CN107167787A - Laser radar and laser radar control method - Google Patents
Laser radar and laser radar control method Download PDFInfo
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- CN107167787A CN107167787A CN201710377400.8A CN201710377400A CN107167787A CN 107167787 A CN107167787 A CN 107167787A CN 201710377400 A CN201710377400 A CN 201710377400A CN 107167787 A CN107167787 A CN 107167787A
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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
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (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；2-D vibration mirror, in vertical direction with the optical path direction for changing the shoot laser in horizontal direction；Semi-transparent semi-reflecting lens, for making the shoot laser from generating laser pass through to the 2-D vibration mirror.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.
The content of the invention
A kind of laser radar is provided in the embodiment of the present invention, including：
One generating laser, for launching shoot laser；
Semi-transparent semi-reflecting lens, for making the shoot laser from generating laser pass through to 2-D vibration mirror；
2-D vibration mirror, in vertical direction with the optical path direction for changing the shoot laser in horizontal direction.
Optionally, the 2-D vibration mirror is additionally operable to change in the vertical direction and the horizontal direction the light path side of reflection laser
To, wherein, the reflection laser is the laser after shoot laser reflects through testee.
Optionally, the semi-transparent semi-reflecting lens are additionally operable to make the reflection laser from the 2-D vibration mirror reflex to reception
Device.
Optionally, the laser radar also includes receiver, described for receiving the reflection laser from semi-transparent semi-reflecting lens
Reflection laser is the laser after testee reflects.
Optionally, the receiver is planar array type receiver.
Optionally, the laser radar also include collimation unit, be arranged at the generating laser with it is described semi-transparent semi-reflecting
Between mirror, the shoot laser for collimating the laser transmitter projects.
Optionally, the laser radar also includes focusing unit, is arranged between the receiver and semi-transparent semi-reflecting lens, uses
In focusing on the reflection laser from semi-transparent semi-reflecting lens, the reflection laser after the focusing is received by the receiver.
Second aspect, discloses a kind of laser radar control method, including：
One laser transmitter projects shoot laser；
Semi-transparent semi-reflecting lens make the shoot laser from generating laser pass through to 2-D vibration mirror；
2-D vibration mirror in vertical direction with the optical path direction for changing the shoot laser in horizontal direction.
Optionally, methods described also includes：
The 2-D vibration mirror changes the optical path direction of reflection laser in the vertical direction and the horizontal direction, wherein, it is described anti-
Penetrate the laser after laser reflects for shoot laser through testee.
Optionally, methods described also includes：
The semi-transparent semi-reflecting lens make the reflection laser from the 2-D vibration mirror reflex to receiver.
Optionally, methods described also includes：
Receiver receives the reflection laser from semi-transparent semi-reflecting lens, and the reflection laser is swashing after testee reflects
Light.
Optionally, methods described also includes：
The receiver is planar array type receiver.
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
Between transmitter and the semi-transparent semi-reflecting lens.
Optionally, methods described also includes：
Focusing unit, focuses on the reflection laser from semi-transparent semi-reflecting lens, the reflection laser after the focusing is by described
Receiver is received, and the focusing unit is arranged between the receiver and semi-transparent semi-reflecting lens.
Disclose a kind of laser radar in embodiments of the invention, including generating laser, 2-D vibration mirror and semi-transparent
Semi-reflective mirror, can be with cost-effective because the embodiment of the present invention has only used a generating laser；Meanwhile, laser thunder of the present invention
A shoot laser of a laser transmitter projects is set to change light path in vertical direction up to using 2-D vibration mirror, due to two dimension
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；2-D vibration mirror can make the shoot laser of single laser transmitter projects change light in the horizontal direction
Road, 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 structural representation of the laser radar of the embodiment of the present invention；
Fig. 2 show single-point laser and passes through the hot spot figure after 2-D vibration mirror；
Fig. 3 show the structural representation of the laser radar of the embodiment of the present invention；
Fig. 4 show the flow chart 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；
Semi-transparent semi-reflecting lens 120, for making the shoot laser from generating laser pass through to 2-D vibration mirror；
2-D vibration mirror 130, in vertical direction with the optical path direction for changing the shoot laser in horizontal direction.
2-D vibration mirror 130 operationally needs load driver, and at the resonant frequency fx, the minute surface of 2-D vibration mirror 130 is two for work
Reversed at a high speed on individual direction of principal axis, by laser beam by spot scan into face.
Conventional galvanometer can be galvanometer (MEMS, Micro-Electro-Mechanical System), or can be machine
Tool formula galvanometer, or can be other functional units with same or similar function.
Fig. 2 show single-point laser by the hot spot figure after 2-D vibration mirror, as shown in Fig. 2 the point of intersection of every two curves
I.e. one hot spot.
Disclose a kind of laser radar in embodiments of the invention, including generating laser, 2-D vibration mirror and semi-transparent
Semi-reflective mirror, because the embodiment of the present invention has only used a generating laser, because can be with cost-effective；Meanwhile, the present invention swashs
Optical radar makes a shoot laser of a laser transmitter projects change light path in vertical direction using 2-D vibration mirror, due to
The reverse speed of 2-D vibration mirror is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, sharp so as to improve
The vertical resolution of optical radar；2-D vibration mirror can be such that the shoot laser of single laser transmitter projects changes in the horizontal direction
Light path, so as to realize the 3-D scanning of 360 deg.
In the embodiment of the present invention, 2-D vibration mirror 120 is additionally operable to change reflection laser in the vertical direction and the horizontal direction
Optical path direction, wherein, the reflection laser is the laser after shoot laser reflects through testee 100.
The semi-transparent semi-reflecting lens 120 are additionally operable to make the reflection laser from the 2-D vibration mirror reflex to receiver.
Due to laser spread speed quickly, therefore in the embodiment of the present invention, after transmitting laser reflects through testee 100
In 10us internal reflections laser from backtracking, therefore, for two-dimentional MEMS lens 130, shoot laser and the outgoing
The optical path direction of the corresponding reflection laser of laser is opposite, path is identical, so reflection laser can pass through two-dimentional MEMS lens 130
Semi-transparent semi-reflecting lens 120 are reached, and reflection laser can be reflexed to receiver by semi-transparent semi-reflecting lens 120.
In Fig. 1, shoot laser is indicated by the solid line, and reflection laser is represented by dashed line.For clearer display shoot laser
And reflection laser, a certain distance has been pulled open between two lines.In practice, shoot laser and reflection laser are infinitely close to weight
Close, two lines, which should also be, is infinitely close to coincidence.
Fig. 3 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 3, the laser radar also includes
Receiver 140, collimation unit 150 and focusing unit 160.
Receiver 140 is used to receive the reflection laser from semi-transparent semi-reflecting lens 120, and the reflection laser is testee
Laser after 100 reflections.
The receiver 140 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.
Collimation unit 150, is arranged between the generating laser 110 and the semi-transparent semi-reflecting lens 120, for collimating
State the shoot laser of the transmitting of generating laser 110.
In the embodiment of the present invention, collimation unit 150 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 150 again after the deflection of 2-D vibration mirror 130, due to
Single-point laser can be deflected into the laser beam in a face by 2-D vibration mirror, equivalent to enter collimating mirror be wide-angle incidence
Light, to correct large angle incidence light needs multi-disc eyeglass to correct, and adds product cost, also increases design difficulty, can also
Cause the decay of shoot laser.Therefore in the embodiment of the present invention, the directly collimated mirror 150 of transmitting laser shakes after collimating by two dimension
Mirror 130 is deflected, and the reflection of light does not introduce the factors such as aberration, simplify design difficulty, is corrected without multi-disc eyeglass is introduced,
Can be with cost-effective.
In the embodiment of the present invention, focusing unit 160 is arranged between the receiver 140 and semi-transparent semi-reflecting lens 120, is used for
The reflection laser from semi-transparent semi-reflecting lens 120 is focused on, the reflection laser after the focusing receives 140 by the receiver.
In the embodiment of the present invention, focusing unit 160 can be focus lamp, focus lamp can be simple lens or by
The lens group of multi-disc lens composition.
The laser radar of the embodiment of the present invention can reduce the cost of laser radar, improve the vertical resolution of laser radar.
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, semi-transparent semi-reflecting lens make the shoot laser from generating laser pass through to 2-D vibration mirror；
Step 430,2-D vibration mirror in vertical direction with the optical path direction for changing the shoot laser in horizontal direction.
Optionally, methods described also includes：
The 2-D vibration mirror changes the optical path direction of reflection laser in the vertical direction and the horizontal direction, wherein, it is described anti-
Penetrate the laser after laser reflects for shoot laser through testee.
Optionally, methods described also includes：
The semi-transparent semi-reflecting lens make the reflection laser from the 2-D vibration mirror reflex to receiver.
Optionally, methods described also includes：
Receiver receives the reflection laser from semi-transparent semi-reflecting lens, and the reflection laser is swashing after testee reflects
Light.
Optionally, methods described also includes：
The receiver is planar array type receiver.
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
Between transmitter and the semi-transparent semi-reflecting lens.
Optionally, methods described also includes：
Focusing unit, focuses on the reflection laser from semi-transparent semi-reflecting lens, the reflection laser after the focusing is by described
Receiver is received, and the focusing unit is arranged between the receiver and semi-transparent semi-reflecting lens.
The laser radar control method of the embodiment of the present invention can reduce the cost of laser radar, improve the vertical of laser radar
Resolution ratio.
Embodiment of the invention discloses that a kind of laser radar and laser radar control method, the laser radar include one
Individual generating laser, 2-D vibration mirror and semi-transparent semi-reflecting lens, because the embodiment of the present invention has only used a generating laser, because
Can be with cost-effective；Meanwhile, laser radar of the present invention swashs an outgoing of a laser transmitter projects using 2-D vibration mirror
Light changes light path in vertical direction, because the reverse speed of 2-D vibration mirror is exceedingly fast, therefore the laser being distributed in vertical direction
Light beam can be a lot, so as to improve the vertical resolution of laser radar；2-D vibration mirror can send out single generating laser
The shoot laser penetrated changes light path in the horizontal direction, so as to realize the 3-D scanning of 360 deg.
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；
Semi-transparent semi-reflecting lens, for making the shoot laser from generating laser pass through to the 2-D vibration mirror；
2-D vibration mirror, in vertical direction with the optical path direction for changing the shoot laser in horizontal direction.
2. laser radar as claimed in claim 1, it is characterised in that the 2-D vibration mirror is additionally operable in vertical direction and level
Change the optical path direction of reflection laser on direction, wherein, the reflection laser is swashing after shoot laser reflects through testee
Light.
3. laser radar as claimed in claim 1 or 2, it is characterised in that the semi-transparent semi-reflecting lens are additionally operable to make described come from
The reflection laser of the 2-D vibration mirror reflexes to receiver.
4. laser radar as claimed in claim 3, it is characterised in that the laser radar also includes receiver, for receiving
Reflection laser from semi-transparent semi-reflecting lens, the reflection laser is the laser after testee reflects.
5. the laser radar as described in claim 3 or 4, it is characterised in that the receiver is planar array type receiver.
6. the laser radar as described in any one of claim 1 to 5, it is characterised in that it is single that the laser radar also includes collimation
Member, is arranged between the generating laser and the semi-transparent semi-reflecting lens, the outgoing for collimating the laser transmitter projects
Laser.
7. the laser radar as described in any one of claim 2 to 6, it is characterised in that the laser radar also includes focusing on list
Member, is arranged between the receiver and semi-transparent semi-reflecting lens, described for focusing on the reflection laser from semi-transparent semi-reflecting lens
Reflection laser after focusing is received by the receiver.
8. a kind of laser radar control method, it is characterised in that including：
One laser transmitter projects shoot laser；
Semi-transparent semi-reflecting lens make the shoot laser from generating laser pass through to 2-D vibration mirror；
2-D vibration mirror in vertical direction with the optical path direction for changing the shoot laser in horizontal direction.
9. method as claimed in claim 8, it is characterised in that methods described also includes：
The 2-D vibration mirror changes the optical path direction of reflection laser in the vertical direction and the horizontal direction, wherein, the reflection swashs
Light is the laser after shoot laser reflects through testee.
10. method as claimed in claim 8 or 9, it is characterised in that methods described also includes：
The semi-transparent semi-reflecting lens make the reflection laser from the 2-D vibration mirror reflex to receiver.
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| CN201710377400.8A CN107167787A (en) | 2017-05-25 | 2017-05-25 | Laser radar and laser radar control method |
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| CN108072880A (en) * | 2018-01-17 | 2018-05-25 | 上海禾赛光电科技有限公司 | The method of adjustment of laser radar field of view center direction, medium, laser radar system |
| CN108089175A (en) * | 2018-01-15 | 2018-05-29 | 深圳市速腾聚创科技有限公司 | Laser radar and the method for improving laser radar launch point frequency |
| CN108132471A (en) * | 2017-12-08 | 2018-06-08 | 上海禾赛光电科技有限公司 | Transmitting and method, medium and the laser radar system for receiving laser pulse |
| CN108132472A (en) * | 2017-12-08 | 2018-06-08 | 上海禾赛光电科技有限公司 | Laser radar system |
| CN108225220A (en) * | 2018-01-05 | 2018-06-29 | 西安交通大学 | Quick high-precision orbital static track irregularity characteristic measuring system and analysis method |
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| CN108445497A (en) * | 2018-02-27 | 2018-08-24 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN108761424A (en) * | 2018-07-13 | 2018-11-06 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
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| CN109581323A (en) * | 2017-09-29 | 2019-04-05 | 北京万集科技股份有限公司 | A kind of micro electronmechanical laser radar system |
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| CN108225220A (en) * | 2018-01-05 | 2018-06-29 | 西安交通大学 | Quick high-precision orbital static track irregularity characteristic measuring system and analysis method |
| CN108241145B (en) * | 2018-01-15 | 2024-02-27 | 深圳市速腾聚创科技有限公司 | Laser radar and method for improving laser radar emission point frequency |
| CN108089175B (en) * | 2018-01-15 | 2023-10-31 | 深圳市速腾聚创科技有限公司 | Laser radar and method for improving laser radar emission point frequency |
| CN108241145A (en) * | 2018-01-15 | 2018-07-03 | 深圳市速腾聚创科技有限公司 | Laser radar and the method for improving laser radar launch point frequency |
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| CN108445497A (en) * | 2018-02-27 | 2018-08-24 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
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Application publication date: 20170915 |