CN107703515A - A kind of laser radar light path system - Google Patents
A kind of laser radar light path system Download PDFInfo
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- CN107703515A CN107703515A CN201710851759.4A CN201710851759A CN107703515A CN 107703515 A CN107703515 A CN 107703515A CN 201710851759 A CN201710851759 A CN 201710851759A CN 107703515 A CN107703515 A CN 107703515A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 13
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- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000003287 optical effect Effects 0.000 description 4
- 230000011514 reflex Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010304 firing Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
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Classifications
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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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
- G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
Abstract
The present invention is applied to laser radar range technical field, there is provided a kind of laser radar light path system, including：Arrangement of laser emitters, for launching laser signal to target object；First reflecting module array, for adjusting the launch angle of laser signal；Laser pickoff array, for receiving the laser echo signal of target object reflection；Second reflecting module array, for adjusting the angle of laser echo signal, laser echo signal is reflexed on corresponding laser pickoff；Wherein, arrangement of laser emitters and the first reflecting module array are arranged on laser transmission circuit plate, and laser pickoff array and the second reflecting module array are arranged on laser pick-off circuit board.In the present invention, without to per the Laser emission angle of laser and laser pick-off angle are individually adjusted all the way, avoid in debugging process because adjacent road laser interferes with each other so that the problem of light path debugging is difficult, and then also reduce cost of labor, have compressed the supply time.
Description
Technical field
The present invention relates to laser radar range technical field, and in particular to a kind of laser radar light path system.
Background technology
Laser radar is to launch the radar system of the characteristic quantities such as the position of detecting laser beam target, speed.With accurate
Degree is high, operating speed is fast and the advantages such as efficiency is high, is automatic driving, robot localization navigation, space environment mapping, security
The essential core sensor in the fields such as security protection.
At present, at work, mainly by the laser emission part set inside laser radar, laser is believed for laser radar
Number it is transmitted into above target object, and the laser reflection that target object reflects is received by the laser pick-off part of setting and believed
Number, and by time point when recording laser transmitting and laser pick-off, to obtain the time difference of both times, and pass through light
Speed, the distance of target object is calculated, so as to realize the function of laser ranging, and currently in order to improving the ranging model of laser radar
Enclose, it will usually set multi-path laser radar to be scanned, still, existing multi-path laser radar, per laser emission section all the way
Part and laser pick-off part are both provided with single expelling plate and receiver board, the laser emission part hair on an expelling plate
By setting laser pick-off part to receive on a corresponding receiver board, row distance of going forward side by side calculates the laser signal penetrated.
But existing multi-line laser radar, because the laser emission part and laser pick-off part on every road have individually
Expelling plate and receiver board, the adjacent appearance of a street of optics debugging process easily interfere with each other, and debugging light path adjustment is extremely difficult, and need repeatedly independent
Debugging, is debugged repeatedly, and cost of labor is high, and elapsed time is long.
The content of the invention
The present invention provides a kind of laser radar light path system, it is intended to solves in the prior art, the adjacent road of optics debugging process
Easily interfere with each other, debugging light path adjustment is extremely difficult, and needs repeatedly individually debugging, debugs repeatedly, cost of labor is high, elapsed time
The problem of long.
The embodiments of the invention provide a kind of multi-line laser radar system, including:
Arrangement of laser emitters, for launching laser signal to target object；
First reflecting module array, for adjusting the launch angle of the laser signal；
Laser pickoff array, for receiving the laser echo signal of the target object reflection；
Second reflecting module array, it is for adjusting the angle of the laser echo signal, the laser echo signal is anti-
Corresponding to being mapped on laser pickoff；
Wherein, the arrangement of laser emitters is arranged on laser transmission circuit plate with the first reflecting module array,
The laser pickoff array and the second reflecting module array are arranged on the laser pick-off circuit board.
In the embodiment of the present invention, there is provided a kind of laser radar light path system, by arrangement of laser emitters to target
Object emission laser signal, and the reflection through the first reflecting module array deflects into laser signal on target object, leads to simultaneously
Cross the second reflecting module array to reflex to the laser echo signal that target object reflects above laser pickoff array, swashed
Ligh-ranging, by the way that arrangement of laser emitters is arranged on laser transmission circuit plate, laser pickoff array and reflecting module
Array is arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust laser transmitter card and
The position of laser pick-off circuit board and angle, and swashed using the first reflecting module array and the adjustment of the second reflecting module array
The angle for the laser echo signal that the angle and laser pickoff of the laser signal of optical transmitting set transmitting receive, is avoided
Because adjacent road laser interferes with each other so that the problem of light path debugging is difficult, makes light path debugging simpler, enter in debugging process
And cost of labor is also reduced, it have compressed the supply time.
Brief description of the drawings
Fig. 1 is a kind of structural representation of laser radar light path system provided in an embodiment of the present invention；
Fig. 2 is a kind of front view of laser transmission circuit plate provided in an embodiment of the present invention；
Fig. 3 is a kind of left view of laser transmission circuit plate provided in an embodiment of the present invention；
Fig. 4 is a kind of front view of laser pick-off circuit board provided in an embodiment of the present invention；
Fig. 5 is a kind of left view of laser pick-off circuit board provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the embodiment of the present invention, there is provided a kind of laser radar light path system, by arrangement of laser emitters to target
Object emission laser signal, and the reflection through the first reflecting module array deflects into laser signal on target object, leads to simultaneously
Cross the second reflecting module array to reflex to the laser echo signal that target object reflects above laser pickoff array, swashed
Ligh-ranging, by the way that arrangement of laser emitters is arranged on laser transmission circuit plate, laser pickoff array and reflecting module
Array is arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust laser transmitter card and
The position of laser pick-off circuit board and angle, and swashed using the first reflecting module array and the adjustment of the second reflecting module array
The angle for the laser echo signal that the angle and laser pickoff of the laser signal of optical transmitting set transmitting receive, is avoided
Because adjacent road laser interferes with each other so that the problem of light path debugging is difficult, makes light path debugging simpler, enter in debugging process
And cost of labor is also reduced, it have compressed the supply time.
Below by way of specific embodiment, the present invention will be described in detail.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, the embodiments of the invention provide a kind of laser radar light path system, including：
Arrangement of laser emitters, for launching laser signal to target object；First reflecting module array, for adjusting laser signal
Launch angle；Laser pickoff array, for receiving the laser echo signal of target object reflection；Second reflecting module array,
For adjusting the angle of laser echo signal, laser echo signal is reflexed on corresponding laser pickoff 30.
Wherein, arrangement of laser emitters and the first reflecting module array are arranged on laser transmission circuit plate 1, laser pick-off
Device array and the second reflecting module array are arranged on laser pick-off circuit board 2.
In the embodiment of the present invention, when carrying out laser ranging, it is only necessary to adjust laser transmitter card and laser pick-off
The position of circuit board and angle, and utilize the first reflecting module array and the second reflecting module array adjustment generating laser
The angle for the laser echo signal that the angle and laser pickoff of the laser signal of transmitting receive, avoids and was debugging
Because adjacent road laser interferes with each other so that the problem of light path debugging is difficult, makes light path debugging simpler, and then also reduce in journey
Cost of labor, have compressed the supply time.
In embodiments of the present invention, arrangement of laser emitters includes multiple generating lasers 10, each generating laser 10
Laser signal all the way can all be launched, relative, laser pickoff array includes multiple laser pickoffs 30, each laser pick-off
Device 30 can all receive the laser echo signal that target object reflects all the way, i.e. a generating laser 10 connects with a laser
Receipts device 30 is corresponding, and the only corresponding laser pickoff of laser pulse signal of different angle can receive, structure setting letter
It is single, more uniformly spread.
Wherein, the quantity of generating laser 10 is identical with the quantity of laser pickoff 30.
In a preferred embodiment of the invention, the quantity of generating laser 10 can be 16, and 16 road laser can be transmitted
Signal, relative, the quantity of laser pickoff 30 is alternatively 16, can receive 16 road laser echo signals, laser transmitting set hair
The laser pulse signal of the tunnel different angles of She 16 is respectively after detection target surface diffusing reflection by the different laser of reception system
Receiver receives.It should be noted that the quantity of generating laser and laser pickoff can also be 8,10 or its
His quantity, can specifically be configured according to actual conditions, and the present invention does not limit.
In embodiments of the present invention, arrangement of laser emitters 10 includes：Diode laser matrix, for launching laser letter
Number；And corresponded with diode laser matrix, for the compression angle adjustment module array collimated to laser signal.Its
In, diode laser matrix includes multiple laser diodes, and compression angle adjustment module array includes multiple compression angle adjustment modules,
One laser diode is corresponding with a compression angle adjustment module, and compression angle adjustment module is arranged on corresponding laser two
In the light path of the Laser emission of pole pipe, the laser signal that can launch corresponding laser diode collimates, so that swashing
Light laser diode fast axle and the angle of divergence on slow axis close to consistent, form more uniform hot spot.
Wherein, compression angle adjustment module can be miniature cylindrical mirror.
In embodiments of the present invention, arrangement of laser emitters is except above-mentioned diode laser matrix and compression angle regulation mould
Outside the combining form of block, optical fiber laser, gas laser, solid state laser etc. can also be directly used to form Laser emission
Device array, it can specifically be selected according to actual conditions.
In embodiments of the present invention, the first reflecting module array includes multiple first reflecting modules 20, generating laser battle array
Row include multiple generating lasers 10, and the first reflecting module 20 corresponds with generating laser 10.It is right with generating laser 10
The first reflecting module 20 answered may be provided in laser signal transmitting light path, the laser launched for adjusting laser firing signals
Angle, laser signal is reflexed on target object, to carry out laser ranging.Also, the generating laser and the first reflection
Module is arranged on a laser transmission circuit 1, simplify installation and adjustment, simplify optics debugging, save cost of labor with
And the time.
Wherein, generating laser 10 can be laser diode and the combination of compression angle adjustment module, the first reflecting module 20
It can be arranged on by way of stickup on laser transmission circuit plate 2, can specifically use such as 2 × 2mm or 3 × 3mm equidimensions
Minitype reflector, specific size are not limited, can also use prism or other can deflect the device of laser, can be according to reality
Situation selects.
Wherein, the quantity of generating laser 10 is identical with the quantity of the first speculum 20.
In embodiments of the present invention, laser transmission circuit plate 1 includes the first mounting surface and the second mounting surface, Laser emission
Device array includes first laser transmitter sub-arrays and second laser transmitter sub-arrays, and first laser transmitter sub-arrays are set
Put in the first mounting surface, and linearly arranged in the vertical direction of the first mounting surface, second laser transmitter sub-arrays are set
On second mounting surface, and linearly arranged in the vertical direction of second mounting surface.
Wherein, first laser transmitter sub-arrays and second laser transmitter sub-arrays are cross-shaped, are oppositely arranged, and two
There is the difference in height of setting between person.It is oppositely arranged, can makes in first laser transmitter sub-arrays by way of staggeredly
The laser signal of the laser signal of laser transmitter projects and the laser transmitter projects of second laser transmitter sub-arrays staggers,
And there is a certain distance, interfering between adjacent laser signal can be reduced.
In embodiments of the present invention, laser pick-off circuit board 2 includes the 3rd mounting surface and the 4th mounting surface, laser pick-off
Device array includes first laser receiver subarray and second laser receiver subarray, and first laser receiver subarray is set
Put on the 3rd mounting surface, and linearly arranged in the vertical direction of the 3rd mounting surface, second laser receiver subarray is set
Put on the 4th mounting surface, and linearly arranged in the vertical direction of the 4th mounting surface.
Wherein, first laser receiver subarray and second laser receiver subarray are cross-shaped, are oppositely arranged, and two
There is the difference in height of setting between person.It is oppositely arranged, can makes on first laser receiver subarray by way of staggeredly
The laser echo signal that laser pickoff receives is believed with the laser that the laser pickoff on second laser receiver subarray receives
Number stagger, and there is a certain distance, interfering between adjacent laser echo-signal can be reduced.
In embodiments of the present invention, laser pickoff array includes multiple laser pickoffs 30, second reflecting module
Array includes multiple second reflecting modules 40, and laser pickoff and the second reflecting module correspond.It is right with laser pickoff 30
The second reflecting module 40 answered may be provided in the light path of laser echo signal reception, for adjusting the angle of laser echo signal
Degree, laser echo signal is reflexed on the laser pickoff of corresponding angle, to carry out laser ranging.By by laser pick-off
Device and the second reflecting module are arranged on a laser pick-off circuit board 2, simplify optics debugging, save cost of labor and
Time.
Wherein, laser pickoff 30 is photodetector, and the second reflecting module 40 can be arranged on sharp by way of stickup
On optical receiving circuit plate 2, the minitype reflector of such as 2 × 2mm or 3 × 3mm equidimensions can be specifically used, specific size does not limit
System, can also use prism or other can deflect the device of laser, can be selected according to actual conditions.
In embodiments of the present invention, light path system also includes：It is arranged in the transmitting light path of laser signal, for by laser
The first conduction unit 50 in signal reflex to target object.
Wherein, first conduction unit 50 includes the first conduction module and the second conduction module is changed by conduction unit
The direction of the launch of laser firing signals, make whole light path system volume more compact.First conduction module and the second conduction module
It can be speculum, in addition to using speculum, prism, or the combination of speculum and prism can also be used.
In embodiments of the present invention, light path system also includes, and is arranged on the receiving light path of laser echo signal, for inciting somebody to action
The second conduction unit 60 that laser echo signal is reflexed on laser pickoff.
Wherein, second conduction unit 60 includes the 3rd conduction module and the 4th conduction module is changed by conduction unit
The reception direction of laser echo signal, make whole light path system volume more compact.The 3rd conduction guided modes of module 61 and the 4th
Block can be speculum, change the angle of laser echo signal by speculum, conducted to focusing unit 80 after focusing on, and pass
It is defeated on corresponding laser pickoff 30, and scanned mesh can be calculated with receiving the time difference of return laser beam according to transmitting laser
The distance of object is marked, in addition to using speculum, prism, or the combination of speculum and prism can also be used.
In embodiments of the present invention, light path system also includes：It is arranged in laser signal transmitting light path, for believing laser
Number collimation unit collimated 70, is collimated by collimation unit to laser signal, make every Shu Jiguang all formed one it is near
Like the hot spot of circle, so as to which laser beam divergence is smaller, laser energy is concentrated, and detection range can reach more than 150 meters.
Wherein, collimation unit 70 includes but is not limited to 3 non-spherical lens groups or spherical lens group, the embodiment of the present invention
It is preferable over 3 non-spherical lens groups.
In embodiments of the present invention, light path system also includes：Be arranged on the receiving light path of laser echo signal, for pair
The focusing unit 80 that laser echo signal is focused.
Wherein, focusing unit 80 can be 3 non-spherical lenses, by using 3 non-spherical lens groups, using aspherical
Mirror reception signal hot spot is small, and the signal that photodetector receives is stronger, effectively prevents the crosstalk of other signals, improves the steady of system
It is qualitative.
It should be noted that focusing unit 80 can also use more or less non-spherical lens, or using ball
Face lens, laser can be focused.
In embodiments of the present invention, light path system also includes being arranged between laser pickoff and the second speculum, is used for
Filter out the filter 90 of the clutter of laser echo signal.Effectively clutter can be filtered out, improve system signal noise ratio, increase system
Detection range of the system under strong light.
In the embodiment of the present invention, there is provided a kind of laser radar light path system, by arrangement of laser emitters to target
Object emission laser signal, and the reflection through the first reflecting module array deflects into laser signal on target object, leads to simultaneously
Cross the second reflecting module array to reflex to the laser echo signal that target object reflects above laser pickoff array, swashed
Ligh-ranging, by the way that arrangement of laser emitters is arranged on laser transmission circuit plate, laser pickoff array and reflecting module
Array is arranged on the laser pick-off circuit board, when carrying out laser ranging, it is only necessary to adjust laser transmitter card and
The position of laser pick-off circuit board and angle, and swashed using the first reflecting module array and the adjustment of the second reflecting module array
The angle for the laser echo signal that the angle and laser pickoff of the laser signal of optical transmitting set transmitting receive, is avoided
Because adjacent road laser interferes with each other so that the problem of light path debugging is difficult, makes light path debugging simpler, enter in debugging process
And cost of labor is also reduced, it have compressed the supply time.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of laser radar light path system, it is characterised in that the light path system includes：
Arrangement of laser emitters, for launching laser signal to target object；
First reflecting module array, for adjusting the launch angle of the laser signal；
Laser pickoff array, for receiving the laser echo signal of the target object reflection；
Second reflecting module array, for adjusting the angle of the laser echo signal, the laser echo signal is reflexed to
On corresponding laser pickoff；
Wherein, the arrangement of laser emitters is arranged on laser transmission circuit plate with the first reflecting module array, described
Laser pickoff array and the second reflecting module array are arranged on the laser pick-off circuit board.
2. laser radar light path system as claimed in claim 1, it is characterised in that the arrangement of laser emitters includes：
Diode laser matrix, for launching laser signal；And
Corresponded with the diode laser matrix, for the compression angle adjustment module battle array collimated to the laser signal
Row.
3. laser radar light path system as claimed in claim 1, it is characterised in that the first reflecting module array includes more
Individual reflecting module, the arrangement of laser emitters include multiple generating lasers, the reflecting module and the generating laser
Correspond.
4. laser radar light path system as claimed in claim 1, it is characterised in that the laser transmission circuit plate includes first
Mounting surface and the second mounting surface, the arrangement of laser emitters includes first laser transmitter sub-arrays and second laser is sent out
Emitter subarray, the first laser transmitter sub-arrays are arranged on first mounting surface, and in first mounting surface
Linearly being arranged in vertical direction, the second laser transmitter sub-arrays are arranged on second mounting surface, and described
Linearly arranged in the vertical direction of second mounting surface.
5. laser radar light path system as claimed in claim 4, it is characterised in that the first laser transmitter sub-arrays with
Second laser transmitter sub-arrays are cross-shaped, are oppositely arranged, and have the difference in height of setting between the two.
6. laser radar light path system as claimed in claim 1, it is characterised in that the laser pick-off circuit board includes the 3rd
Mounting surface and the 4th mounting surface, the laser pickoff array includes first laser receiver subarray and second laser connects
Device subarray is received, the first laser receiver subarray is arranged on the 3rd mounting surface, and in the 3rd mounting surface
Vertical direction on linearly arrange, the second laser receiver subarray is arranged on the 4th mounting surface, and in institute
State and linearly arranged in the vertical direction of the 4th mounting surface.
7. laser radar light path system as claimed in claim 6, it is characterised in that the first laser receiver subarray with
The second laser receiver subarray is cross-shaped, is oppositely arranged, and has the difference in height of setting between the two.
8. laser radar light path system as claimed in claim 1, it is characterised in that the laser pickoff array includes multiple
Laser pickoff, the second reflecting module array include multiple reflecting modules, the laser pickoff and the reflecting module
Correspond.
9. laser radar light path system as claimed in claim 1, it is characterised in that the light path system also includes：
It is arranged in the laser signal transmitting light path, for the collimation unit collimated to the laser signal, and
It is arranged on the receiving light path of the laser echo signal, for the focusing list being focused to the laser echo signal
Member.
10. laser radar light path system as claimed in claim 1, it is characterised in that the system is also described including being arranged on
Between laser pickoff and second speculum, the filter of the clutter for filtering out laser echo signal.
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| CN201710851759.4A CN107703515A (en) | 2017-09-19 | 2017-09-19 | A kind of laser radar light path system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680929A (en) * | 2018-07-18 | 2018-10-19 | 度亘激光技术（苏州）有限公司 | A kind of three-dimensional sensing system based on vertical cavity surface emitting laser arrays |
| CN109975782A (en) * | 2019-03-18 | 2019-07-05 | 深圳市速腾聚创科技有限公司 | Laser radar receives system and method |
| CN112835016A (en) * | 2018-12-11 | 2021-05-25 | 锐驰智光(北京)科技有限公司 | Area array laser radar, laser module and detector module |
| CN112986956A (en) * | 2021-02-04 | 2021-06-18 | 广州市慧建科技有限公司 | Laser radar light wave receiving and transmitting control method and laser radar |
| CN113193471A (en) * | 2019-07-31 | 2021-07-30 | 上海禾赛科技有限公司 | Laser, laser emitting board assembly, laser radar and laser packaging method |
| CN115825930A (en) * | 2021-12-31 | 2023-03-21 | 深圳市速腾聚创科技有限公司 | Anti-interference method and device for laser radar, storage medium and laser radar |
| CN116879911A (en) * | 2023-09-06 | 2023-10-13 | 成都量芯集成科技有限公司 | Device for improving laser ranging distance and implementation method thereof |
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