optical path direction.
One-dimensional galvanometer operationally needs load driver, and at the resonant frequency fx, the minute surface of one-dimensional galvanometer is an axle side for work
Reverse at a high speed upwards, by laser beam by spot scan into line.
Conventional galvanometer can be MEMS galvanometers (MEMS, Micro-Electro-Mechanical System), or can be with
It is mechanical galvanometer, or can is other functional units with same or similar function.
Fig. 2 show the hot spot figure that the shoot laser of the transmitting of generating laser 110 passes through after one-dimensional galvanometer 120, theoretical
On, the shoot laser after one-dimensional galvanometer can whether there is several in vertical direction, i.e., the laser being distributed in vertical direction
Light beam can have many bars.The bar number of laser beam in vertical direction determines the vertical resolution of laser radar, and bar number is got over
Many, vertical resolution is higher, therefore, can be very high using the vertical resolution of the laser radar of one-dimensional MEMES galvanometers 120.
The laser radar of the embodiment of the present invention has only used a generating laser 110, compared to conventional laser radar, can be with
It is greatly cost-effective.
Rotational structure 130 in the embodiment of the present invention can be rotating mirror, or can be relay lens, can also be
It is any to change the functional module of shoot laser optical path direction in the horizontal plane by rotation.
In the embodiment of the present invention, rotating mirror can be one side speculum, double mirror or polygonal mirror etc..
Rotational structure rotates, and can make 360 degree of multi-stripe laser Beam rotation in vertical direction, so as to realize that 360 degree are swept
Retouch.
The laser radar of the embodiment of the present invention, due to only having used a generating laser, because can be with cost-effective；Together
When, the laser radar of the embodiment of the present invention makes shoot laser change light path in vertical direction using one-dimensional galvanometer, due to one-dimensional
The reverse speed of galvanometer is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to improve laser thunder
The vertical resolution reached.In addition, rotational structure can make to make 360 degree of multi-stripe laser Beam rotation in vertical direction, so that
Realize 360 degree of scanning.
Fig. 3 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 3, laser thunder of the embodiment of the present invention
It is described sharp up to including generating laser 110, one-dimensional galvanometer 120 and rotational structure 130, in addition to collimation unit 140, being arranged at
Between optical transmitting set 110 and the one-dimensional galvanometer 120, for collimating the shoot laser that the generating laser 110 is launched.
In the embodiment of the present invention, collimation unit 140 can be collimating mirror, collimating mirror can be simple lens or by
The lens group of multi-disc lens composition.
If the shoot laser sent of laser 110 arrives collimation unit 140 again after the deflection of one-dimensional galvanometer 120, due to
Single-point laser can be deflected into laser beam by one-dimensional galvanometer, equivalent to enter collimating mirror be wide-angle incident light, to correct
Large angle incidence light needs multi-disc eyeglass to correct, and adds product cost, also increases design difficulty, can also cause outgoing to swash
The decay of light.Therefore in the embodiment of the present invention, by one-dimensional galvanometer 120 is partially after the directly collimated collimation of mirror 140 of transmitting laser
Turn, the reflection of light does not introduce the factors such as aberration, simplifies design difficulty, correct, can save without multi-disc eyeglass is introduced
Cost.
In the embodiment of the present invention, laser radar also includes receiver 150, for receiving reflection laser, the reflection laser
To change the laser after the shoot laser after optical path direction reflects through testee 100.
In the embodiment of the present invention, the receiver is planar array type receiver.
Planar array type receiver can be APD (Avalanche Photo Diode, avalanche diode) array.APD is at one
It is evenly distributed in plane, after reflection laser is received by APD array, 3D rendering is generated after processor computing.
The laser radar of the embodiment of the present invention also includes focusing unit 160, is arranged at before the receiver 150, uses
In focusing on the reflection laser, the reflection laser is the shoot laser after change optical path direction after the reflection of testee 100
Laser, the reflection laser after the focusing receives by the receiver.
In the embodiment of the present invention, only rotational structure rotates, and other functional modules resist without rotation to other functional modules
Shock stability requires relatively low, and cost can also be decreased.
The laser radar of the embodiment of the present invention, has only used a generating laser, because can be with cost-effective；Meanwhile,
The laser radar of the embodiment of the present invention makes shoot laser change light path in vertical direction using one-dimensional galvanometer, due to one-dimensional galvanometer
Reverse speed be exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to improve laser radar
Vertical resolution.In addition, rotational structure can make to make 360 degree of multi-stripe laser Beam rotation in vertical direction, so as to realize
360 degree of scanning.
Corresponding with above-mentioned laser radar, the embodiment of the present invention additionally provides a kind of laser radar control method.Shown in Fig. 4
For the flow chart of the laser radar control method of the embodiment of the present invention, as shown in figure 4, methods described includes：
Step 410, a laser transmitter projects shoot laser；
Step 420, one-dimensional galvanometer changes the optical path direction of the shoot laser in vertical direction；
Step 430, rotational structure changes the optical path direction of the shoot laser in the horizontal direction, and the rotational structure is set
It is placed in after the one-dimensional galvanometer.
Optionally, above-mentioned rotational structure is rotating mirror.
Optionally, methods described also includes：
Optionally, above-mentioned rotational structure is relay lens.
Optionally, methods described also includes：
Collimation unit collimates the shoot laser of the laser transmitter projects, and the collimation unit is arranged at the laser hair
Between emitter and the one-dimensional galvanometer.
Optionally, methods described also includes：
Receiver receives reflection laser, and the reflection laser is anti-through testee to change the shoot laser after optical path direction
Laser after penetrating.
Optionally, methods described also includes：
The receiver is planar array type receiver.
Optionally, methods described also includes：
Focusing unit focuses on the reflection laser, and the focusing unit is arranged at before the receiver, and the reflection swashs
Light is changes the laser after the shoot laser after optical path direction reflects through testee, and the reflection laser after the focusing is by described
Receiver is received.
The laser radar control method of the embodiment of the present invention, can reduce the cost of laser radar, improve hanging down for laser radar
Straight resolution ratio.
Disclose a kind of laser radar and laser radar control method in embodiments of the invention, the embodiment of the present invention swashs
Optical radar includes a generating laser, one-dimensional galvanometer and rotational structure, because the embodiment of the present invention has only used a laser
Transmitter, because can be with cost-effective；Meanwhile, laser radar of the present invention makes laser transmitter projects using one-dimensional galvanometer
One shoot laser changes light path in vertical direction, because the reverse speed of one-dimensional galvanometer is exceedingly fast, therefore in vertical direction
The laser beam of distribution can be a lot, so as to improve the vertical resolution of laser radar；In addition, in the embodiment of the present invention
Rotational structure can change the optical path direction of the shoot laser in the horizontal direction, so as to realize that the three-dimensional of 360 deg is swept
Retouch.
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 laser radar, it is characterised in that including：
One generating laser, for launching shoot laser；
One-dimensional galvanometer, the optical path direction for changing the shoot laser in vertical direction；
Rotational structure, is arranged at after the one-dimensional galvanometer, changes the optical path direction of the shoot laser in the horizontal direction.
2. laser radar as claimed in claim 1, it is characterised in that the rotational structure is rotating mirror.
3. laser radar as claimed in claim 1, it is characterised in that the rotational structure is relay lens.
4. the laser radar as described in any one of claims 1 to 3, it is characterised in that it is single that the laser radar also includes collimation
Member, is arranged between the generating laser and the one-dimensional galvanometer, and the outgoing for collimating the laser transmitter projects swashs
Light.
5. the laser radar as described in any one of Claims 1-4, it is characterised in that the laser radar also includes receiver,
For receiving reflection laser, the reflection laser is sharp after the shoot laser after optical path direction reflects through testee to change
Light.
6. laser radar as claimed in claim 5, it is characterised in that the receiver is planar array type receiver.
7. the laser radar as described in any one of claim 1 to 6, it is characterised in that the laser radar also includes focusing on list
Member, is arranged at before the receiver, and for focusing on the reflection laser, the reflection laser is going out after change optical path direction
The laser after laser reflects through testee is penetrated, the reflection laser after the focusing is received by the receiver.
8. a kind of laser radar control method, it is characterised in that methods described includes：
One laser transmitter projects shoot laser；
One-dimensional galvanometer changes the optical path direction of the shoot laser in vertical direction；
Rotational structure changes the optical path direction of the shoot laser in the horizontal direction, and the rotational structure is arranged at described one-dimensional
After galvanometer.
9. method as claimed in claim 8, it is characterised in that methods described also includes：
Receiver receives reflection laser, after the reflection laser reflects for the shoot laser after change optical path direction through testee
Laser.
10. method as claimed in claim 9, it is characterised in that methods described also includes：
The receiver is planar array type receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710377471.8A CN107153200A (en) | 2017-05-25 | 2017-05-25 | Laser radar and laser radar control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710377471.8A CN107153200A (en) | 2017-05-25 | 2017-05-25 | Laser radar and laser radar control method |
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| CN107153200A true CN107153200A (en) | 2017-09-12 |
Family
ID=59794392
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| CN201710377471.8A Pending CN107153200A (en) | 2017-05-25 | 2017-05-25 | Laser radar and laser radar control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445467A (en) * | 2018-03-26 | 2018-08-24 | 宁波傲视智绘光电科技有限公司 | A kind of scanning laser radar system |
| CN109343029A (en) * | 2018-12-04 | 2019-02-15 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system and scan method |
| CN109828259A (en) * | 2019-02-14 | 2019-05-31 | 昂纳信息技术（深圳）有限公司 | A kind of laser radar and array sweeping device |
| CN110988844A (en) * | 2019-12-27 | 2020-04-10 | 陈泽雄 | Light path system and laser radar |
| CN111308442A (en) * | 2018-12-12 | 2020-06-19 | 华为技术有限公司 | Laser radar |
| CN109471122B (en) * | 2018-11-01 | 2020-09-22 | 百度在线网络技术（北京）有限公司 | Scanning control method, device and equipment based on laser radar and laser radar |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445467A (en) * | 2018-03-26 | 2018-08-24 | 宁波傲视智绘光电科技有限公司 | A kind of scanning laser radar system |
| CN108445467B (en) * | 2018-03-26 | 2021-08-03 | 宁波傲视智绘光电科技有限公司 | Scanning laser radar system |
| CN109471122B (en) * | 2018-11-01 | 2020-09-22 | 百度在线网络技术（北京）有限公司 | Scanning control method, device and equipment based on laser radar and laser radar |
| CN109343029A (en) * | 2018-12-04 | 2019-02-15 | 深圳市镭神智能系统有限公司 | A kind of laser radar optical system and scan method |
| WO2020114229A1 (en) * | 2018-12-04 | 2020-06-11 | 深圳市镭神智能系统有限公司 | Laser radar optical system and scanning method |
| CN111308442A (en) * | 2018-12-12 | 2020-06-19 | 华为技术有限公司 | Laser radar |
| CN111308442B (en) * | 2018-12-12 | 2022-05-13 | 华为技术有限公司 | Laser radar |
| CN109828259A (en) * | 2019-02-14 | 2019-05-31 | 昂纳信息技术（深圳）有限公司 | A kind of laser radar and array sweeping device |
| CN110988844A (en) * | 2019-12-27 | 2020-04-10 | 陈泽雄 | Light path system and laser radar |
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