CN109188400A - laser radar - Google Patents
laser radar Download PDFInfo
- Publication number
- CN109188400A CN109188400A CN201811188796.2A CN201811188796A CN109188400A CN 109188400 A CN109188400 A CN 109188400A CN 201811188796 A CN201811188796 A CN 201811188796A CN 109188400 A CN109188400 A CN 109188400A
- Authority
- CN
- China
- Prior art keywords
- light
- laser
- color
- laser radar
- emitter
- 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
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
Abstract
A kind of laser radar, comprising: at least one laser emission element；The laser emission element includes: multiple emitters, and each emitter generation detects light all the way, and multiplexed detection light exiting parallel is caused by the multiple emitter to form outgoing beam；The multiple emitter includes: range transmission device, and the range transmission device is suitable for generating distance measurement light；Color emission device, the color emission device are suitable for generating color detection light.The laser radar is color laser radar, can obtain range information and color information simultaneously；Generated multiplexed detection light exiting parallel, therefore the laser radar can effectively reduce the difficulty of Back end data processing, reduce assembly complexity without carrying out calibration calibration to the position of different emitters；In addition, light beam, which can be realized, without additional optical component in the laser radar is total to road, it can satisfy low cost, minimize, the demand for development of solid state.
Description
Technical field
The present invention relates to laser acquisition fields, in particular to a kind of laser radar.
Background technique
Laser radar is a kind of common distance measuring sensor, has remote detection range, high resolution, little interference by environment etc.
Feature is widely used in the fields such as intelligent robot, unmanned plane, unmanned.In recent years, automatic Pilot technology is quickly grown,
Core sensor of the laser radar as its perceived distance, it is indispensable.
In current mobile lidar, the laser radar of either relevant transmit-receive technology, or it is based on the flight time
The laser radar of technology only includes range information in the signal of feedback.If each point may include color information, it will
More conducively to the identification of object.
Current solution first is that increase the imaging sensors such as camera on the basis of laser radar, there are the problem of
It is to need to demarcate camera and laser radar.If calibration is inaccurate, or in use, laser radar and camera it
Between position deviateed, then will appear a cloud and the unmatched problem of image.And due to using two kinds of sensors, need
Triggering is synchronized to the two, if there are uncertain delays can all impact to result for either party.
Summary of the invention
Problems solved by the invention is to provide a kind of laser radar, with adjust the distance information and color information while detection.
To solve the above problems, the present invention provides a kind of laser radar, comprising: at least one laser emission element；It is described
Laser emission element includes: multiple emitters, and each emitter generation detects light all the way, and the multiple emitter is produced
Raw multiplexed detection light exiting parallel is to form outgoing beam；The multiple emitter includes: range transmission device, it is described away from
It is suitable for generating distance measurement light from emitter；Color emission device, the color emission device are suitable for generating color spy
Survey light.
Optionally, the detection light is emitted from the light-emitting window of the emitter, multiple in same laser emission element
The light-emitting window of emitter is closely arranged；In the laser emission element, the multiple light-emitting window is centrosymmetric distribution.
Optionally, the laser emission element includes: 4 emitters；The light-emitting window of 4 emitters is in 2 × 2
Array arrangement.
Optionally, the range transmission device includes: infrared laser；The color emission device includes: that visible light swashs
Light device.
Optionally, the laser emission element includes: multiple color emission devices, and the multiple color emission device is produced
Raw color detection light frequency is all different.
Optionally, the laser emission element includes: the first color emission device, the first color emission device packet
It includes: red laser；Second color emission device, the second color emission device includes: green (light) laser；Third color hair
Injection device, the third color emitter includes: blue laser.
Optionally, the laser radar further include: at least one galvanometer, the galvanometer include reflecting surface, the reflecting surface
It is suitable for reflecting the outgoing beam.
Optionally, the galvanometer includes at least one of one-dimensional galvanometer and 2-D vibration mirror.
Optionally, multiplexed detection light caused by the multiple emitter in same laser emission element is by same
The reflective surface of galvanometer.
Optionally, the outgoing beam reflects to form echo beam through target to be detected；The laser radar further include: receive
Collect unit, the collector unit collects the echo beam and forms signal beams；Probe unit, described in probe unit detection
Signal beams；Reflector element, the reflector element reflect the signal beams to probe unit.
Optionally, in optical path of the reflector element between the laser emission element and the galvanometer；It is described anti-
Unit is penetrated with through hole area, the position of the through hole area is corresponding with the laser emission element position, has in the through hole area
Run through multiple through-holes of the reflector element, the light-emitting window position of the position of the through-hole and the emitter along optical path direction
It is corresponding.
Optionally, further includes: spectrophotometric unit, the signal beams that the light-dividing device reception collector unit is formed, described point
The signal beams are also divided into multiple signals light by electro-optical device, and the multiple signals light and the multiplexed detection light correspond.
Optionally, the probe unit includes multiple detection devices, the multiple detection device and the multiple signals light
It corresponds.
Optionally, the spectrophotometric unit includes: at least one of grating and prism.
Optionally, further includes: filter unit, the filter unit are located in the optical path before the probe unit.
Compared with prior art, technical solution of the present invention has the advantage that
In technical solution of the present invention, detection light caused by the range transmission device can obtain target to be detected away from
From information, the detection light of color caused by the color emission device can obtain the color information of target to be detected, thus institute
Stating laser radar is color laser radar, can obtain range information and color information simultaneously；And the laser emission element
In multiple emitters caused by detect light exiting parallel, the position in the multiplexed detection light transmission to target to be detected
Very close to being formed by the rear orientation light that echo beam is the multiplexed detection light, the biography of the multiple rear orientation light
Broadcast direction be also it is parallel, the laser radar can effectively subtract without carrying out calibration calibration to the position of different emitters
The difficulty of small Back end data processing, reduces assembly complexity；In addition, the laser radar is not necessarily to additional optical component
It realizes that light beam is total to road, can satisfy low cost, minimizes, the demand for development of solid state.
In optinal plan of the present invention, the light-emitting window of the multiple emitter is closely arranged, and can make the multiplexed detection
Position in light transmission to target to be detected is closer to can effectively reduce between the range information and the color information
Deviation, be conducive to improve the matching degree between range information and color information, advantageously ensure that detection accuracy；And it is described
The light-emitting window of multiple emitters is centrosymmetric distribution, the difference that can deviate between active balance difference detection light, favorably
In the control of detecting error.
In optinal plan of the present invention, the laser emission element includes: 4 emitters；4 emitters go out
Optical port is in 2 × 2 array arrangements.4 emitters of 2 × 2 array arrangements, can either meet the skill of range information and color information
The distance between art needs, and adjacent transmission device can be effectively reduced, be conducive to the raising of integrated level and the drop of technology difficulty
It is low；And 2 × 24 emitters of array arrangement also emitter can be made to be staggered on the direction of vertical level, in color
Color emitter can not only be provided in the case that color information also provides range information, additionally it is possible to improve hanging down for laser radar
Right angle resolution ratio.
In optinal plan of the present invention, the laser radar further include: at least one galvanometer, the galvanometer have reflecting surface,
The reflecting surface is suitable for reflecting outgoing beam；The shooting angle for changing outgoing beam by galvanometer can effectively improve described
The resolution ratio of laser radar is conducive to improve accuracy of identification.
In optinal plan of the present invention, the galvanometer in the laser radar can be 2-D vibration mirror or one-dimensional galvanometer；It is one-dimensional
Galvanometer changes shooting angle of the outgoing beam on the direction of vertical level, with can 360 ° rotation and vertical level
Rotary shaft match；Perhaps 2-D vibration mirror or two one-dimensional galvanometers match, can by different galvanometers and combinations thereof
It realizes the detection of target in different range, investigative range can be expanded under the premise of controlling optical system complexity, improved
Accuracy of identification.
In optinal plan of the present invention, the laser radar further include: reflector element, the reflector element are located at the transmitting
In optical path between device and the galvanometer；The reflector element has through hole area, the position of the through hole area and the laser
Transmitting unit position is corresponding, has the multiple through-holes for running through the reflector element along optical path direction in the through hole area, described logical
The position in hole is corresponding with the light-emitting window position of the emitter.The setting of the reflector element can make outgoing beam and letter
Number light beam realizes road altogether, to realize transmitting-receiving road altogether, is conducive to the raising of integrated level, is conducive to the realization of miniaturization.
In optinal plan of the present invention, the laser radar further include: filter unit, can filtering environmental light, to inhibit
Interference signal is conducive to propose high color reproduction degree to improve signal-to-noise ratio, is conducive to improve detection accuracy.
Detailed description of the invention
Fig. 1 be in the prior art a kind of laser radar in the part light path schematic diagram at t1 moment；
Fig. 2 is the part light path schematic diagram at the t2 moment of laser radar shown in Fig. 1 after instant tl；
Fig. 3 is the light channel structure schematic diagram of one embodiment of laser radar of the present invention；
Fig. 4 is the overlooking structure diagram of the part reflector element 140 in laser radar embodiment shown in Fig. 3.
Specific embodiment
In order to solve the problems, such as that images match and synchronous triggering, the prior art are proposed through four lasers and corresponding spy
The method of device is surveyed to obtain range information and color information, including the responsible infrared laser for obtaining range information, and is born
Duty obtains feux rouges, green light, the blue laser of colour information.
The laser radar includes multiple lasers, and the detection light of the multiple laser is emitted with certain angle of divergence, because
Detection light caused by this each laser corresponds to the information in different angle.Detection light produced by different location laser is saturating
It is incident upon the position in target to be detected, can be changed with the rotation of laser.
The part light path schematic diagram of laser radar described in the t1 moment is shown with reference to Fig. 1, Fig. 1.
As shown in Figure 1, the laser radar includes: the first laser device r for generating the first detection light；It is detected with generation second
The second laser g of light.There is angle α between the first detection light and the second detection light.At the t1 moment, described first
Detection light 11r is projected to the position b in target to be detected；The second detection light 11g is projected to the position a in target to be detected
It sets.
In conjunction with reference Fig. 2, Fig. 2 shows the part light path schematic diagrams of laser radar described in the t2 moment after the t1 moment.
With the rotation of laser radar, at the t2 moment, the first detection light 12r projection caused by the first laser device r
To the position c in target to be detected, the second detection light 12g caused by the second laser g is projected in target to be detected
The position b.
It can be seen that the first detection light 11r and second detection light 12g obtained information at the b of position correspond respectively to t1
With two moment of t2, therefore the position of multiple lasers is calibrated and is demarcated in the laser radar.
The calibration calibration of laser positions can installation to laser radar and Back end data processing bring very big difficulty, from
And it will increase the manufacture and control difficulty of the laser radar, it is also possible to will affect detection accuracy and the identification of the laser radar
Success rate.
To solve the technical problem, the present invention provides a kind of laser radar, comprising: at least one laser emission element；
The laser emission element includes: multiple emitters, and each emitter generation detects light, the multiple emitter all the way
Generated multiplexed detection light exiting parallel is to form outgoing beam；The multiple emitter includes: range transmission device, institute
Range transmission device is stated to be suitable for generating distance measurement light；Color emission device, the color emission device are suitable for generating color
Coloured silk detection light.The laser radar is color laser radar, can obtain range information and color information simultaneously；It is generated more
Road detects light exiting parallel, therefore the laser radar is without carrying out calibration calibration, Neng Gouyou to the position of different emitters
Effect reduces the difficulty of Back end data processing, reduces assembly complexity；In addition, the laser radar is not necessarily to additional optical component
Light beam can be realized and be total to road, can satisfy low cost, minimize, the demand for development of solid state.
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
With reference to Fig. 3, the light channel structure schematic diagram of one embodiment of laser radar of the present invention is shown.
As shown in figure 3, the laser radar includes: at least one laser emission element 110；
The laser emission element 110 includes: multiple emitters, and each emitter generation detects light all the way, described
Multiplexed detection light exiting parallel is caused by multiple emitters to form outgoing beam.
As shown in figure 3, the laser emission element 110 includes: range transmission device 111i in the present embodiment, it is described away from
It is suitable for generating distance measurement light 112i from emitter 111i.The range transmission device 111i includes: infrared laser, i.e.,
The distance measurement light 112i is infrared light.Specifically, the infrared laser can be the red of 905nm or 1550nm equiwavelength
Outer laser；The infrared laser can be one of pulse laser or continuous wave laser.So the distance is visited
Survey the pulse laser or continuous laser that light 112i can be 905nm or 1550nm equiwavelength.
The laser emission element 110 further include: multiple color emission devices, produced by the multiple color emission device
Color detection light frequency be all different.Specifically, the laser emission element 110 includes: the first color emission device 111r,
The first color emission device 111r includes red laser；Second color emission device 111g, second color emission
Device 111g includes green (light) laser；Third color emitter 111b, the third color emitter 111b includes blue light
Laser.
So the detection of the first color caused by the first color emission device 111r light 112r is red laser；Institute
Stating the detection of the second color caused by the second color emission device 111g light 112g is green laser；The third color transmitting dress
Setting the detection of third color caused by 111b light 112b is blue laser.First color detects light 112r, second color
Coloured silk detection light 112g and third color detection light 112b be respectively used to obtain the target to be detected for red laser,
The reflectivity of green laser and blue laser obtains the colouring information of the target to be detected with inverting.
Detection light 112i caused by the range transmission device 111i can obtain the range information of target to be detected, institute
The color information of target to be detected can be obtained by stating the detection of color caused by color emission device light 112r, 112g and 112b,
Thus the laser radar is color laser radar, can obtain range information and color information simultaneously；And the multichannel is visited
It surveys light 112 to be parallel to each other outgoing, therefore the laser radar is not necessarily to carry out calibration calibration to the position of different emitters, it can
The difficulty of Back end data processing is effectively reduced, assembly complexity is reduced；In addition, the laser radar is not necessarily to additional optics member device
Part can be realized light beam and be total to road, can satisfy low cost, minimizes, the demand for development of solid state.
The detection light 112 is emitted from the light-emitting window of the emitter, as shown in figure 3, same laser emission element 110
In the light-emitting windows of multiple emitters closely arrange.So that light-emitting window is closely arranged, the smaller multichannel of spacing distance can be generated
Light 112 is detected, so that the multiplexed detection light 112 be made to be transmitted through the position in target to be detected closer to can effectively subtract
Deviation between the small range information and the color information is conducive to improve the matching between range information and color information
Degree advantageously ensures that detection accuracy.
Specifically, in the laser emission element 110, the multiple light-emitting window is centrosymmetric distribution.Make the multiple
The light-emitting window of emitter is centrosymmetric distribution, and the difference that can deviate between active balance difference detection light is conducive to visit
Survey the control of error.
In the present embodiment, a laser emission element 110 includes: 4 emitters；4 emitters
Light-emitting window is in 2 × 2 array arrangements.4 emitters closely arranged with 2 × 2 arrays can either meet while obtain distance letter
The distance between the technology of breath and color information needs, and adjacent transmission device can be effectively reduced, be conducive to mentioning for integrated level
High and technology difficulty reduction.And 2 × 24 emitters of array arrangement can also make emitter in vertical level
Direction on be staggered, in the case where color emission device can not only provide color information and also provide range information, additionally it is possible to
Improve the vertical angular resolution of laser radar.It should be noted that in other embodiments of the invention, 4 emitters
It can be arranged in 1 × 4 or 4 × 1 array.
It should be noted that in the present embodiment, the laser radar be based on red, blue, the green principle of three primary colours obtain it is described to
Detect the colouring information of target.Other embodiments of the invention can obtain color by the combination of other color laser.
It should also be noted that, the light-emitting window of the emitter is the light-emitting window of laser, therefore in the present embodiment
Multiple lasers in the laser emission element are closely arranged closely is arranged with reaching the light-emitting window of multiple emitters
Purpose.In other embodiments of the present invention, the emitter can also include more corresponding with multiple number of lasers
Optical fiber, one end of the multifiber and the light-emitting window one-to-one correspondence of the multiple laser are optically coupled, the more light
Light-emitting window of the fine other end as the emitter passes through the array arrangement of optical fiber since the diameter of optical fiber is thinner
It can achieve the purpose that the light-emitting window of multiple emitters is more closely arranged, and the multiple laser can disperse to arrange
In order to radiate.
As shown in figure 3, in the present embodiment, the laser radar further include: at least one galvanometer 120, the galvanometer 120 wrap
Reflecting surface is included, the reflecting surface is suitable for reflecting the outgoing beam.The distance measurement light 112i, first color detection
Light 112r, second color detection light 112g and the third color detect reflecting surface of the light 112b through the galvanometer 120
Reflection is to form outgoing beam.With the variation of 120 rotational angle of galvanometer, the propagation side of the detection light through the reflective surface
To changing, therefore the galvanometer 120 is suitable for changing the direction of propagation of the multiplexed detection light, to change the outgoing
The exit direction of light beam is to realize the detection of target to be detected in different direction.
Since multiple emitters in same laser emission element are closely arranged, same laser emission element 110
In the multiple emitter caused by multiplexed detection light by the same galvanometer 120 reflective surface.Due to galvanometer 120
Reflecting surface limited area, therefore make multichannel caused by the multiple emitter in same laser emission element 110 visit
Survey light by the same galvanometer 120 reflective surface way, can guarantee the multiple in same laser emission element 110
Emitter arrangement is close enough, so as to guarantee that the road the multiplexed detection Guang Gong is propagated, guarantees that the laser radar is whole
A optical path is total road, can make the laser radar while obtain range information and color information, and without to different hairs
The position of injection device carries out calibration calibration, can effectively reduce the difficulty of Back end data processing, reduces assembly complexity；In addition,
The laser radar can be realized light beam without additional optical component and be total to road, can satisfy low cost, miniaturization, solid state
Demand for development.
In the present embodiment, the galvanometer 120 is 2-D vibration mirror or the orthogonal two one-dimensional galvanometers of rotation axis.It will be described
Galvanometer 120 is set as the way of 2-D vibration mirror or two one-dimensional galvanometers, can improve under the premise of not increasing number of lasers
Angular resolution horizontally and vertically.In other embodiments of the invention, the galvanometer can also be one-dimensional galvanometer, described
One-dimensional galvanometer with can 360 ° of rotations and the rotary shaft of vertical level match.Pass through different galvanometers and combinations thereof, Neng Goushi
The detection of target in existing different range can expand investigative range under the premise of controlling optical system complexity, improve and know
Other precision.
As shown in figure 3, the distance measurement light 112i, first color detection light 112r, second color detection
Light 112g and third color detection light 112b are reflected through the galvanometer 120 to form the outgoing beam.The outgoing
Light beam reflects to form echo beam through target (not shown) to be detected；This embodiment example, the laser radar further include: receive
Collect unit 130, the collector unit 130 collects the echo beam and forms signal beams 130r.
Scattering occurs for the outgoing beam to form scattering light on the object to be measured surface, and the collector unit 130 is received
Collect the rear orientation light in the scattering light to form the signal beams 130r.Since the signal beams 130r is described returns
Rear orientation light in glistening light of waves beam, therefore the direction of propagation of the signal beams 130r is also to be parallel to each other, and be parallel to institute
State distance measurement light 112i, first color detection light 112r, second color detection light 112g and the third color
The direction of propagation of coloured silk detection light 112b, that is to say, that the entire optical path of the laser radar is total road.
Moreover, the distance measurement light 112i, first color detection light 112r, second color detect light 112g
And the third color detects light 112b spacing distance very little, therefore the distance measurement light 112i, first color are visited
It surveys light 112r, second color detection light 112g and third color detection light 112b is projeced into the target to be detected
On very close to four positions, so signal beams include the color information and distance of same position in the target to be detected
Information, to obtain range information and color information simultaneously.
In addition, the laser radar further include: reflector element 140, the reflector element 140 reflect the signal beams
130r is to probe unit 160.The reflector element 140 is suitable for adjusting the optical path of the signal beams 130r, to realize signal
The detection of light.Specifically, the reflector element 140 includes: reflecting mirror.
As shown in figure 3, the entire optical path of the laser radar is total road, therefore, the reflector element in the present embodiment
In 140 optical path between the laser emission element 110 and the galvanometer 120；So being shown in conjunction with reference Fig. 4, Fig. 4
The overlooking structure diagram of the part reflector element 140 in Fig. 3.
The reflector element 140 has through hole area 141, the position of the through hole area 141 and the laser emission element 110
Position is corresponding, has the multiple through-holes 142 for running through the reflector element 140 along optical path direction in the through hole area 141, described logical
The position in hole 142 is corresponding with the light-emitting window position of the emitter.
The setting of the reflector element 140 can make outgoing beam and signal beams 130r realize road altogether, to realize receipts
The road Fa Gong is conducive to the raising of integrated level, is conducive to the realization of miniaturization.
With continued reference to Fig. 3, the laser radar further include: spectrophotometric unit 150, the spectrophotometric unit 150 receive the receipts
Collect the signal beams 130r that unit 130 is formed, the spectrophotometric unit 150 also divides the signal beams 130r for multiple signals
Light, the multiple signals light and the multiplexed detection light correspond.In the present embodiment, the spectrophotometric unit 150 includes: light
Grid.In other embodiments of the invention, the spectrophotometric unit also may include other beam splitters such as prism.
The spectrophotometric unit 150 is suitable for the laser of different frequency in the signal beams is spatially separated.This reality
It applies in example, the spectrophotometric unit 150 includes: grating.According to grating equation: d [sin (β)-sin (α)]=n λ, wherein d
For screen periods, α is incidence angle, and β is the angle of emergence, i.e. the angle of diffraction, and n is diffraction time, and λ is optical maser wavelength, and different wave length swashs
Light has the different angles of diffraction after transmission grating, therefore after transmission grating, different wave length in the signal beams 130r
Light can be spatially separated, to form the different multiple signals light in the direction of propagation；Since the signal beams 130r is by institute
It states multiplexed detection light to be formed through reflection or the effects of transmission, therefore the multiple signals light and the multiplexed detection light one are a pair of
It answers.
In addition, the laser radar further include: probe unit 160, the probe unit 160 receive and detect the multichannel
Signal light.The probe unit 160 includes multiple detection devices 161, the multiple detection device 161 and the multiple signals light
It corresponds.
In the present embodiment, detection device 161 in the probe unit 160 can using flight time detection mode,
The detection of the multiple signals light can be realized using coherent detection mode.The detection device 161 can be avalanche optoelectronic two
Pole pipe (Avalanche Photo Diode, APD), is also possible to other photodetectors such as photomultiplier tube.
The laser radar further include: filter unit (does not indicate) in figure, and the filter unit is located at the probe unit
In optical path before 160.Specifically, the filter unit includes: multiple narrow band filters, the number of the multiple narrow band filter
Amount is corresponding with the quantity of the multiple signals light, and the transmission peak wavelength of each narrow band filter is opposite with the wavelength of multiple signals light
It answers, the multiple narrow band filter slice is between the spectrophotometric unit 150 and the probe unit 160.The multiple narrowband filter
The setting of wave plate can filtering environmental light, to improve signal-to-noise ratio, be conducive to propose high color reproduction degree to inhibit interference signal,
Be conducive to improve detection accuracy.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (15)
1. a kind of laser radar characterized by comprising at least one laser emission element；
The laser emission element includes: multiple emitters, and each emitter generation detects light, the multiple transmitting all the way
Multiplexed detection light exiting parallel is caused by device to form outgoing beam；
The multiple emitter includes: range transmission device, and the range transmission device is suitable for generating distance measurement light；Color
Color emitter, the color emission device are suitable for generating color detection light.
2. laser radar as described in claim 1, which is characterized in that the detection light goes out from the light-emitting window of the emitter
It penetrates, the light-emitting window of multiple emitters in same laser emission element is closely arranged；
In the laser emission element, the multiple light-emitting window is centrosymmetric distribution.
3. laser radar as claimed in claim 1 or 2, which is characterized in that the laser emission element includes: 4 transmitting dresses
It sets；The light-emitting window of 4 emitters is in 2 × 2 array arrangements.
4. laser radar as described in claim 1, which is characterized in that the range transmission device includes: infrared laser；Institute
Stating color emission device includes: visible laser.
5. laser radar as described in claim 1, which is characterized in that the laser emission element includes: multiple color emissions
Device, the detection of color caused by the multiple color emission device light frequency are all different.
6. laser radar as claimed in claim 1 or 5, which is characterized in that the laser emission element includes: the first color hair
Injection device, the first color emission device includes: red laser；Second color emission device, second color emission
Device includes: green (light) laser；Third color emitter, the third color emitter includes: blue laser.
7. laser radar as described in claim 1, which is characterized in that the laser radar further include: at least one galvanometer, institute
Stating galvanometer includes reflecting surface, and the reflecting surface is suitable for reflecting the outgoing beam.
8. laser radar as claimed in claim 7, which is characterized in that the galvanometer includes in one-dimensional galvanometer and 2-D vibration mirror
It is at least one.
9. laser radar as claimed in claim 7 or 8, which is characterized in that the multiple hair in same laser emission element
Multiplexed detection light caused by injection device by the same galvanometer reflective surface.
10. laser radar as described in claim 1, which is characterized in that the outgoing beam is reflected to form through target to be detected
Echo beam；
The laser radar further include:
Collector unit, the collector unit collect the echo beam and form signal beams；
Probe unit, the probe unit detect the signal beams；
Reflector element, the reflector element reflect the signal beams to probe unit.
11. laser radar as claimed in claim 10, which is characterized in that the reflector element is located at the laser emission element
In optical path between the galvanometer；
The reflector element has through hole area, and the position of the through hole area is corresponding with the laser emission element position, described logical
There is the multiple through-holes for running through the reflector element along optical path direction, the position of the through-hole and the emitter in porose area
Light-emitting window position is corresponding.
12. laser radar as claimed in claim 10, which is characterized in that further include:
Spectrophotometric unit, the light-dividing device receive the signal beams that collector unit is formed, and the light-dividing device is also by the signal
Light beam is divided into multiple signals light, and the multiple signals light and the multiplexed detection light correspond.
13. laser radar as claimed in claim 12, which is characterized in that the probe unit includes multiple detection devices, institute
It states multiple detection devices and the multiple signals light corresponds.
14. laser radar as claimed in claim 12, which is characterized in that the spectrophotometric unit includes: in grating and prism
It is at least one.
15. laser radar as claimed in claim 12, which is characterized in that further include: filter unit, the filter unit are located at
In optical path before the probe unit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188796.2A CN109188400A (en) | 2018-10-11 | 2018-10-11 | laser radar |
| PCT/CN2019/110254 WO2020073934A1 (en) | 2018-10-11 | 2019-10-10 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188796.2A CN109188400A (en) | 2018-10-11 | 2018-10-11 | laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109188400A true CN109188400A (en) | 2019-01-11 |
Family
ID=64948231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811188796.2A Pending CN109188400A (en) | 2018-10-11 | 2018-10-11 | laser radar |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109188400A (en) |
| WO (1) | WO2020073934A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| WO2020073934A1 (en) * | 2018-10-11 | 2020-04-16 | 上海禾赛光电科技有限公司 | Laser radar |
| WO2021168832A1 (en) * | 2020-02-28 | 2021-09-02 | 华为技术有限公司 | Laser detection system and vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103969658A (en) * | 2014-05-22 | 2014-08-06 | 武汉大学 | Close-range photogrammetry colorful three-dimensional scanning laser radar |
| US9268012B2 (en) * | 2013-07-12 | 2016-02-23 | Princeton Optronics Inc. | 2-D planar VCSEL source for 3-D imaging |
| CN106443699A (en) * | 2016-09-09 | 2017-02-22 | 深圳市砝石激光雷达有限公司 | Multi-combination laser radar device and scanning method thereof |
| CN107092021A (en) * | 2017-04-05 | 2017-08-25 | 天津珞雍空间信息研究院有限公司 | Mobile lidar 3-D scanning method, terrain classification method and system |
| CN107153195A (en) * | 2016-12-30 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN107817483A (en) * | 2017-12-08 | 2018-03-20 | 上海禾赛光电科技有限公司 | The acquisition methods and laser radar system of obstacle information |
| CN108303701A (en) * | 2018-01-19 | 2018-07-20 | 上海禾赛光电科技有限公司 | Laser radar system, the launching technique of laser pulse and medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9823351B2 (en) * | 2012-12-18 | 2017-11-21 | Uber Technologies, Inc. | Multi-clad fiber based optical apparatus and methods for light detection and ranging sensors |
| CN103954971B (en) * | 2014-05-22 | 2016-03-30 | 武汉大学 | Airborne color three dimension scanning laser radar |
| CN104597436B (en) * | 2015-01-15 | 2017-08-11 | 北京理工大学 | A kind of spectrum device applied to imaging laser radar |
| CN207571026U (en) * | 2017-12-25 | 2018-07-03 | 太原工业学院 | A kind of multiple gases telemetry system based on TDLAS |
| CN109188400A (en) * | 2018-10-11 | 2019-01-11 | 上海禾赛光电科技有限公司 | laser radar |
-
2018
- 2018-10-11 CN CN201811188796.2A patent/CN109188400A/en active Pending
-
2019
- 2019-10-10 WO PCT/CN2019/110254 patent/WO2020073934A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9268012B2 (en) * | 2013-07-12 | 2016-02-23 | Princeton Optronics Inc. | 2-D planar VCSEL source for 3-D imaging |
| CN103969658A (en) * | 2014-05-22 | 2014-08-06 | 武汉大学 | Close-range photogrammetry colorful three-dimensional scanning laser radar |
| CN106443699A (en) * | 2016-09-09 | 2017-02-22 | 深圳市砝石激光雷达有限公司 | Multi-combination laser radar device and scanning method thereof |
| CN107153195A (en) * | 2016-12-30 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN107092021A (en) * | 2017-04-05 | 2017-08-25 | 天津珞雍空间信息研究院有限公司 | Mobile lidar 3-D scanning method, terrain classification method and system |
| CN107817483A (en) * | 2017-12-08 | 2018-03-20 | 上海禾赛光电科技有限公司 | The acquisition methods and laser radar system of obstacle information |
| CN108303701A (en) * | 2018-01-19 | 2018-07-20 | 上海禾赛光电科技有限公司 | Laser radar system, the launching technique of laser pulse and medium |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020073934A1 (en) * | 2018-10-11 | 2020-04-16 | 上海禾赛光电科技有限公司 | Laser radar |
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| WO2021168832A1 (en) * | 2020-02-28 | 2021-09-02 | 华为技术有限公司 | Laser detection system and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020073934A1 (en) | 2020-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109597050B (en) | Laser radar | |
| CN106569224B (en) | A kind of sweep type laser radar optical system | |
| CN106443634A (en) | Solid-state laser radar system | |
| CN109613515B (en) | Laser radar system | |
| US9036134B2 (en) | Multi-mode optical measurement device and method of operation | |
| US9696426B2 (en) | System and method for scan range gating | |
| KR100660952B1 (en) | Laser scanner measurement system | |
| CN108445467A (en) | A kind of scanning laser radar system | |
| CN109188400A (en) | laser radar | |
| CN206114893U (en) | Solid state laser radar system | |
| CN107727008B (en) | Device and method for measuring transmitting and receiving coaxiality of active photoelectric system | |
| CN110187357A (en) | The Laser Active Imaging System Used of 3-D image reconstruct | |
| CN110196420B (en) | Echo simulation device and method of laser radar | |
| WO2021258707A1 (en) | Planar array dispersive spectral photosensitive assembly, receive end, and laser radar system | |
| US20210041560A1 (en) | Distance detection apparatuses | |
| CN108508503B (en) | A kind of achievable map and the remote-sensing imaging system of the integrated detection of structural information | |
| CN109738880A (en) | A kind of laser radar system and laser ranging system | |
| CN106569218A (en) | Laser radar optical system based on four-angle simultaneous detection | |
| CN106353766A (en) | Laser radar multipoint distance measurement system on basis of diffraction optical components | |
| CN102798868A (en) | Three-dimensional imaging radar system based on aviation spectrum | |
| WO2020098771A1 (en) | Laser radar system | |
| CN108594246A (en) | A kind of multifunction laser rangefinder | |
| CN208092234U (en) | A kind of multifunction laser rangefinder | |
| US20080062526A1 (en) | Target Acquisition Device | |
| CN108732577A (en) | A kind of Laser Detecting Set |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 201800 Building 2, no.468 xinlai Road, Jiading District, Shanghai Applicant after: Shanghai Hesai Technology Co., Ltd Address before: Block B, L2, Langhong Bridge World Center, 1588 Zhuguang Road, Qingpu District, Shanghai, 20102 Applicant before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant after: Shanghai Hesai Technology Co.,Ltd. Address before: 201800 Building 2, no.468, xinlai Road, Jiading District, Shanghai Applicant before: Shanghai Hesai Technology Co., Ltd |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190111 |