CN109188398B - Laser radar, system and method for converging fast and slow axis beam energy - Google Patents
Laser radar, system and method for converging fast and slow axis beam energy Download PDFInfo
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- CN109188398B CN109188398B CN201811125512.5A CN201811125512A CN109188398B CN 109188398 B CN109188398 B CN 109188398B CN 201811125512 A CN201811125512 A CN 201811125512A CN 109188398 B CN109188398 B CN 109188398B
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0938—Using specific optical elements
- G02B27/095—Refractive optical elements
- G02B27/0955—Lenses
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a laser radar, a system and a method for converging fast and slow axis beam energy, wherein the system for converging the fast and slow axis beam energy comprises: the correcting device corrects the divergence angles of the emergent light beams on the fast axis and the slow axis to be the same or approximately the same; the focusing device is arranged on the light emitting side of the correcting device, so that the emitting angles of the emitting light beams in the fast axis direction and the slow axis direction are the same or approximately the same, and a focusing light source is obtained; the collimating device is arranged on the light emitting side of the focusing device, and an object side focus of the collimating device is arranged at the focus position of the focusing device or close to the focus of the focusing device, so that the energy distribution of the emitted light beam is converged; the correcting device, the focusing device and the collimating device are provided with the same main optical axis. The convergence system and the convergence method of the fast and slow axis beam energy can converge the energy distribution of the emergent beam; thus, the laser radar adopting the convergence method and the system can work accurately.
Description
Technical Field
The invention relates to the technical field of laser, in particular to a laser radar, a system and a method for converging fast and slow axis beam energy.
Background
The development of unmanned technology, as an unmanned "eye", has been continuously accelerating the marketization of laser radar technology. Modern traffic roads have many signs made of high reflectance materials. Because the light field intensity of the light source of the laser radar is in Gaussian distribution or approximately Gaussian distribution, if the emergent light beam is directly collimated, the energy distribution of the light beam is difficult to be restrained, so that when an object with high reflection coefficient exists, the spatial resolution of the laser radar becomes very rough, and the accurate work of the laser radar is not facilitated.
Disclosure of Invention
Based on this, it is necessary to provide a laser radar, a system and a method for converging the energy of the fast and slow axis beam, which can converge the energy distribution of the outgoing beam; thus, the laser radar adopting the convergence method and the system can work accurately.
The technical scheme is as follows:
in one aspect, the present application provides a converging system for fast and slow axis beam energy, including: the correcting device is used for correcting the emergent light beam so that the divergence angles of the emergent light beam on the fast axis and the slow axis are corrected to be the same or approximately the same; the focusing device is arranged on the light emitting side of the correcting device and is used for focusing the light beams emitted from the correcting device, so that the emergent angles of the emergent light beams in the fast axis direction and the slow axis direction are the same or nearly the same, and a focusing light source is obtained; the collimating device is arranged on the light emitting side of the focusing device, an object side focus of the collimating device is arranged at the focus position of the focusing device or close to the focus of the focusing device, and the collimating device is used for carrying out collimation treatment on the light beam emitted from the focusing device so that the energy distribution of the emitted light beam is converged; wherein the correction device, the focusing device and the collimation device are provided with the same main optical axis.
When the convergence system of the fast and slow axis beam energy is used, the correction device, the focusing device and the collimation device are provided with the same main optical axis, and the emergent beam firstly passes through the correction device and is corrected by the correction device, so that the divergence angles of the beam in the fast axis direction and the beam in the slow axis direction are adjusted to be the same or approximately the same; then, the light beam emitted from the correction device passes through a focusing device, the focusing device is used for focusing the emitted light beam, and the emergent angle of the light beam in the fast axis direction is the same or approximately the same as the emergent angle of the light beam in the slow axis direction, so that the light beam in the fast axis direction and the light beam in the slow axis direction are focused on one point or approximately one point, and a focusing light source is obtained; and finally, the focusing light source passes through the collimation device, and the collimation device is utilized to carry out collimation treatment on the focusing light source, so that the light beams emitted from the collimation device are arranged in parallel, the energy distribution of the emitted light beams is quickly converged, and the directivity of the emitted light beams is ensured.
The technical scheme is further described as follows:
in one embodiment, the correcting device comprises a fast axis correcting component and a slow axis correcting component, the fast axis correcting component is used for correcting the emergent light beam in the fast axis direction to obtain a first corrected light beam, the slow axis correcting component is arranged on the light emitting side of the fast axis correcting component, and the slow axis correcting component is used for correcting the first corrected light beam in the slow axis direction to enable the divergence angle of the emergent light beam in the fast axis and the slow axis to be corrected to be the same.
In one embodiment, the collimating device comprises a first collimating component and a second collimating component which are arranged at intervals relatively, the first collimating component is arranged between the focusing device and the second collimating component, the first collimating component is arranged at the focus position of the focusing device or is close to the focus position of the focusing device, a first concave part is arranged at one end of the first collimating component, which is close to the focusing device, a second concave part is arranged at one end of the first collimating component, which is far away from the focusing device, and the curvature of the first concave part is smaller than that of the second concave part. The first concave part and the second concave part are utilized to perform primary collimation treatment on the focusing light source, and then the second collimation component is utilized to perform final collimation treatment, so that the convergence effect and the convergence speed of energy distribution of the emergent light beam are improved, and the directivity of the emergent light beam is also improved.
In one embodiment, the second collimating component comprises at least one of a spherical lens, a free-form surface lens, a cylindrical mirror, or a binary diffraction device.
In one embodiment, the second collimating component is a first spherical lens and a second spherical lens that are disposed at opposite intervals, the first spherical lens is disposed between the first collimating component and the second spherical lens, and the convex surface of the first spherical lens and the convex surface of the second spherical lens are both disposed away from the first collimating component. Therefore, the second collimation component is simple in structure, and can effectively and rapidly converge the energy distribution of the emergent light beam, so that the directivity of the emergent light beam is ensured.
In one embodiment, the end of the first spherical lens, which is close to the first collimation component, is further provided with a third concave part for diverging the light beam. Therefore, the divergence effect of the light beam is improved, and the final collimation adjustment can more effectively and rapidly converge the energy field of the emitted light beam.
In another aspect, the present application provides a method for converging fast and slow axis beam energy, including the steps of: correcting the emergent beam to make the divergence angles of the emergent beam on the fast axis and the slow axis to be the same or approximately the same; focusing the corrected emergent light beam to make the emergent angles of the emergent light beam in the fast axis direction and the slow axis direction the same or approximately the same, thereby obtaining a focusing light source; and carrying out collimation treatment on the focusing light source so as to enable the energy distribution of the outgoing light beam to be converged.
The method for converging the beam energy of the fast and slow axes has at least the following effects: the outgoing light beam is subjected to correction treatment, focusing treatment and collimation treatment in sequence, so that the energy distribution of the outgoing light beam can be quickly and effectively converged, and the directivity of the outgoing light beam can be ensured.
In one embodiment, the step of correcting the outgoing beam includes: correcting the emergent beam in the fast axis direction to obtain a first corrected beam; and correcting the first correcting light beam in the direction of the slow axis to correct the divergence angles of the emergent light beam in the fast axis and the slow axis to the same size. Thus, the light beams in the fast axis direction and the light beams in the slow axis direction are respectively corrected, interference is avoided, and the correction effect and the correction speed are improved.
In one embodiment, the step of collimating the focused light source includes: and carrying out collimation treatment on the focusing light source at the focus position of the focusing device or the focus accessory of the focusing device. Therefore, the energy distribution of the emergent light beam can be effectively and rapidly converged, and the directivity of the emergent light beam after collimation treatment is ensured.
In still another aspect, the present application further provides a laser radar including the above converging system for the energy of the fast and slow axis beam.
When the laser radar is used, the correction device, the focusing device and the collimation device of the convergence system of the fast and slow axis beam energy are provided with the same main optical axis, and the emergent beam firstly passes through the correction device and is corrected by the correction device, so that the divergence angle of the beam in the fast axis direction and the divergence angle of the beam in the slow axis direction are adjusted to be the same or approximately the same; then, the light beam emitted from the correction device passes through a focusing device, the focusing device is used for focusing the emitted light beam, and the emergent angle of the light beam in the fast axis direction is the same or approximately the same as the emergent angle of the light beam in the slow axis direction, so that the light beam in the fast axis direction and the light beam in the slow axis direction are focused on one point or approximately one point, and a focusing light source is obtained; and finally, the focusing light source passes through the collimation device, and the collimation device is utilized to carry out collimation treatment on the focusing light source, so that the light beams emitted from the collimation device are arranged in parallel, the energy distribution of the emitted light beams can be converged rapidly, the directivity of the laser radar is ensured, and the spatial resolution of the laser radar is very accurate and can work reliably even if an object with high reflection coefficient exists.
Drawings
FIG. 1 is a schematic diagram of a converging system for fast and slow axis beam energy according to one embodiment;
FIG. 2 is a light path diagram of a converging system of the fast and slow axis beam energies of FIG. 1;
FIG. 3 is a flow chart of a method of converging fast and slow axis beam energy according to one embodiment.
Reference numerals illustrate:
100. the correction device, 110, the first cylindrical lens, 200, the focusing device, 210, the third spherical lens, 220, the fourth spherical lens, 230, the third cylindrical lens, 300, the collimation device, 310, the first collimation assembly, 311, the first concave part, 312, the second concave part, 320, the second collimation assembly, 321, the first spherical lens, 322, the second spherical lens, 3211, the third concave part.
Detailed Description
The present invention will be further described in detail with reference to the drawings and the detailed description, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "disposed" or "fixed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "fixedly disposed" on or "fixedly connected" to another element, it can be detachably or non-detachably fixed therebetween. When an element is referred to as being "connected," "sealingly connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," "up," "down," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first," "second," "third," and the like in this disclosure do not denote a particular quantity or order, but rather are used for distinguishing between similar names.
As shown in fig. 1 and 2, in one embodiment, a converging system for fast and slow axis beam energy is disclosed, comprising: the correction device 100 is configured to correct the outgoing beam so that the divergence angles of the outgoing beam on the fast axis and the slow axis are the same or approximately the same; the focusing device 200 is disposed on the light emitting side of the correction device 100, and is configured to focus the light beam emitted from the correction device 100, so that the outgoing angles of the outgoing light beam in the fast axis direction and the slow axis direction are the same or approximately the same, and a focused light source is obtained; the collimating device 300 is arranged on the light emitting side of the focusing device 200, and an object side focus of the collimating device 300 is arranged at the focus position of the focusing device 200 or near the focus of the focusing device 200, and the collimating device 300 is used for carrying out collimation treatment on the light beam emitted from the focusing device 200 so that the energy distribution of the emitted light beam is converged; the correction device 100, the focusing device 200 and the collimating device 300 are provided with the same main optical axis.
When the converging system of the beam energy of the fast and slow axes of the above embodiment is used, the correcting device 100, the focusing device 200 and the collimating device 300 are provided with the same main optical axis, the outgoing beam first passes through the correcting device 100, and the outgoing beam is corrected by the correcting device 100, so that the divergence angles of the beam in the fast axis direction and the beam in the slow axis direction are adjusted to be the same or approximately the same; then, the light beam emitted from the correction device 100 passes through the focusing device 200, the focusing device 200 focuses the emitted light beam, and the emission angle of the light beam in the fast axis direction is the same or approximately the same as the emission angle of the light beam in the slow axis direction, so that the light beam in the fast axis direction and the light beam in the slow axis direction are focused on a point or approximately on a point, and a focused light source is obtained; finally, the focusing light source passes through the collimation device 300, and the collimation device 300 is utilized to perform collimation treatment on the focusing light source, so that the light beams emitted from the collimation device 300 are arranged in parallel, the energy distribution of the emitted light beams is quickly converged, and the directivity of the emitted light beams is ensured.
It should be noted that, the correction device 100 of the foregoing embodiment may be at least one of a spherical lens, a free-form surface lens, a cylindrical lens or a binary diffraction device, and only needs to be capable of correcting the divergence angle of the outgoing beam in the fast axis and the slow axis to be the same or approximately the same, for example, the divergence angle of the outgoing beam in the fast axis direction is corrected by using one first cylindrical lens 110, the divergence angle of the outgoing beam in the slow axis direction is corrected by using a plurality of second cylindrical lenses (not shown), and the first cylindrical lens 110 and the second cylindrical lens are preferably plano-convex cylindrical lenses, whose convex surfaces face away from the light source, so that the outgoing beam can be corrected simply and conveniently. The focusing device 200 in the above embodiment may be at least one of a spherical lens, a free-form surface lens, a cylindrical lens, or a binary diffraction device, and only needs to obtain a focusing light source by making the outgoing angles of outgoing beams in the fast axis direction and the slow axis direction the same or approximately the same; as shown in fig. 1 and 2, in this embodiment, the focusing device 200 includes a third spherical lens 210, a fourth spherical lens 220 and a third cylindrical lens 230, where the convex surfaces of the third spherical lens 210 and the fourth spherical lens 220 are all disposed toward the correction device 100, the third cylindrical lens 230 is preferably a plano-concave cylindrical lens, and the concave surface of the plano-concave cylindrical lens is also disposed toward the correction device 100, so that the third spherical lens 210 and the fourth spherical lens 220 are used to focus the light beams in the fast axis direction and the slow axis direction, and the third cylindrical lens 230 is used to further focus the light beams in the fast axis direction, so that the light beams in the fast axis direction and the slow axis direction can fall in the same place, i.e. the light beams exiting from the correction device 100 can be simply and conveniently focused. The collimating device 300 of the above embodiment may be at least one of a spherical lens, a free-form surface lens, a cylindrical lens, or a binary diffraction device, and is only required to enable the energy distribution of the outgoing light beam to be converged. The above-mentioned approximation is the same as above, and the processing error or the installation error is taken into consideration, and it is only necessary to correct the divergence angle of the outgoing beam in the fast axis and the slow axis to the error allowable range, and the outgoing angle of the outgoing beam in the fast axis direction and the slow axis direction to the error allowable range.
In one embodiment, the correction device 100 includes a fast axis correction component and a slow axis correction component, where the fast axis correction component is configured to correct an outgoing beam in a fast axis direction to obtain a first corrected beam, and the slow axis correction component is disposed on a light emitting side of the fast axis correction component, and the slow axis correction component is configured to correct the first corrected beam in a slow axis direction, so that a divergence angle of the outgoing beam in the fast axis and the slow axis is corrected to be the same. Utilize fast axis to correct the subassembly and correct the processing to the light beam on the fast axis direction, utilize slow axis to correct the subassembly and correct the processing to the light beam on the slow axis direction for twice correct and handle the interference each other, improve and correct effect and correction speed.
As shown in fig. 1 and 2, in the embodiment, the fast axis correction component is configured as a first cylindrical lens 110, and the slow axis correction component is configured as the third spherical lens 210, the fourth spherical lens 220, and the third cylindrical lens 230. In this way, the slow axis correction component and the focusing device 200 are combined and arranged, so that the whole convergence system structure of the fast and slow axis beam energy is more compact and convenient to arrange.
As shown in fig. 1 and 2, in particular to the present embodiment, the collimating device 300 includes a first collimating component 310 and a second collimating component 320 that are disposed at opposite intervals, the first collimating component 310 is disposed between the focusing device 200 and the second collimating component 320, the first collimating component 310 is disposed at a focal position of the focusing device 200 or is disposed near a focal position of the focusing device 200, a first concave portion 311 is disposed at an end of the first collimating component 310 near the focusing device 200, a second concave portion 312 is disposed at an end of the first collimating component 310 far from the focusing device 200, and a curvature of the first concave portion 311 is smaller than a curvature of the second concave portion 312. By means of the arrangement, the first concave portion 311 and the second concave portion 312 are utilized to perform primary collimation treatment on the focusing light source, and then the second collimation assembly 320 is utilized to perform final collimation treatment, so that the convergence effect and the convergence speed of energy distribution of the emergent light beam are improved, and the directivity of the emergent light beam is also improved.
As shown in fig. 1 and 2, the focal point of the first concave portion 311 is disposed at or near the focal point of the focusing device 200. In this way, the focusing light source can perform preliminary collimation adjustment after passing through the divergence of the first concave portion 311 and the second concave portion 312 in sequence, and the energy field of the outgoing light beam can be better converged after final collimation adjustment under the action of the second collimation assembly 320. The shorter the distance between the focal point of the first concave portion 311 and the focal point of the focusing device 200, the better the converging effect on the outgoing light beam, and the faster the converging speed.
It should be noted that, the second collimating element 320 in the foregoing embodiment includes at least one of a spherical lens, a free-form surface lens, a cylindrical lens, or a binary diffraction device, and it is only required that the second collimating element 320 performs final collimation processing on the light beam emitted from the first collimating element 310, so that the final emitted light beam is parallel, and the energy distribution of the final emitted light beam can be converged.
As shown in fig. 1 and fig. 2, in the embodiment, the second collimating component 320 is configured as a first spherical lens 321 and a second spherical lens 322 that are disposed at opposite intervals, the first spherical lens 321 is disposed between the first collimating component 310 and the second spherical lens 322, and the convex surface of the first spherical lens 321 and the convex surface of the second spherical lens 322 are both disposed away from the first collimating component 310. By the arrangement, the second collimating component 320 is simple in structure, and can effectively and rapidly converge the energy distribution of the emergent beam, so that the directivity of the emergent beam is ensured.
As shown in fig. 1 and 2, further, a third concave portion 3211 for diverging the light beam is further disposed at an end of the first spherical lens 321 near the first collimating component 310. After the light beam emitted from the second concave portion 312 of the first collimating component 310 diverges through the third concave portion 3211, the light beam diverges through the second spherical lens 322, so that the light beam diverges, and the final collimation adjustment can more effectively and rapidly converge the energy field of the emitted light beam.
As shown in fig. 1 and 2, the focal point of the third recess 3211 is disposed at or near the focal point of the second recess 312. In this way, the divergent effect of the third recess 3211 on the beam emitted from the second recess 312 can be further improved, so that the convergence degree and convergence speed of the energy field of the finally collimated and adjusted emitted beam are further improved, and the directivity of the finally emitted beam is also better. The shorter the distance between the focal point of the third concave portion 3211 and the focal point of the second concave portion 312, the better the divergence effect on the light beam.
As shown in fig. 3, in one embodiment, a method for converging the energy of the fast and slow axis beam is also disclosed, including the following steps:
and correcting the emergent beam to make the divergence angles of the emergent beam on the fast axis and the slow axis corrected to be the same or approximately the same.
Specifically, the correction device 100 is used to correct the outgoing beam, so that the divergence angles of the beam in the fast axis direction and the beam in the slow axis direction are adjusted to be the same or approximately the same, and the subsequent focusing treatment of the outgoing beam is facilitated. The correction device 100 of the above embodiment may be at least one of a spherical lens, a free-form surface lens, a cylindrical lens, or a binary diffraction device, and may be sufficient to correct the divergence angles of the outgoing light beam in the fast axis and the slow axis to be the same or approximately the same.
As shown in fig. 1 and fig. 2, in one embodiment, the divergence angle of the outgoing beam in the fast axis direction is corrected by using a first cylindrical lens 110, the divergence angle of the outgoing beam in the slow axis direction is corrected by using a plurality of second cylindrical lenses, and the first cylindrical lens 110 and the second cylindrical lens are preferably plano-convex cylindrical lenses, the convex surfaces of which are arranged away from the light source, so that the whole correction process can be simply, conveniently and rapidly completed.
And carrying out focusing treatment on the outgoing light beam subjected to the correction treatment, so that outgoing angles of the outgoing light beam in the fast axis direction and the slow axis direction are the same or approximately the same, and obtaining the focusing light source.
Specifically, the outgoing light beam that has undergone the correction processing is subjected to the focusing processing by the focusing device 200 so that the outgoing angle of the light beam in the fast axis direction is the same or approximately the same as the outgoing angle of the light beam in the slow axis direction, so that the light beam in the fast axis direction and the light beam in the slow axis direction are focused on one point or approximately one point, thereby obtaining a focused light source. The focusing device 200 of the above embodiment may be at least one of a spherical lens, a free-form surface lens, a cylindrical lens, or a binary diffraction device, and it is only required to obtain a focusing light source by making the outgoing angles of the outgoing light beams in the fast axis direction and the slow axis direction the same or approximately the same.
As shown in fig. 1 and 2, in particular to the present embodiment, the focusing device 200 includes a third spherical lens 210, a fourth spherical lens 220 and a third cylindrical lens 230, wherein the convex surfaces of the third spherical lens 210 and the fourth spherical lens 220 are both disposed towards the correction device 100, the third cylindrical lens 230 is preferably a plano-concave cylindrical lens, and the concave surface of the plano-concave cylindrical lens is also disposed towards the correction device 100, so that the whole focusing process can be simply, conveniently and rapidly completed.
And carrying out collimation treatment on the focusing light source so as to enable the energy distribution of the outgoing light beam to be converged.
Specifically, the collimation device 300 is used for carrying out collimation treatment on the focusing light source, so that the light beams emitted from the collimation device 300 are arranged in parallel, not only the energy distribution of the emitted light beams is converged, but also the directivity of the emitted light beams is ensured. The collimating device 300 of the above embodiment may be at least one of a spherical lens, a free-form surface lens, a cylindrical lens, or a binary diffraction device, and is only required to enable the energy distribution of the outgoing light beam to be converged.
As shown in fig. 1 and 2, in particular to the present embodiment, the collimating device 300 includes a first collimating component 310 and a second collimating component 320 that are disposed at opposite intervals, the first collimating component 310 is disposed between the focusing device 200 and the second collimating component 320, the first collimating component 310 is disposed at a focal position of the focusing device 200 or is disposed near a focal position of the focusing device 200, a first concave portion 311 is disposed at an end of the first collimating component 310 near the focusing device 200, a second concave portion 312 is disposed at an end of the first collimating component 310 far from the focusing device 200, and a curvature of the first concave portion 311 is smaller than a curvature of the second concave portion 312. By means of the arrangement, the first concave portion 311 and the second concave portion 312 are utilized to perform primary collimation treatment on the focusing light source, and then the second collimation assembly 320 is utilized to perform final collimation treatment, so that the convergence effect on the energy distribution of the emergent light beam is improved, and the directivity of the emergent light beam is also improved.
As shown in fig. 1 and 2, more specifically, the second collimating component 320 is configured as a first spherical lens 321 and a second spherical lens 322 that are disposed at opposite intervals, the first spherical lens 321 is disposed between the first collimating component 310 and the second spherical lens 322, and the convex surface of the first spherical lens 321 and the convex surface of the second spherical lens 322 are both disposed away from the first collimating component 310. By the arrangement, the second collimating component 320 is simple in structure, and can effectively converge the energy distribution of the emergent beam, so that the directivity of the emergent beam is ensured.
The method for converging the beam energy of the fast and slow axes has at least the following effects: the outgoing light beam is subjected to correction treatment, focusing treatment and collimation treatment in sequence, so that the energy distribution of the outgoing light beam can be quickly and effectively converged, and the directivity of the outgoing light beam can be ensured.
In one embodiment, the step of correcting the outgoing beam includes: correcting the emergent beam in the fast axis direction to obtain a first corrected beam; and correcting the first correcting light beam in the direction of the slow axis to correct the divergence angles of the emergent light beam in the fast axis and the slow axis to the same size. First, the light beam in the fast axis direction is corrected, and then the light beam in the slow axis direction is corrected, so that the structure of the correction device 100 can be simplified, the two correction processes are not interfered with each other, and the correction effect and the correction speed are improved.
Further, in the step of performing the correction process on the first corrected light beam in the slow axis direction, the method further includes: and carrying out focusing treatment on the emergent light beam, so that the emergent angles of the emergent light beam in the fast axis direction and the slow axis direction are the same or approximately the same, and obtaining an approximately focused light source. The step of correcting the light beam in the slow axis direction and the step of focusing the light beam in the slow axis direction are performed simultaneously, that is, when the light beam in the slow axis direction is corrected, the outgoing angle of the light beam in the fast axis direction and the outgoing angle of the light beam in the slow axis direction are adjusted to be identical or approximately identical, so that the structure of the correcting device 100 can be greatly simplified, the structures of the correcting device 100 and the focusing device 200 are compact, the operation space is greatly saved, and the correcting and focusing speeds are also improved.
In one embodiment, the step of collimating the focused light source includes: the focused light source is collimated at the focal position of the focusing device 200 or at a focal attachment of the focusing device 200. In this way, the outgoing beam can be collimated after being focused at the focal position of the focusing device 200 to obtain a focused light source, so that the efficiency and effect of the collimation are improved, the energy distribution of the outgoing beam can be effectively and rapidly converged, and the directivity of the outgoing beam after the collimation is also ensured.
In another embodiment, a laser radar is also disclosed, including the converging system of the beam energy of the fast and slow axes of any of the above embodiments.
When the laser radar of the above embodiment is used, the correction device 100, the focusing device 200 and the collimation device 300 of the convergence system of the fast and slow axis beam energy are provided with the same main optical axis, the outgoing beam first passes through the correction device 100, and the outgoing beam is corrected by the correction device 100, so that the divergence angles of the beam in the fast axis direction and the beam in the slow axis direction are adjusted to be the same or approximately the same; then, the light beam emitted from the correction device 100 passes through the focusing device 200, the focusing device 200 focuses the emitted light beam, and the emission angle of the light beam in the fast axis direction is the same or approximately the same as the emission angle of the light beam in the slow axis direction, so that the light beam in the fast axis direction and the light beam in the slow axis direction are focused on a point or approximately on a point, and a focused light source is obtained; finally, the focusing light source passes through the collimation device 300, and the collimation device 300 is utilized to perform collimation treatment on the focusing light source, so that the light beams emitted from the collimation device 300 are arranged in parallel, the energy distribution of the emitted light beams can be converged rapidly, the directivity of the laser radar is ensured, and the spatial resolution of the laser radar is very accurate and reliable in operation even if a high-reflection coefficient object exists.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A converging system for fast and slow axis beam energy comprising:
the correcting device is used for correcting the emergent light beam so that the divergence angles of the emergent light beam on the fast axis and the slow axis are corrected to be the same or approximately the same;
the focusing device is arranged on the light emitting side of the correcting device and is used for focusing the light beams emitted from the correcting device, so that the emergent angles of the emergent light beams in the fast axis direction and the slow axis direction are the same or nearly the same, and a focusing light source is obtained; a kind of electronic device with high-pressure air-conditioning system
The collimating device is arranged on the light emitting side of the focusing device and comprises a first collimating component and a second collimating component which are arranged at intervals relatively, the first collimating component is arranged between the focusing device and the second collimating component, the first collimating component is arranged at the focus position of the focusing device or is close to the focus position of the focusing device, a first concave part is arranged at one end of the first collimating component, which is close to the focusing device, a second concave part is arranged at one end of the first collimating component, which is far away from the focusing device, and the curvature of the first concave part is smaller than that of the second concave part, and the collimating device is used for collimating light beams emitted from the focusing device, so that the light beams are arranged in parallel and the energy distribution of the emergent light beams is converged;
wherein the correction device, the focusing device and the collimation device are provided with the same main optical axis.
2. The converging system of claim 1 wherein the correction device comprises a fast axis correction assembly and a slow axis correction assembly, the fast axis correction assembly is configured to correct the outgoing beam in the fast axis direction to obtain a first corrected beam, the slow axis correction assembly is disposed on the light outgoing side of the fast axis correction assembly, and the slow axis correction assembly is configured to correct the first corrected beam in the slow axis direction to correct the divergence angle of the outgoing beam in the fast axis and the slow axis to the same size.
3. The converging system of claim 1 wherein the second collimating assembly comprises at least one of a spherical lens, a free-form surface lens, a cylindrical mirror, or a binary diffraction device.
4. The converging system of claim 3 wherein the second collimating element is configured as a first spherical lens and a second spherical lens disposed in spaced relation, the first spherical lens being disposed between the first collimating element and the second spherical lens, and wherein the convex surface of the first spherical lens and the convex surface of the second spherical lens are disposed away from the first collimating element.
5. The converging system of claim 4 wherein the first spherical lens further comprises a third recess for diverging the beam at an end of the first spherical lens adjacent the first collimating assembly.
6. The converging system of claim 5 wherein the focal point of the third recess is disposed at or near the focal point of the second recess.
7. A method of converging fast and slow axis beam energies using a converging system for fast and slow axis beam energies as claimed in any one of claims 1 to 6, comprising the steps of:
the correction device is used for correcting the emergent light beam, so that the divergence angles of the emergent light beam on the fast axis and the slow axis are corrected to be the same or approximately the same;
focusing the corrected emergent light beam by using the focusing device to ensure that the emergent angles of the emergent light beam in the fast axis direction and the slow axis direction are the same or approximately the same, thereby obtaining a focusing light source;
and carrying out collimation treatment on the focusing light source by utilizing the collimation device so as to enable the energy distribution of the outgoing light beam to be converged.
8. The method for converging the energy of the beam according to claim 7, wherein the step of correcting the outgoing beam includes:
correcting the emergent beam in the fast axis direction to obtain a first corrected beam;
and correcting the first correcting light beam in the direction of the slow axis to correct the divergence angles of the emergent light beam in the fast axis and the slow axis to the same size.
9. The method of claim 7, wherein the step of collimating the focused light source comprises:
and carrying out collimation treatment on the focusing light source at or near the focus position of the focusing device.
10. A lidar, comprising: a converging system for fast and slow axis beam energy as claimed in any one of claims 1 to 6.
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| 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 |
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