CN108241146A - Laser radar and the method for improving laser radar launch point frequency - Google Patents
Laser radar and the method for improving laser radar launch point frequency Download PDFInfo
- Publication number
- CN108241146A CN108241146A CN201810034781.4A CN201810034781A CN108241146A CN 108241146 A CN108241146 A CN 108241146A CN 201810034781 A CN201810034781 A CN 201810034781A CN 108241146 A CN108241146 A CN 108241146A
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- Prior art keywords
- optical
- laser radar
- transmitting terminal
- laser
- collimation unit
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000003287 optical effect Effects 0.000 claims abstract description 110
- 238000000605 extraction Methods 0.000 claims 1
- 230000000007 visual effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000750 progressive effect 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
- 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
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
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 method that laser radar is disclosed in the embodiment of the present invention and improves the launch point frequency of laser radar, laser radar include：At least two optical subsystems, the optical subsystem include：At least two transmitters, for emitting shoot laser；Transmitting terminal collimation unit, for collimating the shoot laser；Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, and the optical axis of the optical subsystem is the optical axis of the transmitting terminal collimation unit, and the optical center of the optical subsystem is the optical center of the transmitting terminal collimation unit.The present invention can improve the launch point frequency of laser radar, improve the angular resolution of laser radar.
Description
Technical field
The present invention relates to detection field, the method for more particularly to a kind of laser radar and raising laser radar launch point frequency.
Background technology
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Transmitter is for emitting the component of shoot laser in laser radar, is the important component of laser radar.It is real
On border, the laser of transmitter transmitting is discontinuous, is sent with impulse form, the pulse that transmitter generated in one second
Number is known as the repetition of transmitter.The repetition of transmitter is higher, and the points being presented in the unit interval on laser radar are more,
So also referred to as laser radar launch point frequency.And it is presented on that the points on laser radar are more, in the visual field one of laser radar
In the case of fixed, then at angle interval between points with regard to smaller, i.e. the angular resolution of laser radar is higher.
In the prior art, there are no a kind of launch point frequency by improving laser radar so as to improve laser radar angular resolution
The method of rate.
Invention content
A kind of method that laser radar and raising laser radar launch point frequency are provided in the embodiment of the present invention can be improved and be swashed
The launch point frequency of optical radar improves the angular resolution of laser radar.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions：
On the one hand, a kind of laser radar is provided, including：
At least two optical subsystems, the optical subsystem include：
At least two transmitters, for emitting shoot laser；
Transmitting terminal collimation unit, for collimating the shoot laser；
Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, the light of the optical subsystem
Axis is the optical axis of the transmitting terminal collimation unit, and the optical center of the optical subsystem is the optical center of the transmitting terminal collimation unit.
Optionally, the optical subsystem that the laser radar includes is identical.
Optionally, in the optical subsystem, the light-emitting window of the transmitter is set to the transmitting terminal collimation unit
On focal plane.
Optionally, in the optical subsystem, the shoot laser and the transmitting terminal collimation unit of different transmitter transmittings
Optical axis between angle it is different.
Optionally, the laser radar further includes scanning subsystem, for changing the direction of the shoot laser after collimation.
Second aspect provides a kind of method for the launch point frequency for improving laser radar, the method includes：
In the optical subsystem：
At least two transmitters emit shoot laser；
Transmitting terminal collimation unit collimates the shoot laser；
Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, the light of the optical subsystem
Axis is the optical axis of the transmitting terminal collimation unit, and the optical center of the optical subsystem is the optical center of the transmitting terminal collimation unit.
Optionally, the method further includes：
The optical subsystem that the laser radar includes is identical.
Optionally, the method further includes：
The light-emitting window of the transmitter is set on the focal plane of the transmitting terminal collimation unit.
Optionally, the method further includes：
The shoot laser of different transmitter transmittings is different from the angle between the optical axis of the transmitting terminal collimation unit.
Optionally, the method further includes：
Scanning subsystem changes the direction of the shoot laser after collimating.
A kind of laser radar is disclosed in the embodiment of the present invention, including multiple optical subsystems, each optical subsystem
Include multiple transmitters and transmitting terminal collimation unit, after the emitted end collimation unit of the shoot laser that transmitter is sent out, each
Transmitter covers certain transmitting visual field scope, due to there is multiple transmitters, then has in same visual field scope a plurality of
Shoot laser, the launch point frequency of multiple transmitters can be superimposed, be equivalent in the visual field scope and improve laser thunder
The launch point frequency reached, so as to improve the angular resolution of laser radar.
Description of the drawings
It 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
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the structure diagram of the laser radar of the embodiment of the present invention；
Fig. 2 show the schematic diagram of the laser radar of the embodiment of the present invention.
Specific embodiment
A kind of method that following examples of the present invention provide laser radar and raising laser radar launch point frequency, can improve
The launch point frequency of laser radar improves the angular resolution of laser radar.
Fig. 1 show the structure diagram of the laser radar of the embodiment of the present invention, as shown in Figure 1, the laser radar packet
It includes：
At least two optical subsystems 100, the optical subsystem 100 include：
At least two transmitters 110, for emitting shoot laser；
Transmitting terminal collimation unit 130, for collimating the shoot laser；
Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, the light of the optical subsystem
Axis is the optical axis of the transmitting terminal collimation unit, and the optical center of the optical subsystem is the optical center of the transmitting terminal collimation unit.
In the embodiment of the present invention, including multiple optical subsystems, each optical subsystem includes multiple transmitters and hair
End collimation unit is penetrated, after the emitted end collimation unit of the shoot laser that transmitter is sent out, each transmitter covers certain transmitting
Visual field scope due to there is multiple transmitters, then has a plurality of shoot laser in same visual field scope, multiple transmitters
Launch point frequency can be superimposed, and the launch point frequency that laser radar is improved in the visual field scope is equivalent to, so as to improve
The angular resolution of laser radar.
Fig. 2 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in Fig. 2, in laser radar, includes two
Optical subsystem, respectively 101 and 102, each optical subsystem includes three transmitters, the hair in optical subsystem 101
Emitter is 111,112 and 113, and the transmitter in optical subsystem 102 is 121,122 and 123.Optical subsystem 101 further includes
Transmitting terminal collimation unit 131, optical subsystem 102 further include transmitting terminal collimation unit 132.
The optical subsystem that the laser radar includes is identical, i.e., optical subsystem 101 and 102 is identical.
In the embodiment of the present invention, in the optical subsystem, the light-emitting window of the transmitter is set to the transmitting terminal standard
On the focal plane of straight unit.
In the embodiment of the present invention, between the shoot laser of different transmitter transmittings and the optical axis of the transmitting terminal collimation unit
Angle it is different.
In the embodiment of the present invention, the optical subsystem that the laser radar includes is identical.
In the embodiment of the present invention, the light-emitting window of the transmitter is set on the focal plane of the transmitting terminal collimation unit.
In the embodiment of the present invention, between the shoot laser of different transmitter transmittings and the optical axis of the transmitting terminal collimation unit
Angle it is different.
That is, as shown in Fig. 2, optical subsystem 101 and 102 is identical, the transmitter comprising same number, transmitter class
Type, parameter etc. are also identical；Storage subsystem 101 and 102 also includes the transmitting terminal collimation unit of identical optical parameter, transmitter and hair
The relative position for penetrating end collimation unit is also identical.
Transmitter is set to for 111,112 and 113 on the focal plane in optical subsystem 101, that is, is set to transmitting terminal standard
On the focal plane of straight unit 131；The optical axis of the shoot laser that transmitter 111,112 and 113 is sent out and transmitting terminal collimation unit 131
Between angle be respectively a, b, c, the light of the shoot laser that transmitter 121,122 and 123 is sent out and transmitting terminal collimation unit 132
Angle between axis is also respectively a, b, c.
When the optical subsystem that laser radar includes is identical, the field angle of the shoot laser of corresponding transmitter transmitting is
It is identical, such as transmitter shown in Fig. 2 111 is identical with shoot laser field angle that transmitter 121 emits, 112 He of transmitter
The field angle for the shoot laser that transmitter 122 emits is identical, it is ensured that multiple field angles of tested region have shoot laser
Superposition, therefore the launch point frequency of laser radar can be improved, so as to improve the angular resolution of laser radar.Theoretically, if
Laser radar includes M identical optical subsystems, then the launch point frequency of laser radar only includes single optical subsystem
M times of laser radar.
In the embodiment of the present invention, the laser radar further includes scanning subsystem, for changing the shoot laser after collimation
Direction.
Scanning subsystem can be galvanometer, MEMS, mechanical rotational structure etc..
Corresponding with above-mentioned laser radar, the embodiment of the present invention additionally provides a kind of side for improving laser radar launch point frequency
Method, the method are applied to above-mentioned laser radar, the method includes：
The method includes：
In the optical subsystem：
At least two transmitters emit shoot laser；
Transmitting terminal collimation unit collimates the shoot laser；
Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, the light of the optical subsystem
Axis is the optical axis of the transmitting terminal collimation unit, and the optical center of the optical subsystem is the optical center of the transmitting terminal collimation unit.
Optionally, the method further includes：
The optical subsystem that the laser radar includes is identical.
Optionally, the method further includes：
The light-emitting window of the transmitter is set on the focal plane of the transmitting terminal collimation unit.
Optionally, the method further includes：
The shoot laser of different transmitter transmittings is different from the angle between the optical axis of the transmitting terminal collimation unit.
Optionally, the method further includes：
Scanning subsystem changes the direction of the shoot laser after collimating.
The method of the present invention improves the launch point frequency of laser radar, so as to improve the angular resolution of laser radar.
A kind of method that laser radar is disclosed in the embodiment of the present invention and improves the launch point frequency of laser radar, laser
Radar includes multiple optical subsystems, and each optical subsystem includes multiple transmitters and transmitting terminal collimation unit, transmitter
After the emitted end collimation unit of shoot laser sent out, each transmitter covers certain transmitting visual field scope, more due to having
A transmitter then has a plurality of shoot laser in same visual field scope, and the launch point frequency of multiple transmitters is can be superimposed
, the launch point frequency that laser radar is improved in the visual field scope is equivalent to, so as to improve the angular resolution of laser radar
Rate.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
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 by specialized hardware including application-specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on such understanding, the technical solution sheet in the embodiment of the present invention
The part that the prior art contributes can be embodied in the form of software product in other words in matter, computer software production
Product can be stored in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
RandomAccess Memory), magnetic disc, CD etc., used including some instructions so that a computer equipment (can be
People's computer, server either network equipment etc.) it performs described in certain parts of each embodiment of the present invention or embodiment
Method.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Point just to refer each other, and the highlights of each of the examples are difference from other examples.Especially for system reality
For applying example, since 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 all be included in the protection scope of the present invention.
Claims (10)
1. a kind of laser radar, which is characterized in that including：
At least two optical subsystems, the optical subsystem include：
At least two transmitters, for emitting shoot laser；
Transmitting terminal collimation unit, for collimating the shoot laser；
Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, and the optical axis of the optical subsystem is
The optical axis of the transmitting terminal collimation unit, the optical center of the optical subsystem are the optical center of the transmitting terminal collimation unit.
2. laser radar as described in claim 1, which is characterized in that the optical subsystem phase that the laser radar includes
Together.
3. laser radar as claimed in claim 2, which is characterized in that in the optical subsystem, the light extraction of the transmitter
Mouth is set on the focal plane of the transmitting terminal collimation unit.
4. laser radar as claimed in claim 3, which is characterized in that in the optical subsystem, different transmitter transmittings
Angle between shoot laser and the optical axis of the transmitting terminal collimation unit is different.
5. such as Claims 1-4 any one of them laser radar, which is characterized in that the laser radar further includes scanning
System, for changing the direction of the shoot laser after collimation.
A kind of 6. method for the launch point frequency for improving laser radar, which is characterized in that the method includes：
In the optical subsystem：
At least two transmitters emit shoot laser；
Transmitting terminal collimation unit collimates the shoot laser；
Wherein, the optical axis of the optical subsystem is parallel and optical center is located along the same line, and the optical axis of the optical subsystem is
The optical axis of the transmitting terminal collimation unit, the optical center of the optical subsystem are the optical center of the transmitting terminal collimation unit.
7. method as claimed in claim 6, which is characterized in that the method further includes：
The optical subsystem that the laser radar includes is identical.
8. the method for claim 7, which is characterized in that the method further includes：
The light-emitting window of the transmitter is set on the focal plane of the transmitting terminal collimation unit.
9. method as claimed in claim 8, which is characterized in that the method further includes：
The shoot laser of different transmitter transmittings is different from the angle between the optical axis of the transmitting terminal collimation unit.
10. such as claim 6 to 9 any one of them laser radar, which is characterized in that the method further includes：Scan subsystem
System changes the direction of the shoot laser after collimating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034781.4A CN108241146A (en) | 2018-01-15 | 2018-01-15 | Laser radar and the method for improving laser radar launch point frequency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034781.4A CN108241146A (en) | 2018-01-15 | 2018-01-15 | Laser radar and the method for improving laser radar launch point frequency |
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| Publication Number | Publication Date |
|---|---|
| CN108241146A true CN108241146A (en) | 2018-07-03 |
Family
ID=62699679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810034781.4A Pending CN108241146A (en) | 2018-01-15 | 2018-01-15 | Laser radar and the method for improving laser radar launch point frequency |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188401A (en) * | 2018-11-09 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | laser radar optical system and laser radar |
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