CN109814082B - Light receiving module and laser radar system - Google Patents
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Abstract
The invention provides a light receiving module and a laser radar system, wherein the light receiving module comprises: the optical transmission submodule and the detection submodule are sequentially arranged along the receiving light path; the optical transmission sub-module is suitable for receiving, filtering and transmitting light beams, and the light beams comprise signal light; the detection submodule is suitable for receiving and detecting the light beam transmitted by the light transmission submodule; wherein the optical transmission sub-module and/or the detection sub-module comprises an absorption substrate adapted to absorb light of a predetermined wavelength band outside at least the signal light wavelength range. The laser radar system includes: a light emitting module adapted to emit a detection laser beam to the outside; and the light receiving module is suitable for receiving and detecting an echo signal of a laser beam formed by reflecting the detection laser beam from the outside. The light receiving module and the laser radar system provided by the embodiment of the invention can inhibit ambient light, improve the intensity of large-angle oblique incidence signal light and improve the signal-to-noise ratio.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a light receiving module and a laser radar system.
Background
Lidar is an advanced detection method that combines laser technology with photoelectric detection technology. Laser radar is widely applied to the fields of automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, energy safety detection, resource exploration and the like due to the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like.
The data quality of the lidar is an important criterion for measuring the performance of the lidar. The data of the laser radar is influenced by the ambient light, and in order to suppress the ambient light, the conventional laser radar system usually uses a transmissive narrow-band interference filter, however, this scheme may cause problems, for example, the transmittance of the transmissive interference filter is greatly influenced by the incident angle, the transmittance of the signal light incident at a large angle may be very low, and the laser radar may not receive the signal incident at a large angle, unless the transmittance bandwidth of the transmissive interference filter is widened, but this may increase the influence of the ambient light.
Therefore, how to reduce the influence on the signal light as much as possible and improve the signal-to-noise ratio while suppressing the ambient light is an urgent problem to be solved in the current laser radar application.
Disclosure of Invention
The invention solves the technical problem of how to inhibit the ambient light in the application of the laser radar and improve the signal to noise ratio.
To solve the above technical problem, an embodiment of the present invention provides an optical receiving module, including: the optical transmission submodule and the detection submodule are sequentially arranged along the receiving light path; the optical transmission sub-module is suitable for receiving, filtering and transmitting light beams, and the light beams comprise signal light; and the detection submodule is suitable for receiving and detecting the light beam transmitted by the light transmission submodule; wherein the optical transmission sub-module and/or the detection sub-module comprises an absorption substrate adapted to absorb light of a predetermined wavelength band outside at least the signal light wavelength range.
Optionally, the optical transmission sub-module includes an optical filter and at least one mirror sequentially disposed along the receiving optical path; the optical filter comprises the absorption type substrate and an antireflection film plated on the absorption type substrate and corresponding to the signal light wavelength, wherein the absorption type substrate is suitable for transmitting the signal light and absorbing light of a preset wave band outside the signal light wavelength range; the at least one mirror is adapted to reflect the signal light.
Optionally, the optical transmission sub-module includes at least one mirror sequentially disposed along the receiving optical path, where the at least one mirror includes the absorption-type substrate and a reflective film plated on a light incident surface of the absorption-type substrate; the reflection film of the at least one mirror is adapted to increase the reflectivity of the signal light, and the absorption-type substrate of the at least one mirror is adapted to absorb light of a predetermined wavelength band at least outside the wavelength range of the signal light.
Optionally, the optical transmission sub-module further includes: and the optical filter is arranged on the receiving light path and is positioned at the upstream of the light path of the at least one reflector, the optical filter comprises the absorption type substrate and an antireflection film plated on the absorption type substrate and corresponding to the signal light wavelength, and the absorption type substrate is suitable for transmitting the signal light and absorbing light of a preset waveband outside the signal light wavelength range.
Optionally, the optical transmission sub-module includes a first reflecting mirror and a second reflecting mirror sequentially disposed along the receiving optical path.
Optionally, the light of the preset wavelength band outside the signal light wavelength range includes ambient light to which the detection sub-module can respond.
Optionally, the absorption substrate of the optical filter is adapted to absorb light with a wavelength of 350nm to 850nm and transmit near infrared light and infrared light with a wavelength of 850nm or more, and an antireflection film adapted to increase transmittance of light with a wavelength of 875nm to 940nm is plated on the absorption substrate of the optical filter.
Optionally, the optical transmission sub-module further includes a focusing lens group, and the optical filter is disposed on an upstream, a downstream, or between lenses included in the focusing lens group.
Optionally, the absorption substrate of the first reflector is plated with a reflective film for increasing the reflectivity of light in a first wavelength band, and the absorption substrate of the second reflector is plated with a reflective film for increasing the reflectivity of light in a second wavelength band, where the first wavelength band and the second wavelength band overlap in the wavelength range of the signal light.
Optionally, the first wavelength band is 875nm to 1100nm, and the second wavelength band is 350nm to 940 nm; or the first wave band is 350nm to 940nm, and the second wave band is 875nm to 1100 nm.
Optionally, the absorptive substrate of the first mirror and the absorptive substrate of the second mirror are each adapted to absorb light from 350nm to 1100 nm.
Optionally, the detection submodule comprises an array aperture stop having an absorption-type substrate, and a detector array; the array hole diaphragm is provided with a plurality of through holes corresponding to the positions of the detectors of the detector array, the substrate of the array hole diaphragm is suitable for absorbing the ambient light in the same frequency band with the signal light and the light in a preset wave band outside the signal light wavelength range, and the light incident surface of the substrate of the array hole diaphragm is plated with an antireflection film containing the wave band including the signal light wavelength.
Optionally, the substrate of the array aperture stop is adapted to absorb light of 350nm to 1100nm, and the light incident surface of the substrate of the array aperture stop is plated with an antireflection film of 600nm to 1000 nm.
Correspondingly, the embodiment of the invention also provides a laser radar system, which comprises a light emitting module, a light receiving module and a light receiving module, wherein the light emitting module is suitable for emitting a detection laser beam to the outside; and the light receiving module is suitable for receiving and detecting an echo signal of a laser beam formed by reflecting the detection laser beam by the outside.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the light receiving module comprises a light transmission sub-module and a detection sub-module, and the light transmission sub-module and/or the detection sub-module comprises an absorption substrate which is suitable for absorbing light of a preset waveband at least outside the wavelength range of the signal light, so that the influence of the received light of a non-signal light waveband on the signal light can be weakened, and the suppression effect on the ambient light is enhanced.
Furthermore, the optical transmission sub-module comprises an optical filter and two reflectors which are sequentially arranged along a receiving light path, the optical filter comprises an absorption substrate and an antireflection film plated on the substrate, the substrate is suitable for absorbing ambient light in a non-signal light wave band, and the antireflection film is suitable for increasing the transmissivity of signal light, so that the signal-to-noise ratio can be improved; the film layer of the antireflection film is thin and is not greatly influenced by the light incidence angle, so that the blue shift degree of the transmittance curve of the optical filter is reduced; in addition, because the mirrors share a large incident angle, the incident angle on each mirror is not changed greatly, the influence of the incident angle on the reflectivity curve of the mirror is reduced, and the blue shift phenomenon of the reflectivity curve is weakened. Therefore, the light receiving module provided by the embodiment of the invention can inhibit ambient light and improve the intensity of large-angle oblique incidence signal light, thereby improving the signal-to-noise ratio.
Further, the optical transmission submodule includes two reflectors that set gradually along the receiving light path, two reflectors all include the absorption type basement and plate in reflective film on the light incidence face of basement, because reflective film can increase the reflectivity of signal light, and the basement can absorb the ambient light of non-signal light wave band, consequently only signal light and with the ambient light of signal light co-channel can have great reflectivity by two reflectors. The two reflectors with the absorption type substrates achieve the performance of the optical filter, the suppression of ambient light of non-signal light wave bands is enhanced, the intensity of large-angle oblique incidence signal light is improved, and therefore the signal to noise ratio is improved.
Furthermore, the optical transmission sub-module comprises an optical filter with an absorption type substrate and two reflectors with absorption type substrates, which are sequentially arranged along a receiving light path, the optical filter also comprises an antireflection film plated on the substrate of the optical filter, and the two reflectors also comprise reflection films plated on the substrates of the two reflectors, namely, the received light of the light receiving module is filtered by the optical filter and the two reflectors for multiple times respectively, so that the ambient light in a non-signal light wave band is inhibited to a greater extent, the intensity of large-angle oblique incident signal light is improved, and the signal to noise ratio is improved.
Furthermore, the detection submodule comprises an array hole diaphragm with an absorption type substrate and a detector array, a plurality of through holes are formed in the array hole diaphragm corresponding to the detector array, only light in the field of view of the detector in signal light emitted from two reflectors and ambient light in the same frequency band with the signal light can pass through the through holes of the array hole diaphragm and enter the detector, and other light enters the substrate material of the array hole diaphragm to be absorbed, so that the inhibition on the ambient light is further enhanced, and the signal-to-noise ratio is improved; in addition, the antireflection film is plated on the substrate of the array hole diaphragm, so that the possibility that light enters the detector after being reflected on the surface of the dielectric film and then being reflected for multiple times in the receiving cavity is reduced, the influence of ambient light is weakened, a 'dark' environment is formed in the light receiving cavity, and the difference of the performances of the light receiving module in all days (day and night) is reduced.
The laser radar system comprises the light emitting module and the light receiving module, and the light receiving module can inhibit ambient light, improve the intensity of large-angle oblique incident signal light and improve the signal to noise ratio, so that the data quality of the laser radar system is greatly improved, and the difference of the performance of the laser radar system in all days (day and night) is reduced.
Drawings
FIG. 1 is a graph of transmittance curve versus angle of incidence for an interference filter;
FIG. 2 is a schematic diagram of a lidar line number distribution diagram;
FIG. 3 is a schematic block diagram of lidar system 10 in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of the structure of an array aperture stop 124a according to one embodiment of the present invention;
FIG. 5 is a schematic block diagram of laser radar system 20 in accordance with another embodiment of the present invention;
fig. 6 is a schematic diagram of a lidar system 30 according to another embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
As discussed in the background, there are problems associated with the use of existing transmissive interference filters for suppressing ambient light. Referring to fig. 1, fig. 1 is a graph of transmittance curve of an interference filter as a function of incident angle, specifically illustrating transmittance curves of the interference filter at incident angles of 6 degrees, 20 degrees, 30 degrees, and 40 degrees, respectively. As can be seen from fig. 1, the transmittance curve of the interference filter shifts in the short wavelength direction as the incident angle increases. This characteristic causes problems in that: when the laser radar works, the wavelength of the laser is increased due to the temperature rise, namely, the laser generates red shift. Particularly, for a multi-line (multi-laser) laser radar, the smaller volume is not beneficial to heat dissipation, and the temperature rise phenomenon is more obvious. As shown in fig. 2, which is a schematic diagram of a distribution diagram of the number of lines of the laser radar, when the wavelength of the laser is increased, and a large-angle incident light, i.e. a beam corresponding to the laser radar emitted to the ground or a beam emitted to the upper field of view, reaches the transmissive interference filter, the transmittance becomes very low, so that the detector may not receive a signal unless the transmittance bandwidth of the transmissive filter is increased, which may increase the influence of the ambient light.
In order to effectively suppress ambient light, improve the intensity of large-angle oblique incident signal light, and further improve the signal-to-noise ratio, an embodiment of the present invention provides a light receiving module and a laser radar system, where the light receiving module includes: the optical transmission submodule and the detection submodule are sequentially arranged along the receiving light path; the optical transmission sub-module is adapted to receive, filter, and transmit a light beam, the light beam comprising signal light; and the detection sub-module is suitable for receiving and detecting the light beam transmitted by the light transmission sub-module; wherein the optical transmission sub-module and/or the detection sub-module comprises an absorption substrate adapted to absorb light of a predetermined wavelength band outside at least the signal light wavelength range. The laser radar system comprises a light emitting module and a light receiving module, wherein the light emitting module is suitable for emitting a detection laser beam to the outside, and the light receiving module is suitable for receiving and detecting an echo signal of the laser beam formed by reflecting the detection laser beam by the outside.
In order to make the present invention better understood and implemented by those skilled in the art, the following describes the structure of the laser radar system and the light receiving module according to the embodiment of the present invention in detail with reference to the accompanying drawings.
Referring to fig. 3 in conjunction, fig. 3 is a schematic block diagram of lidar system 10 in accordance with an embodiment of the present invention. The laser radar system 10 includes:
the rotor and the stator, the inside of the rotor is separated into a transmitting cavity 11 and a receiving cavity 12, the transmitting cavity 11 and the receiving cavity 12 are separated by a partition 13, the rotor and the stator are prior art in the field, and are not described herein again.
And the light emitting module is arranged in the emission cavity 11 and is suitable for emitting a detection laser beam to the outside. In some embodiments, the light emitting module includes a laser 111, a front mirror 112, a back mirror 113, and a light exit device 114. The laser 111 may be a plurality of lasers arranged in an array, and the light exiting device 114 may be a collimating lens (group). The detection laser beam emitted from the laser 111 is sequentially reflected by the front reflector 112 and the rear reflector 113, and transmitted by the light emitting device 114 to be irradiated to the outside.
And the light receiving module is arranged in the receiving cavity 12 and is suitable for receiving and detecting an echo signal of a laser beam formed by reflecting the detection laser beam by an external object 18. In some embodiments, the light receiving module may include: the optical transmission sub-module and the detection sub-module 124 are sequentially arranged along a receiving optical path, the optical transmission sub-module is suitable for receiving, filtering and transmitting light beams, the light beams can comprise signal light and ambient light, and the detection sub-module 124 is suitable for receiving and detecting the light beams transmitted by the optical transmission sub-module.
In some embodiments, the optical transmission sub-module may include an optical filter 121, a first mirror 122, and a second mirror 123 sequentially disposed along the receiving optical path. The optical filter 121 may include an absorption substrate and an anti-reflection film plated on the absorption substrate and corresponding to the signal light wavelength, wherein the absorption substrate is suitable for transmitting the signal light and absorbing light of a preset wavelength band outside the signal light wavelength range, and the anti-reflection film is suitable for increasing the transmittance of the signal light; the first mirror 122 and the second mirror 123 are adapted to reflect the signal light.
In some embodiments, the signal light may be an echo signal of a laser beam formed by the detection laser beam emitted by the laser radar system 10 after being reflected by the foreign object 18, and the light in a predetermined wavelength band outside the signal light wavelength range may include ambient light to which the detection sub-module can respond. For example: the detection sub-module 124 is capable of detecting ambient light in the non-signal optical band.
Specifically, the substrate material of the optical filter 121 may be suitable for absorbing light with a wavelength of 350nm to 850nm and transmitting near infrared light and infrared light with a wavelength of 850nm or more, the substrate of the optical filter may be further plated with an antireflection film suitable for increasing the transmittance of light with a wavelength of 875nm to 940nm, and the substrate of the optical filter 121 may be a colored glass or plastic optical filter; the substrate of the first and second reflecting mirrors 122 and 123 may be a common material, such as K9 optical glass or float glass, that is, the substrate of the first and second reflecting mirrors 122 and 123 has no absorption property, and the light incident surfaces of the first and second reflecting mirrors 122 and 123 may be plated with reflective films corresponding to the wavelength of the signal light, the reflective films being adapted to increase the reflectivity of the signal light.
In some embodiments, the light receiving module may further include a receiving lens 125, the receiving lens 125 may include a focusing lens group, and the filter 121 may be disposed upstream, downstream, or between lenses included in the focusing lens group in an optical path of the focusing lens group.
In some embodiments, the detection submodule 124 may include an array aperture stop 124a having an absorptive substrate, and a detector array 124 b.
Referring to fig. 4 in combination, fig. 4 is a schematic structural diagram of an array aperture stop 124a of the detection submodule 124 according to an embodiment of the present invention. A plurality of through holes 1241 may be disposed at positions corresponding to the detectors of the detector array 124b on the array aperture stop 124a, and a substrate of the array aperture stop 124a may be adapted to absorb light in a predetermined wavelength band at least outside the optical wavelength range of the signal light.
In some embodiments, the lidar system 10 may be configured to: the signal light is focused to the detector array 124b through the receiving lens 125, and the substrate of the array aperture 124a may be adapted to absorb the ambient light in the same frequency band as the signal light and the light in a predetermined wavelength band outside the wavelength range of the signal light. This placement of the array aperture stop 124a in the optical path upstream of the detector array 124b may further filter out ambient light in the signal optical frequency band.
In some embodiments, the light incident surface of the substrate of the array aperture stop 124a is further coated with an antireflection film in a wavelength band including the wavelength of the signal light.
Specifically, the substrate of the array aperture stop 124a may be adapted to absorb light of 350nm to 1100nm, and the light incident surface of the substrate of the array aperture stop 124a is plated with an antireflection film of 600nm to 1000 nm.
In some embodiments, the through holes 1241 of the array aperture stop 124a may be formed by laser machining or Computer Numerical Control (CNC) machining.
It should be noted that the transmittance or reflectance curve of the dielectric film undergoes a blue shift with the incident angle, and the blue shift is more obvious when the number of the film layers is larger. The transmittance of the conventional transmissive interference filter is greatly influenced by the incident angle of light because the film layer is thick, whereas the antireflection film on the filter 121 and the film layer of the antireflection film on the array aperture stop 124a in the embodiment of the present invention are both thin, and the transmittance of the transmissive interference filter is not greatly influenced by the incident angle of light, that is, the blue shift degree of the transmittance curves of the filter 121 and the array aperture stop 124a is reduced, so that the intensity of the high-angle oblique incident signal light is improved.
The working process of the light receiving module of the laser radar system 10 is described here by taking the signal light with the wavelength range of 875nm to 940nm as an example:
the signal light and the ambient light received by the light receiving module pass through the receiving lens 125, wherein the light with a wavelength less than 850nm is absorbed by the absorption substrate of the optical filter 121, the light with a wavelength greater than 850nm can transmit through the optical filter 121, and the signal light with a wavelength of 875nm to 940nm and the ambient light in the same frequency band as the signal light in this part of transmitted light have higher transmittance, and then reach the array aperture 124a of the detection sub-module 124 after being reflected by the first reflecting mirror 122 and the second reflecting mirror 123, respectively, wherein only the signal light and the ambient light in the same frequency band as the signal light in the field of view of the detector array 124b can pass through the through holes 1241 on the array aperture 124a and enter the detector array 124b, and other light enters the substrate of the array aperture 124a to be absorbed. The signal light and the ambient light received by the light receiving module are absorbed by the optical filter 121 and the array aperture 124a for multiple times, so that the ambient light is inhibited, and the signal-to-noise ratio is improved.
Because the substrate of the array hole diaphragm 124a is further coated with the antireflection film, the possibility that light enters the detector array 124b after being reflected on the surface of the array hole diaphragm 124a and then being reflected for multiple times in the receiving cavity 12 can be reduced, that is, stray light entering the detector array 124b after being reflected for multiple times is eliminated, a 'dark' environment is formed in the receiving cavity 12, the influence of ambient light is weakened, and the difference of the performance of the light receiving module in all days (day and night) is reduced.
In addition, the first mirror 122 and the second mirror 123 share a large incident angle, so that the incident angle on each mirror is not changed greatly, and the blue shift phenomenon of the reflectivity curve is reduced, thereby improving the intensity of the large-angle oblique incident signal light and also contributing to improving the signal-to-noise ratio. This can be illustrated by way of example: the detection laser beam emitted by the laser radar system 10 returns 0 to 25 degrees of incident light after being reflected by the external object 18, and according to the calculation, the incident angle of 45 to 51 degrees on the first reflecting mirror 122 corresponds to the incident angle of 39 to 45 degrees on the second reflecting mirror 123, that is, the angle change of the incident light on each reflecting mirror is reduced, the influence of the incident angle of the light on the reflectivity curve of the reflecting mirror is reduced, and the blue shift of the reflectivity curve is reduced. Therefore, even if the laser radar system 10 increases the wavelength of the laser due to the temperature rise during operation, the intensity of the signal light with the large-angle oblique incidence is not reduced, and the light spot degradation is avoided.
In some embodiments, the detector array 124b may be a photosensor. The photosensor is adapted to convert a light signal received by the photosensor into an electrical signal. Specifically, the photosensor may be a PIN photosensor, an Avalanche Photodiode (APD), or Geiger-mode Avalanche Photodiode (GM-APD), or the like.
In some embodiments, the lidar system 10 may further include a processing module adapted to process the electrical signal detected by the detection sub-module 124b and obtain information about the external object 18 through calculation or the like. The information of the foreign object 18 may be its position, shape, or velocity, etc.
Referring to fig. 5, fig. 5 is a schematic structural diagram of laser radar system 20 according to another embodiment of the present invention. The laser radar system 20 of the present embodiment also includes: a rotor and a stator, the rotor being internally partitioned into a transmitting chamber 21 and a receiving chamber 22; a light emitting module disposed in the emission cavity 21; and the light receiving module is arranged in the receiving cavity 22. The structure and function of each module can refer to the previous embodiment, and are not described herein again. Only the differences between the present embodiment and the previous embodiment will be described in detail herein.
The present embodiment differs from the embodiment shown in fig. 3 in that: the first reflector 222 and the second reflector 223 further include an absorption substrate, a light incident surface of the absorption substrate is coated with a reflective film, the substrate of the first reflector 222 and the substrate of the second reflector 223 are both adapted to absorb light of a predetermined wavelength band at least outside the signal light wavelength range, and the reflective film of the first reflector 222 and the reflective film of the second reflector 223 are both adapted to increase the reflectivity of the signal light.
In some embodiments, the substrate of the first mirror 222 and the substrate of the second mirror 223 may be both adapted to absorb the signal light and the light of the predetermined wavelength band outside the wavelength range of the signal light, so that the received light of the non-signal light wavelength band may be absorbed twice by the two mirrors 222 and 223, and the effect of suppressing the ambient light is enhanced; the first reflecting mirror 222 may be coated with a reflective film adapted to reflect a first wavelength band, and the second reflecting mirror 223 may be coated with a reflective film adapted to reflect a second wavelength band, which may coincide with each other in the wavelength range of the signal light. Specifically, the wavelength range of the signal light is 875nm to 940nm, and the first wavelength band and the second wavelength band coincide at 875nm to 940 nm.
In some embodiments, the substrate material of the first reflecting mirror 222 and the substrate material of the second reflecting mirror 223 may be adapted to absorb light having a wavelength of 350nm to 1100nm, the substrate of the first reflecting mirror 222 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 875nm to 1100nm, and the substrate of the second reflecting mirror 223 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 350nm to 940 nm.
In other embodiments, the substrate material of the first reflecting mirror 222 may be adapted to absorb light having a wavelength of 350nm to 875nm, the substrate material of the second reflecting mirror 223 may be adapted to absorb light having a wavelength of 940nm to 1100nm, the substrate of the first reflecting mirror 222 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 875nm to 1100nm, and the substrate of the second reflecting mirror 223 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 350nm to 940 nm.
Here, the working process of the light receiving module of the laser radar system 20 of the present embodiment is described as follows, taking the signal light with the wavelength range of 875nm to 940nm as an example:
the signal light and the ambient light received by the light receiving module pass through the receiving lens 225, wherein the light with a wavelength less than 850nm is absorbed by the optical filter 221, the light with a wavelength greater than 850nm can transmit through the optical filter 221, in this part of the transmitted light, the signal light with a wavelength of 875nm to 940nm and the ambient light in the same frequency band as the signal light have higher transmittance to the first reflecting mirror 222, wherein the light with a wavelength less than 875nm is absorbed on the first reflecting mirror 222 due to lower reflectance, the substrate material entering the first reflecting mirror 222 is absorbed, the light with a wavelength greater than 940nm is absorbed on the second reflecting mirror 223 due to lower reflectance, and therefore only the signal light with a wavelength of 875nm to 940nm and the ambient light in the same frequency band as the signal light are reflected by the first reflecting mirror 222 and the second reflecting mirror 223 due to higher reflectance, an array aperture stop 224a to the detection sub-module 224; only the signal light and the ambient light in the same frequency band as the signal light in the field of view of the detector array 224b can pass through the through holes of the array aperture stop 224a and enter the detector array 224b, and other light enters the substrate of the array aperture stop 224a to be absorbed. In this embodiment, the light received by the light receiving module is filtered by the light filter 221, the two reflectors 222 and 223, and the respective absorption substrates of the array aperture diaphragm 224a for multiple times, so that the ambient light is suppressed to a greater extent, and the signal-to-noise ratio is improved.
In addition, since the substrate of the array aperture diaphragm 224a is further coated with an antireflection film, the reflection of light on the surface of the array aperture diaphragm 224a can be reduced, stray light entering the detector array 224b after multiple reflections can be eliminated, a "dark" environment is formed in the receiving cavity 22, the influence of ambient light is weakened, and the difference of the performance of the light receiving module in all days (day and night) is reduced; in addition, the first reflector 222 and the second reflector 223 share a large incident angle, so that the incident angle on each reflector is not changed greatly, the influence of the incident angle on the reflectivity curve is reduced, and the blue shift phenomenon of the reflectivity curve is weakened, so that the intensity of the large-angle oblique incident signal light is improved, and the signal to noise ratio is also improved.
The present invention is not limited to the above embodiments, and in some embodiments, the substrate material of the first reflecting mirror 222 and the substrate material of the second reflecting mirror 223 may be both adapted to absorb light having a wavelength of 350nm to 1100nm, the substrate of the first reflecting mirror 222 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 350nm to 940nm, and the substrate of the second reflecting mirror 223 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 875nm to 1100 nm.
In other embodiments, the substrate material of the first reflecting mirror 222 may be adapted to absorb light with a wavelength of 940nm to 1100nm, the substrate material of the second reflecting mirror 223 may be adapted to absorb light with a wavelength of 350nm to 875nm, the substrate of the first reflecting mirror 222 may be coated with a reflective film adapted to increase the reflectivity of light with a wavelength of 350nm to 940nm, and the substrate of the second reflecting mirror 223 may be coated with a reflective film adapted to increase the reflectivity of light with a wavelength of 875nm to 1100 nm.
Referring to fig. 6, fig. 6 is a schematic structural diagram of laser radar system 30 according to another embodiment of the present invention. The laser radar system 30 of the present embodiment also includes: a rotor and a stator, the rotor being internally partitioned into a transmitting chamber 31 and a receiving chamber 32; a light emitting module disposed in the emission cavity 31; and the light receiving module is arranged in the receiving cavity 32. The structure and function of each module can refer to the previous embodiment, and are not described herein again. Only the differences between the present embodiment and the previous embodiment will be described in detail herein.
This embodiment differs from the embodiment shown in fig. 5 in that: in this embodiment, no optical filter is provided, that is, the light receiving module includes a receiving lens 325, a first reflecting mirror 322, a second reflecting mirror 323, and a detection sub-module 324, which are sequentially disposed along the receiving light path, and the structures and functions of the two reflecting mirrors 322 and 323 and the detection sub-module 324 are similar to those of the embodiment shown in fig. 5.
In some embodiments, the base material of the first reflecting mirror 322 and the base material of the second reflecting mirror 323 are both adapted to absorb light having a wavelength of 350nm to 1100nm, the base of the first reflecting mirror 322 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 875nm to 1100nm, and the base of the second reflecting mirror 323 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 350nm to 940 nm; the substrate of the array aperture stop 324a may be adapted to absorb light of 350nm to 1100nm, and the light incident surface of the substrate of the array aperture stop 324a is coated with an antireflection film of 600nm to 1000 nm.
Here, the working process of the light receiving module of the laser radar system 30 of the present embodiment is described as follows, taking the signal light with the wavelength range of 875nm to 940nm as an example:
the signal light and the ambient light received by the light receiving module reach the first reflector 322 through the receiving lens 325, wherein the light with the wavelength less than 875nm has a lower reflectivity on the first reflector 322, the base material entering the first reflector 322 is absorbed, the light with the wavelength greater than 940nm has a lower reflectivity on the second reflector 323, and the base material entering the second reflector 323 is absorbed, so that only the signal light with the wavelength of 875nm to 940nm and the ambient light with the same frequency band as the signal light have a higher reflectivity and reach the array aperture stop 324a of the detection sub-module 324 after being reflected by the two reflectors 322 and 323; only the signal light and the ambient light in the same frequency band as the signal light in the field of view of the detector array 324b can pass through the through holes of the array aperture stop 324a and enter the detector array 324b, and other light enters the substrate of the array aperture stop 324a to be absorbed.
In this embodiment, the two mirrors 322 and 323 having the absorption substrate function as the filters 121 and 221 in the embodiments of fig. 3 and 5, which has advantages of not only suppressing ambient light but also increasing the intensity of the high-angle oblique incident signal light. Because the received light of the light receiving module is filtered for multiple times by the two reflectors 322 and 323 and the respective absorption substrates of the array aperture diaphragm 324a, the ambient light is greatly inhibited, and the signal-to-noise ratio is improved; because the substrate of the array hole diaphragm 324a is also plated with an antireflection film, the reflection of light on the surface of the array hole diaphragm 324a can be reduced, stray light entering the detector array 324b after multiple reflections can be eliminated, the influence of ambient light is weakened, and the difference of the performance of the light receiving module in all days (day and night) is reduced; the array aperture stop 324a with the absorption substrate is disposed in front of the detector array 324b, and may further filter the ambient light in the signal light frequency band.
The present invention is not limited to the above embodiments, and in some embodiments, the base material of the first reflecting mirror 322 and the base material of the second reflecting mirror 323 are both adapted to absorb light having a wavelength of 350nm to 1100nm, the base of the first reflecting mirror 322 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 350nm to 940nm, and the base of the second reflecting mirror 323 may be coated with a reflective film adapted to increase the reflectivity of light having a wavelength of 875nm to 1100 nm; the substrate of the array aperture stop 324a may be adapted to absorb light of 350nm to 1100nm, and the light incident surface of the substrate of the array aperture stop 324a is coated with an antireflection film of 600nm to 1000 nm.
Furthermore, the present invention is not limited to the case where both the transmission cavity and the reception cavity have two mirrors. In some embodiments, the light transmission sub-module of the light receiving module may have only one piece of reflector, and the signal light and the ambient light received by the receiving lens are transmitted to the detection sub-module through one reflection. The substrate of the reflector is suitable for absorbing light with the wavelength of 350nm to 1100nm, and the substrate of the reflector can be plated with a reflecting film suitable for increasing the reflectivity of signal light with the wavelength of 875nm to 940 nm.
An embodiment of the present invention further provides a vehicle, including: the laser radar system is mounted on the vehicle body and is suitable for detecting information of objects around the vehicle.
In particular, the lidar system may be mounted on the roof of the vehicle. The information of the objects around the vehicle may include information of a distance, a speed, or an orientation of an obstacle around the vehicle.
In summary, the light receiving module of the embodiment of the present invention is provided with the light transmission sub-module and/or the detection sub-module having the absorption substrate, and specifically, may be a plurality of combinations of the optical filter, the reflector and the detection sub-module having the absorption substrate, and an antireflection film plated on the substrate of the optical filter and the array aperture, so as to replace the existing transmission type interference optical filter to realize the suppression of the ambient light, and overcome the technical problems that the transmittance of the light is greatly affected by the incident angle and the blue shift phenomenon is obvious due to the thicker film layer of the dielectric film in the existing transmission type interference optical filter; on the other hand, the embodiment of the invention can realize the function of the optical filter by adopting the two reflectors with the absorption type substrates, and the reflectors share a large incident angle, thereby reducing the influence of the incident angle on the reflectivity curve of the reflectors, and reducing the blue shift degree of the reflectivity curve, so that even if the wavelength of the laser is increased due to the temperature rise in the working process of the laser radar, the intensity of the large-angle oblique incident light cannot be reduced, and the light spot degradation is avoided.
The laser radar system comprises the light emitting module and the light receiving module, and the light receiving module can inhibit ambient light, improve the intensity of large-angle oblique incident signal light and improve the signal to noise ratio, so that the data quality of the laser radar system is greatly improved, and the difference of the performance of the laser radar system in all days (day and night) is reduced.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (13)
1. A light receiving module, comprising: the optical transmission submodule and the detection submodule are sequentially arranged along the receiving light path;
the optical transmission sub-module is suitable for receiving, filtering and transmitting light beams, and the light beams comprise signal light; and
the detection sub-module is suitable for receiving and detecting the light beam transmitted by the light transmission sub-module;
wherein the optical transmission sub-module and/or the detection sub-module comprises an absorption substrate adapted to absorb light of a preset wavelength band outside at least the signal light wavelength range;
the optical transmission sub-module comprises at least one reflector which is sequentially arranged along the receiving optical path, the at least one reflector comprises an absorption substrate and a reflection film plated on a light incident surface of the absorption substrate, the reflection film of the at least one reflector is suitable for increasing the reflectivity of the signal light, the absorption substrate of the at least one reflector is suitable for absorbing light of a preset waveband at least outside the wavelength range of the signal light, and the at least one reflector is suitable for sharing a large incident angle so as to reduce the range of the incident angle on each reflector;
the detection submodule comprises an array hole diaphragm with an absorption type substrate, and the substrate of the array hole diaphragm is suitable for absorbing the ambient light with the same frequency band as the signal light.
2. The optical receiving module of claim 1, wherein the optical transmission sub-module includes an optical filter and at least one mirror arranged in sequence along the receiving optical path;
the optical filter comprises the absorption type substrate and an antireflection film plated on the absorption type substrate and corresponding to the signal light wavelength, wherein the absorption type substrate is suitable for transmitting the signal light and absorbing light of a preset wave band outside the signal light wavelength range;
the at least one mirror is adapted to reflect the signal light.
3. The optical receiving module of claim 1, wherein the optical transmission sub-module further comprises:
and the optical filter is arranged on the receiving light path and is positioned at the upstream of the light path of the at least one reflector, the optical filter comprises the absorption type substrate and an antireflection film plated on the absorption type substrate and corresponding to the signal light wavelength, and the absorption type substrate is suitable for transmitting the signal light and absorbing light of a preset waveband outside the signal light wavelength range.
4. The light-receiving module of claim 1 or 3, wherein the light-transmitting sub-module includes a first mirror and a second mirror arranged in sequence along the light-receiving path.
5. The light-receiving module according to any one of claims 1 to 3, wherein light of a predetermined wavelength band outside the signal light wavelength range includes ambient light to which the detection sub-module is capable of responding.
6. The light-receiving module according to claim 2 or 3, wherein the absorption substrate of the optical filter is adapted to absorb light having a wavelength of 350nm to 850nm and transmit near infrared and infrared light having a wavelength of 850nm or more, and the absorption substrate of the optical filter is coated with an antireflection film adapted to increase transmittance of light having a wavelength of 875nm to 940 nm.
7. The light-receiving module of claim 2 or 3, wherein the light-transmitting submodule further comprises a focusing lens group, and the optical filter is disposed upstream, downstream or in the optical path of the focusing lens group, or between lenses included in the focusing lens group.
8. The light-receiving module of claim 4, wherein the absorption substrate of the first reflecting mirror is coated with a reflective film that increases reflectance of light of a first wavelength band, and the absorption substrate of the second reflecting mirror is coated with a reflective film that increases reflectance of light of a second wavelength band, the first wavelength band and the second wavelength band coinciding in a wavelength range of the signal light.
9. The light-receiving module according to claim 8, wherein the first wavelength band is 875nm to 1100nm, and the second wavelength band is 350nm to 940 nm; or the first wave band is 350nm to 940nm, and the second wave band is 875nm to 1100 nm.
10. The light-receiving module of claim 4, wherein the absorptive substrate of the first mirror and the absorptive substrate of the second mirror are each adapted to absorb light from 350nm to 1100 nm.
11. The light-receiving module of any one of claims 1 to 3, wherein the detection sub-module further comprises a detector array;
the array aperture diaphragm is provided with a plurality of through holes corresponding to each detector position of the detector array, the substrate of the array aperture diaphragm is also suitable for absorbing light of a preset waveband outside the signal light wavelength range, and the light incident surface of the substrate of the array aperture diaphragm is plated with an antireflection film containing the waveband including the signal light wavelength.
12. The light-receiving module of claim 11, wherein the substrate of the array aperture stop is adapted to absorb light of 350nm to 1100nm, and the light incident surface of the substrate of the array aperture stop is coated with an antireflection film of 600nm to 1000 nm.
13. A lidar system, comprising:
a light emitting module adapted to emit a detection laser beam to the outside; and
the light receiving module according to any one of claims 1 to 12, adapted to receive and detect an echo signal of a laser beam formed by reflection of the detection laser beam by the outside.
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