CN108761424A - Laser radar and laser radar control method - Google Patents
Laser radar and laser radar control method Download PDFInfo
- Publication number
- CN108761424A CN108761424A CN201810769322.0A CN201810769322A CN108761424A CN 108761424 A CN108761424 A CN 108761424A CN 201810769322 A CN201810769322 A CN 201810769322A CN 108761424 A CN108761424 A CN 108761424A
- Authority
- CN
- China
- Prior art keywords
- unit
- laser
- polarization
- light
- polarization spectro
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000010287 polarization Effects 0.000 claims abstract description 139
- 238000001514 detection method Methods 0.000 claims abstract description 114
- 230000003287 optical effect Effects 0.000 claims abstract description 85
- 230000008859 change Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 5
- 239000013078 crystal Substances 0.000 description 4
- 239000000243 solution Substances 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000010445 mica Substances 0.000 description 1
- 229910052618 mica group Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 230000035945 sensitivity 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
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
It includes two or more detection units that a kind of laser radar and laser radar control method, the laser radar are disclosed in the embodiment of the present invention, and each detection unit includes：Transmitter, for emitting shoot laser；Transmitting terminal collimation unit, the shoot laser sent out for collimating the transmitter；Polarization spectro unit makes the P polarization light in the shoot laser after the collimation be projected from the second optical port of polarization spectro unit for making the shoot laser after the collimation enter from the first optical port of polarization spectro unit；Quarter-wave plate makes the P polarization light projected from the second optical port of the polarization spectro unit become circularly polarized light；Galvanometer becomes shoot laser for changing the exit direction of the circularly polarized light.The scanning range of energy expansion of laser light radar of the invention, improves the resolution ratio and precision 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 to emit laser beam come the radar system of the characteristic quantities such as the position, the speed that detect target, work
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.
Laser radar generally includes transmitter, transmitting terminal optical unit, receiving terminal optical unit and receiver.According to transmitting
The relative position at end and receiving terminal optical axis, laser radar can be divided into off-axis and two kinds coaxial.Solid-state laser radar is laser thunder
The one kind reached, existing solid-state laser radar mainly uses off-axis scheme, but off-axis scheme also has larger defect, such as
Field of view of receiver range is too big, and ambient noise is big, therefore for the more demanding of receiver, and cost is also relatively high.In addition, solid-state swashs
The single galvanometer of receiving terminal generally use of optical radar changes the angle of shoot laser, since the scanning range of single galvanometer has
Limit, therefore the scanning range of solid-state laser radar in the prior art is also restricted.
Invention content
A kind of laser radar is provided in the embodiment of the present invention, the scanning range of energy expansion of laser light radar improves laser thunder
The resolution ratio and precision reached.
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, the laser radar includes two or more detection units, institute
Stating each detection unit includes：
Transmitter, for emitting shoot laser；
Transmitting terminal collimation unit, the shoot laser sent out for collimating the transmitter；
Polarization spectro unit, for making the shoot laser after the collimation enter from the first optical port of polarization spectro unit,
The P polarization light in the shoot laser after the collimation is set to be projected from the second optical port of polarization spectro unit；
Quarter-wave plate, it is inclined for making the P polarization light projected from the second optical port of the polarization spectro unit become circle
Shake light；
Galvanometer becomes shoot laser for changing the exit direction of the circularly polarized light；
Wherein, the polarization spectro unit is polarization splitting prism or polarization spectro plain film.
Optionally, the galvanometer is additionally operable to change the direction of reflection laser, after the shoot laser detected material reflection
Laser, the reflection laser are circularly polarized light；
The quarter-wave plate is additionally operable to that the reflection laser behind the direction by galvanometer change is made to become S from circularly polarized light
Polarised light；
The polarization spectro unit is additionally operable to receive the S-polarization light from the second optical port of the polarization spectro unit, and
It is projected from the third optical port of polarization spectro unit；
Each detection unit further includes：
Receiving terminal focusing unit, for focusing the S-polarization light projected from the third optical port of polarization spectro unit；
Receiver, for receiving the S-polarization light after receiving terminal focusing unit focusing.
Optionally, in the shoot laser of the transmitter transmitting, the ratio of P polarization light is more than the ratio of S-polarization light.
Optionally, each detection unit further includes：
Optical filter is set between the polarization spectro unit and the receiving terminal focusing unit, for filtering off interference light.
Optionally, the angle between the primary optical axis of the different detection units and the galvanometer axis is different.
Optionally, the detection range of any detection unit connects with the detection range of neighbouring detecting elements；
The detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
Range.
Optionally, the detection range of any detection unit and the detection range of neighbouring detecting elements partially overlap；
The detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
Range.
Second aspect, provides a kind of laser radar control method, and the method is applied to laser radar, the laser thunder
Up to including two or more detection units, each detection unit includes transmitter, transmitting terminal collimation unit, polarization
Spectrophotometric unit, quarter-wave plate and galvanometer, the method includes：
The transmitter emits shoot laser；
The transmitting terminal collimation unit collimates the shoot laser that the transmitter is sent out；
The polarization spectro unit makes the shoot laser after the collimation enter from the first optical port of polarization spectro unit, makes
P polarization light in shoot laser after the collimation is projected from the second optical port of polarization spectro unit；
The quarter-wave plate makes the P polarization light projected from the second optical port of the polarization spectro unit become circular polarization
Light；
The galvanometer changes the exit direction of the circularly polarized light, becomes shoot laser；
Wherein, the polarization spectro unit is polarization splitting prism or polarization spectro plain film.
Optionally, each detection unit further includes receiving terminal focusing unit and receiver, and the method further includes：
The galvanometer changes the direction of reflection laser, the laser after the shoot laser detected material reflection, the reflection
Laser is circularly polarized light；
The quarter-wave plate makes the reflection laser behind the direction by galvanometer change become S-polarization from circularly polarized light
Light；
The polarization spectro unit receives the S-polarization light from the second optical port of the polarization spectro unit, and from polarization
The third optical port of spectrophotometric unit projects；
The receiving terminal focusing unit focuses the S-polarization light projected from the third optical port of polarization spectro unit；
The receiver receives the S-polarization light after receiving terminal focusing unit focusing.
Optionally, each detection unit further includes optical filter, and the method further includes：
Optical filter filters off interference light, and the optical filter is set to the polarization spectro unit and the receiving terminal focusing unit
Between.
It includes two or more detection units that a kind of laser radar is disclosed in the embodiment of the present invention, described every
A detection unit includes：Transmitter, for emitting shoot laser；Transmitting terminal collimation unit is sent out for collimating the transmitter
Shoot laser；Polarization spectro unit, for make the shoot laser after the collimation from the first optical port of polarization spectro unit into
Enter, the P polarization light in the shoot laser after the collimation is made to be projected from the second optical port of polarization spectro unit；Quarter-wave
Piece makes the P polarization light projected from the second optical port of the polarization spectro unit become circularly polarized light；Galvanometer, for changing described
The exit direction of circularly polarized light, becomes shoot laser.In the embodiment of the present invention, multiple transmitters are used, laser can be increased
The scanning range of radar, meanwhile, it is divided using polarization spectro unit in the embodiment of the present invention, reflected light path and emitting light path are same
Axis, ambient noise is smaller, reduces the requirement to receiver, can improve the signal-to-noise ratio of laser radar, in addition, the present invention may be used also
To increase the laser power of transmission, the resolution ratio and precision of laser radar are improved.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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 polarization splitting prism schematic diagram；
Fig. 2 show polarization spectro plain film schematic diagram；
Fig. 3 show the structural schematic diagram of the laser radar of the embodiment of the present invention；
Fig. 4 show the structural schematic diagram of the laser radar of the embodiment of the present invention；
Fig. 5, which is shown, takes the photograph remote formula structural schematic diagram；
Fig. 6 show the schematic diagram of the laser radar detection range of the embodiment of the present invention；
Fig. 7 show the schematic diagram of the laser radar detection range of the embodiment of the present invention.
Specific implementation mode
Following examples of the present invention provide a kind of laser radar and laser radar control method, can expansion of laser light radar
Scanning range improves the resolution ratio and precision of laser radar.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments 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.
Before the laser radar of the present invention will be described in detail embodiment, first illustrate the principle of polarization spectro unit.Polarization point
Light unit includes polarization splitting prism, also referred to as PBS, and polarization spectro unit further includes polarization spectro plate plane.
Fig. 1 show polarization splitting prism schematic diagram.
Fig. 1 show polarization splitting prism schematic diagram, as shown in Figure 1, polarization splitting prism is usually square, diagonal line
110 be glue-line, which can make the P light transmissions in incident light go out, and S light reflections is made to go out, though the P light in incident light from
Second optical port 120 transmits away, and S light is made to be reflected away from third optical port 130.
For ease of showing, in Fig. 1, P light is indicated with the straight line with double-head arrow, and S light is indicated with the straight line with point.
Fig. 2 show polarization spectro plain film schematic diagram, and the principle of polarization spectro plain film is identical with polarization splitting prism,
But polarization spectro plain film is one than relatively thin laminated structure, as shown in Figure 2 100.
Dotted line frame in Fig. 2 in practical structures and is not present merely to illustrate the optical port and principle of polarization spectro plain film.
It using polarization spectro plain film, is got well than using the anti-interference ability of polarization splitting prism, in addition, polarization spectro plane
Also relatively light, small volume contributes to the weight, volume and the cost that reduce laser radar.
Illustrate the laser radar of the embodiment of the present invention with reference to Fig. 1, Fig. 2.Hereinafter, for polarization splitting prism
Bright embodiments of the present invention, the actually principle and this phase using polarization spectro piece as the laser radar of polarization spectro unit
Together, details are not described herein.
Fig. 3 show the structural schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 3, the laser radar packet
Two or more detection units 200 are included, 3 detection units are shown in Fig. 3.
Each detection unit 200 includes：
Transmitter 210, for emitting shoot laser；
Transmitting terminal collimation unit 220, the shoot laser sent out for collimating the transmitter；
Polarization spectro unit 230, for make the shoot laser after the collimation from the first optical port of polarization spectro unit into
Enter, the P polarization light in the shoot laser after the collimation is made to be projected from the second optical port of polarization spectro unit；
Quarter-wave plate 240 makes the P polarization light projected from the second optical port of the polarization spectro unit become circular polarization
Light；
Galvanometer 250 becomes shoot laser for changing the exit direction of the circularly polarized light.
In inventive embodiments, transmitting terminal collimation unit 220 can be the lens group of lens or multiple lens composition.
In the embodiment of the present invention, the shoot laser that transmitter 210 emits is circularly polarized light, including S light and P light.Outgoing swashs
After the emitted end collimation unit of light 220, enter from the first optical port 231 of polarization spectro unit 230, P light therein is from polarization
Second optical port 232 of spectrophotometric unit 230 projects, and S light is reflected by glue-line, such as the dotted portion in Fig. 3.The S light of dotted portion is real
It is reflected laser radar on border, loses.
P light is after the injection of the second optical port 232, by becoming circularly polarized light after quarter-wave plate 240.
Quarter-wave plate (quarter-wave plate) is certain thickness birefringence monocrystalline thin slice, when light normal direction enters
When penetrating transmission, the position difference between ordinary light (o light) and non-ordinary light (e light) is equal to pi/2 or its odd-multiple, and such chip is known as
Quarter-wave plate or quarter wave plate.When linearly polarized light vertical incidence quarter wave plate, and the axial plane of the polarization of light and mica (hangs down
Straight season crack face) it is into θ angle, at elliptically polarized light after outgoing.Especially when θ=45 °, emergent light is circularly polarized light.Four/
The fast axle and slow axis of one wave plate, it is related with the type of crystal.The Ve of negative crystal>Vo, slide optical axis direction are parallel to slide plane,
The optical axis direction for a quarter slide that negative crystal is done is exactly fast axis direction.Positive crystal fast axis direction is located at perpendicular to optical axis direction
In slide plane.
In Fig. 3, P light is indicated with the straight line with double-head arrow, and S light is indicated with the dotted line with point.
In the embodiment of the present invention, in the shoot laser of the transmitter transmitting, the ratio of P polarization light is more than S-polarization light
Ratio, such as 90% or more be P polarization light, and light as much as possible in emergent light can be made to be transmitted away, be equivalent to increase
The power of shoot laser, can improve the signal-to-noise ratio of laser radar, improve the resolution ratio and precision of laser radar.
In the embodiment of the present invention, galvanometer 240 can be MEMS (Micro-Electro-Mechanical System, microcomputer
Electric system) galvanometer or other mechanical, electronic type galvanometers.
In the embodiment of the present invention, multiple transmitters are used, the scanning range of laser radar can be increased, meanwhile, this hair
It is divided using polarization spectro unit in bright embodiment, reflected light path and emitting light path are coaxial, and ambient noise is smaller, reduce docking
The requirement for receiving device, can improve the signal-to-noise ratio of laser radar, it is also possible to increase the laser power of transmission, improve
The resolution ratio and precision of laser radar.
Fig. 4 show the structural schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 4, the laser radar packet
It includes including two or more detection units 200, each detection unit 200 includes transmitter 210, transmitting terminal collimation
Unit 220, polarization spectro unit 230, quarter-wave plate 240 and galvanometer 250.
Unit identical with label in Fig. 3 has same or analogous function in Fig. 4, and details are not described herein.
In the embodiment of the present invention, the galvanometer 250 is additionally operable to change the direction of reflection laser, and the shoot laser is detected
Laser after object reflection, the reflection laser are circularly polarized light；
The quarter-wave plate also 240 is used to make the reflection laser behind the direction by galvanometer change to be become by circularly polarized light
For S-polarization light；
Polarization spectro unit 230, for receiving the S-polarization from the second optical port 232 of the polarization spectro unit 230
Light, and projected from the third optical port 233 of polarization spectro unit 230；
Receiving terminal focusing unit 260, for focusing the S-polarization projected from the third optical port 233 of polarization spectro unit 230
Light；
Receiver 270, for receiving the S-polarization light after the receiving terminal focusing unit 260 focusing.
The primary optical axis of detection unit may be considered the primary optical axis of the corresponding transmitting terminal collimation unit of the detection unit 220,
The primary optical axis of receiving terminal may be considered the primary optical axis of receiving terminal focusing unit 260.
In laser radar shown in Fig. 4, because using polarization spectro unit 230, cause transmitting terminal as shown in Figure 3 accurate
The primary optical axis of straight unit 220 and the primary optical axis of receiving terminal focusing unit 260 are vertical, but with optical domain for, outgoing
Laser with incident laser be it is parallel, polarization spectro unit 230 be only the direction of incident laser is changed in a manner of refraction, and
The parastate of the primary optical axis and 220 primary optical axis of transmitting terminal collimation unit of receiving terminal focusing unit 260 is not changed.
In the embodiment of the present invention, receiver 270 can be APD, monochromatic light sub-receiver, snowslide under APD, PIN, Geiger pattern
The silicon photomultiplier transit such as photodiode APD, MPPC (Multi Pixel Photon Counters, silicon photomultiplier), SiPM
Device, or can be the receiver of the single or multiple array composition of above-mentioned function element.
In the embodiment of the present invention, shoot laser is circularly polarized light, and reflection laser is also circularly polarized light, and reflection laser is through four points
One of wave plate become S-polarization light from circularly polarized light, from the second optical port 232 of polarization spectro unit 230 enter, reflected by glue-line,
It is projected from the third optical port 233 of polarization spectro unit 230.
Polarization spectro unit can be 100% to the theoretical reflectance rate of S light, in practical application, it is contemplated that coating process etc.
Reason, reflectivity can also reach 99% or more, you can to think that polarization spectro unit can all reflect reflection laser, warp
After crossing receiving terminal focusing unit 260, received by receiver 270.
In the embodiment of the present invention, the detection unit further includes optical filter 280, and the optical filter 280 is set to described inclined
It shakes between spectrophotometric unit 230 and the receiving terminal focusing unit 260, for filtering off interference light.Interference light can be of the invention real
The light other than the wave band that the transmitter of example uses is applied, to reduce noise.
In the laser radar of the embodiment of the present invention, as a result of polarization spectro unit, in transmitting terminal, some S light
Loss, but in receiving terminal, very little is lost, it is smaller to requirements such as the sensitivity of receiver, improve laser radar resolution ratio and
Precision.
In the embodiment of the present invention, the receiving terminal focusing unit is lens group, which can be the saturating of existing structure
Microscope group can also be the lens group for taking the photograph remote type structure.
The lens group for taking the photograph remote type structure includes a positive lens groups and a negative lens group, can be long in overall focal length
When effectively reduce system overall length.It is as shown in Figure 5 to take the photograph remote formula structure.
In the embodiment of the present invention, the angle between the primary optical axis of the different detection units and the galvanometer axis is different.
In the embodiment of the present invention, the detection range of any detection unit and the detection range phase of neighbouring detecting elements
It connects；
The detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
Range.
The detection range of any detection unit and the detection range of neighbouring detecting elements partially overlap；
The detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
Range.
Fig. 6 show the schematic diagram of the laser radar detection range of the embodiment of the present invention.
In embodiment shown in fig. 6, the detection range of any detection unit connects with the detection range of neighbouring detecting elements；
The detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
Range.
The detection range of 3 detection units, respectively 501,502 and 503, as shown in fig. 6,501 and are shown in Fig. 6
502 connect, and 502 and 503 connect.
Any detection range connects with adjacent detection range, is equivalent to the overall detection range for expanding laser radar.
Fig. 7 show the schematic diagram of the laser radar detection range of the embodiment of the present invention.
In embodiment shown in Fig. 7, the detection range of the detection range and neighbouring detecting elements of any detection unit
It partially overlaps；
The detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
Range.
The detection range of 3 detection units, respectively 501,502 and 503, as shown in fig. 6,501 and are shown in Fig. 7
502 partially overlap, and 502 and 503 partially overlap.
Ideally, the detection range phase of the detection range of any detection unit of laser radar and neighbouring detecting elements
Connect, can expansion of laser light radar as much as possible whole detection range, but in practical application, detection range and adjacent detection model
It can overlap between enclosing, to ensure certain amount of redundancy, ensure will not have blank that can not be detected in whole detection range
The region arrived, and the part detection range being overlapped can be compensated in follow-up data processing with algorithm.
In Fig. 7, in order to give expression to the partly overlapping effect of detection range, the corresponding detection range of different detection units is most
Remote detecting distance is different, in fact, same functional unit basic parameter is identical in detection unit, difference detection is single
The maximum distance of the corresponding detection range of member is essentially identical.In other embodiments of the present invention, in order to increased or decrease spy
The resolution ratio or precision for determining region, may adjust the parameter of each functional unit in detection unit so that different detection units pair
The maximum distance for the detection range answered is different.
The scanning range of the laser radar energy expansion of laser light radar of the embodiment of the present invention, improve laser radar resolution ratio and
Precision.
Corresponding with above-mentioned laser radar, an embodiment of the present invention provides a kind of laser radar control method, the methods
Applied to laser radar, the laser radar includes two or more detection units, and each detection unit includes
Transmitter, transmitting terminal collimation unit, polarization spectro unit, quarter-wave plate and galvanometer, the method includes：
The transmitter emits shoot laser；
The transmitting terminal collimation unit collimates the shoot laser that the transmitter is sent out；
The polarization spectro unit makes the shoot laser after the collimation enter from the first optical port of polarization spectro unit, makes
P polarization light in shoot laser after the collimation is projected from the second optical port of polarization spectro unit；
The quarter-wave plate makes the P polarization light projected from the second optical port of the polarization spectro unit become circular polarization
Light；
The galvanometer changes the exit direction of the circularly polarized light, becomes shoot laser.
Optionally, each detection unit further includes receiving terminal focusing unit and receiver, and the method further includes：
The galvanometer changes the direction of reflection laser, the laser after the shoot laser detected material reflection, the reflection
Laser is circularly polarized light；
The quarter-wave plate makes the reflection laser behind the direction by galvanometer change become S-polarization from circularly polarized light
Light；
The polarization spectro unit receives the S-polarization light from the second optical port of the polarization spectro unit, and from polarization
The third optical port of spectrophotometric unit projects；
The receiving terminal focusing unit focuses the S-polarization light projected from the third optical port of polarization spectro unit；
The receiver receives the S-polarization light after receiving terminal focusing unit focusing.
Optionally, each detection unit further includes optical filter, and the method further includes：
Optical filter filters off interference light, and the optical filter is set to the polarization spectro unit and the receiving terminal focusing unit
Between.
The scanning range of the laser radar control method energy expansion of laser light radar of the embodiment of the present invention, improves laser radar
Resolution ratio and precision.
A kind of laser radar is disclosed in the embodiment of the present invention and laser radar control method, the laser radar include
Two or more detection units, each detection unit include：Transmitter, for emitting shoot laser；Transmitting terminal
Collimation unit, the shoot laser sent out for collimating the transmitter；Polarization spectro unit, for making the outgoing after the collimation
Laser enters from the first optical port of polarization spectro unit, makes P polarization light in the shoot laser after the collimation from polarization spectro
Second optical port of unit projects；Quarter-wave plate makes the P polarization light projected from the second optical port of the polarization spectro unit become
For circularly polarized light；Galvanometer becomes shoot laser for changing the exit direction of the circularly polarized light.In the embodiment of the present invention, adopt
With multiple transmitters, the scanning range of laser radar can be increased, meanwhile, polarization spectro unit is used in the embodiment of the present invention
Light splitting, reflected light path and emitting light path are coaxial, and ambient noise is smaller, reduce the requirement to receiver, can improve laser thunder
The signal-to-noise ratio reached improves the resolution ratio and precision of laser radar it is also possible to increase the laser power of transmission.
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 include 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 this understanding, the technical solution sheet in the embodiment of the present invention
The part that contributes to existing technology can be expressed in the form of software products in other words in matter, computer software production
Product can be stored in a storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disc, CD etc., including some instructions are used so that a computer equipment (can be
People's computer, server either network equipment etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
Each embodiment in this specification is described in a progressive manner, identical similar portion between each embodiment
Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so description is fairly simple, related place 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 made by modifications, equivalent substitutions and improvements 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 the laser radar includes two or more detection units, described every
A detection unit includes：
Transmitter, for emitting shoot laser；
Transmitting terminal collimation unit, the shoot laser sent out for collimating the transmitter；
Polarization spectro unit makes institute for making the shoot laser after the collimation enter from the first optical port of polarization spectro unit
The P polarization light stated in the shoot laser after collimation is projected from the second optical port of polarization spectro unit；
Quarter-wave plate, for making the P polarization light projected from the second optical port of the polarization spectro unit become circularly polarized light；
Galvanometer becomes shoot laser for changing the exit direction of the circularly polarized light；
Wherein, the polarization spectro unit is polarization splitting prism or polarization spectro plain film.
2. laser radar as described in claim 1, which is characterized in that the galvanometer is additionally operable to change the direction of reflection laser,
Laser after the shoot laser detected material reflection, the reflection laser are circularly polarized light；
The quarter-wave plate is additionally operable to that the reflection laser behind the direction by galvanometer change is made to become S-polarization from circularly polarized light
Light；
The polarization spectro unit is additionally operable to receive the S-polarization light from the second optical port of the polarization spectro unit, and from inclined
Shake spectrophotometric unit third optical port project；
Each detection unit further includes：
Receiving terminal focusing unit, for focusing the S-polarization light projected from the third optical port of polarization spectro unit；
Receiver, for receiving the S-polarization light after receiving terminal focusing unit focusing.
3. laser radar as claimed in claim 2, which is characterized in that in the shoot laser of the transmitter transmitting, P polarization light
Ratio be more than S-polarization light ratio.
4. laser radar as claimed in claim 3, which is characterized in that each detection unit further includes：
Optical filter is set between the polarization spectro unit and the receiving terminal focusing unit, for filtering off interference light.
5. such as Claims 1-4 any one of them laser radar, which is characterized in that the primary optical axis of the different detection units
Angle between the galvanometer axis is different.
6. laser radar as claimed in claim 5, which is characterized in that the detection range of any detection unit and adjacent inspection
The detection range for surveying unit connects；
The model that the detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
It encloses.
7. laser radar as claimed in claim 5, which is characterized in that the detection range of any detection unit and adjacent inspection
The detection range for surveying unit partially overlaps；
The model that the detection range of the detection unit is covered by the shoot laser of the detection unit after galvanometer changes direction
It encloses.
8. a kind of laser radar control method, which is characterized in that the method is applied to claim 1 to 7 any one of them
Laser radar, the laser radar include two or more detection units, each detection unit include transmitter,
Transmitting terminal collimation unit, polarization spectro unit, quarter-wave plate and galvanometer, the method includes：
The transmitter emits shoot laser；
The transmitting terminal collimation unit collimates the shoot laser that the transmitter is sent out；
The polarization spectro unit makes the shoot laser after the collimation enter from the first optical port of polarization spectro unit, makes described
P polarization light in shoot laser after collimation is projected from the second optical port of polarization spectro unit；
The quarter-wave plate makes the P polarization light projected from the second optical port of the polarization spectro unit become circularly polarized light；
The galvanometer changes the exit direction of the circularly polarized light, becomes shoot laser；
Wherein, the polarization spectro unit is polarization splitting prism or polarization spectro plain film.
9. method as claimed in claim 8, which is characterized in that each detection unit further include receiving terminal focusing unit and
Receiver, the method further include：
The galvanometer changes the direction of reflection laser, the laser after the shoot laser detected material reflection, the reflection laser
For circularly polarized light；
The quarter-wave plate makes the reflection laser behind the direction by galvanometer change become S-polarization light from circularly polarized light；
The polarization spectro unit receives the S-polarization light from the second optical port of the polarization spectro unit, and from polarization spectro
The third optical port of unit projects；
The receiving terminal focusing unit focuses the S-polarization light projected from the third optical port of polarization spectro unit；
The receiver receives the S-polarization light after receiving terminal focusing unit focusing.
10. method as claimed in claim 9, which is characterized in that each detection unit further includes optical filter, the method
Further include：
Optical filter filters off interference light, the optical filter be set to the polarization spectro unit and the receiving terminal focusing unit it
Between.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810769322.0A CN108761424A (en) | 2018-07-13 | 2018-07-13 | Laser radar and laser radar control method |
| PCT/CN2018/114780 WO2019091445A1 (en) | 2017-11-10 | 2018-11-09 | Improvements of lidar devices |
| US18/133,451 US20230243935A1 (en) | 2017-11-10 | 2023-04-11 | Lidar devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810769322.0A CN108761424A (en) | 2018-07-13 | 2018-07-13 | Laser radar and laser radar control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108761424A true CN108761424A (en) | 2018-11-06 |
Family
ID=63973649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810769322.0A Pending CN108761424A (en) | 2017-11-10 | 2018-07-13 | Laser radar and laser radar control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108761424A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109560874A (en) * | 2018-11-30 | 2019-04-02 | 宁波光舟通信技术有限公司 | Signal transmitting method, the apparatus and system of launched by airplane system |
| CN109560869A (en) * | 2018-11-30 | 2019-04-02 | 宁波光舟通信技术有限公司 | Signal acceptance method, the apparatus and system of airborne reception system |
| WO2019091445A1 (en) * | 2017-11-10 | 2019-05-16 | Suteng Innovation Technology Co., Ltd. | Improvements of lidar devices |
| CN109782299A (en) * | 2019-02-14 | 2019-05-21 | 深圳市迈测科技股份有限公司 | A kind of solid-state laser radar installations |
| CN109870699A (en) * | 2019-04-03 | 2019-06-11 | 深圳市镭神智能系统有限公司 | A kind of laser radar |
| CN110118960A (en) * | 2019-05-29 | 2019-08-13 | 深圳市镭神智能系统有限公司 | Laser radar |
| CN110161517A (en) * | 2019-05-22 | 2019-08-23 | 深圳市速腾聚创科技有限公司 | Laser radar system and laser scanning control method |
| CN110161516A (en) * | 2019-05-21 | 2019-08-23 | 深圳市速腾聚创科技有限公司 | Laser radar range device and laser scanning control method |
| CN111273261A (en) * | 2020-03-11 | 2020-06-12 | 苏州岭纬智能科技有限公司 | Coaxial transmitting and receiving laser radar based on off-axis incidence |
| CN111308725A (en) * | 2020-04-02 | 2020-06-19 | 杭州欧镭激光技术有限公司 | Light beam shaping device for laser radar and shaping method of far-field light spot |
| CN111352089A (en) * | 2018-12-21 | 2020-06-30 | 余姚舜宇智能光学技术有限公司 | Two-dimensional galvanometer driving circuit system and driving method of solid-state laser radar |
| CN111590583A (en) * | 2020-05-27 | 2020-08-28 | 太原理工大学 | Intelligent chess playing method based on big data |
| CN111913165A (en) * | 2019-05-08 | 2020-11-10 | 宁波舜宇车载光学技术有限公司 | Detection system and detection method thereof |
| WO2021081946A1 (en) * | 2019-10-31 | 2021-05-06 | 华为技术有限公司 | Laser radar system and mobile platform |
| CN112965045A (en) * | 2021-03-01 | 2021-06-15 | 合肥公共安全技术研究院 | Compact solid-state laser radar with large field angle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1847881A (en) * | 2006-05-11 | 2006-10-18 | 哈尔滨工业大学（威海） | Automobile collision-proof one-dimensional scanning lidar system |
| JP2007064803A (en) * | 2005-08-31 | 2007-03-15 | Sanyo Electric Co Ltd | Laser radar apparatus |
| CN104155639A (en) * | 2014-08-20 | 2014-11-19 | 中国海洋大学 | Transmitting and receiving integrated laser radar device |
| CN105785343A (en) * | 2016-04-29 | 2016-07-20 | 中国科学院电子学研究所 | Spacial multi-beam laser emitter, multichannel receiving apparatus and detection apparatus |
| CN107167787A (en) * | 2017-05-25 | 2017-09-15 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107272013A (en) * | 2017-08-02 | 2017-10-20 | 周虎基 | Laser radar apparatus and laser radar detecting system |
| CN107656258A (en) * | 2017-10-19 | 2018-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN207457508U (en) * | 2017-08-08 | 2018-06-05 | 上海禾赛光电科技有限公司 | Laser radar system based on two-dimensional scanning mirrors |
-
2018
- 2018-07-13 CN CN201810769322.0A patent/CN108761424A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007064803A (en) * | 2005-08-31 | 2007-03-15 | Sanyo Electric Co Ltd | Laser radar apparatus |
| CN1847881A (en) * | 2006-05-11 | 2006-10-18 | 哈尔滨工业大学（威海） | Automobile collision-proof one-dimensional scanning lidar system |
| CN104155639A (en) * | 2014-08-20 | 2014-11-19 | 中国海洋大学 | Transmitting and receiving integrated laser radar device |
| CN105785343A (en) * | 2016-04-29 | 2016-07-20 | 中国科学院电子学研究所 | Spacial multi-beam laser emitter, multichannel receiving apparatus and detection apparatus |
| CN107167787A (en) * | 2017-05-25 | 2017-09-15 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107272013A (en) * | 2017-08-02 | 2017-10-20 | 周虎基 | Laser radar apparatus and laser radar detecting system |
| CN207457508U (en) * | 2017-08-08 | 2018-06-05 | 上海禾赛光电科技有限公司 | Laser radar system based on two-dimensional scanning mirrors |
| CN107656258A (en) * | 2017-10-19 | 2018-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
Non-Patent Citations (1)
| Title |
|---|
| 戴永江, 《国防工业出版社》, pages: 224 - 226 * |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019091445A1 (en) * | 2017-11-10 | 2019-05-16 | Suteng Innovation Technology Co., Ltd. | Improvements of lidar devices |
| CN109560874A (en) * | 2018-11-30 | 2019-04-02 | 宁波光舟通信技术有限公司 | Signal transmitting method, the apparatus and system of launched by airplane system |
| CN109560869A (en) * | 2018-11-30 | 2019-04-02 | 宁波光舟通信技术有限公司 | Signal acceptance method, the apparatus and system of airborne reception system |
| CN111352089A (en) * | 2018-12-21 | 2020-06-30 | 余姚舜宇智能光学技术有限公司 | Two-dimensional galvanometer driving circuit system and driving method of solid-state laser radar |
| CN111352089B (en) * | 2018-12-21 | 2022-08-09 | 余姚舜宇智能光学技术有限公司 | Two-dimensional galvanometer driving circuit system and driving method of solid-state laser radar |
| CN109782299A (en) * | 2019-02-14 | 2019-05-21 | 深圳市迈测科技股份有限公司 | A kind of solid-state laser radar installations |
| CN109870699A (en) * | 2019-04-03 | 2019-06-11 | 深圳市镭神智能系统有限公司 | A kind of laser radar |
| CN111913165B (en) * | 2019-05-08 | 2024-07-05 | 宁波舜宇车载光学技术有限公司 | Detection system and detection method thereof |
| CN111913165A (en) * | 2019-05-08 | 2020-11-10 | 宁波舜宇车载光学技术有限公司 | Detection system and detection method thereof |
| CN110161516A (en) * | 2019-05-21 | 2019-08-23 | 深圳市速腾聚创科技有限公司 | Laser radar range device and laser scanning control method |
| CN110161516B (en) * | 2019-05-21 | 2021-04-02 | 深圳市速腾聚创科技有限公司 | Laser radar ranging device and laser scanning control method |
| CN110161517A (en) * | 2019-05-22 | 2019-08-23 | 深圳市速腾聚创科技有限公司 | Laser radar system and laser scanning control method |
| CN110161517B (en) * | 2019-05-22 | 2022-05-20 | 深圳市速腾聚创科技有限公司 | Laser radar system and laser scanning control method |
| CN110118960A (en) * | 2019-05-29 | 2019-08-13 | 深圳市镭神智能系统有限公司 | Laser radar |
| CN110118960B (en) * | 2019-05-29 | 2023-03-10 | 深圳市镭神智能系统有限公司 | Laser radar |
| WO2021081946A1 (en) * | 2019-10-31 | 2021-05-06 | 华为技术有限公司 | Laser radar system and mobile platform |
| CN111273261A (en) * | 2020-03-11 | 2020-06-12 | 苏州岭纬智能科技有限公司 | Coaxial transmitting and receiving laser radar based on off-axis incidence |
| CN111308725A (en) * | 2020-04-02 | 2020-06-19 | 杭州欧镭激光技术有限公司 | Light beam shaping device for laser radar and shaping method of far-field light spot |
| CN111308725B (en) * | 2020-04-02 | 2023-11-14 | 杭州欧镭激光技术有限公司 | Beam shaping device for laser radar and shaping method of beam shaping device for laser radar on far-field light spots |
| CN111590583A (en) * | 2020-05-27 | 2020-08-28 | 太原理工大学 | Intelligent chess playing method based on big data |
| CN112965045A (en) * | 2021-03-01 | 2021-06-15 | 合肥公共安全技术研究院 | Compact solid-state laser radar with large field angle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108761424A (en) | Laser radar and laser radar control method | |
| US11860280B2 (en) | Integrated illumination and detection for LIDAR based 3-D imaging | |
| JP7402868B2 (en) | Descan correction in scanning LIDAR | |
| JP2023160825A (en) | Lidar system with solid-state spectral scanning | |
| CN109001747B (en) | Non-blind area laser radar system | |
| CN109946710B (en) | Dual-wavelength multi-polarization laser imaging device | |
| US8068215B2 (en) | Laser distance meter | |
| CN111273261B (en) | Coaxial transmitting and receiving laser radar based on off-axis incidence | |
| CN113841062B (en) | LIDAR system with mode field expander | |
| US20210341610A1 (en) | Ranging device | |
| CN101566459B (en) | Dual-frequency laser interferometer | |
| CN108445497A (en) | Laser radar and laser radar control method | |
| CN113625295A (en) | Optical system for laser radar and laser radar | |
| CN107037442A (en) | Light wave distance measuring system | |
| CN106019259B (en) | Laser frequency discrimination device and frequency discrimination method based on Mach-Zehnder interferometer | |
| CN208520991U (en) | Laser radar | |
| CN108761425A (en) | Laser radar and laser radar control method | |
| CN208520990U (en) | Laser radar | |
| CN114442104A (en) | Coherent laser radar | |
| US5002371A (en) | Low coupling beam splitter and laser power or position monitor using same | |
| CN110007314A (en) | Light beam splitting die group, laser radar system and its control method | |
| US5049757A (en) | Method for scanning a plurality of optical measuring reflectors and an apparatus for performing the method | |
| CN211236531U (en) | Lens capable of eliminating self stray light | |
| CN110336932A (en) | A kind of laser/TV with real-time school s function is total to light path system and uses and school axis method | |
| RU2804833C1 (en) | Transmitter-receiver optical device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181106 |