CN109814087A - Laser transmitting-receiving module and laser radar system - Google Patents
Laser transmitting-receiving module and laser radar system Download PDFInfo
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- CN109814087A CN109814087A CN201910182514.6A CN201910182514A CN109814087A CN 109814087 A CN109814087 A CN 109814087A CN 201910182514 A CN201910182514 A CN 201910182514A CN 109814087 A CN109814087 A CN 109814087A
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- 230000003287 optical effect Effects 0.000 claims abstract description 105
- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 230000004888 barrier function Effects 0.000 claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 14
- 230000011514 reflex Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
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- 230000000750 progressive effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of laser transmitting-receiving module and laser radar systems.The laser transmitting-receiving module includes: transmitting module, is suitable for transmitting laser beam；Transmission module, the barrier suitable for the laser beam is transmitted to three-dimensional space and receives and transmit three-dimensional space reflect the echo-signal that the laser beam is formed；Detecting module, the echo-signal of the laser beam suitable for detecting the transmission module transmission；Wherein, the transmitting module and the detecting module are set to the same side of the transmission module, and have pre-determined distance between the transmitting module and the detecting module；The transmission module includes: the first optical module, the laser beam that first optical module is suitable for emitting the transmitting module collimates, and reflects the echo-signal that the laser beam is formed to the barrier of the received three-dimensional space of the transmission module and assemble；And light-deflection apparatus, the light-deflection apparatus are suitable for changing the transmission direction of the laser beam collimated through first optical module.
Description
Technical field
The present invention relates to technical field of laser detection more particularly to a kind of laser transmitting-receiving module and laser radar systems.
Background technique
Laser radar emits laser beam as a kind of active probe sensor, by transmitting optical path, receiving light path detects mesh
Target echo-signal measures the range information of target, and wherein optical system plays light beam hair in the detection process of laser radar
Penetrate and assemble received critical function.
According to the difference of transmitting optical path and the layout type of receiving light path, laser radar can be divided into Non-coaxial system and same
Axle system, the transmitting optical path and receiving light path of Non-coaxial system are mutually indepedent, generally use different microscope groups and realize, undertake respectively
The transmitting and receive capabilities of laser, and the transmitting optical path of coaxial system and receiving light path common optical axis often share a transmitting-receiving mirror
Group is realized transmitting light beam by beam splitter (such as spectroscope, aperture reflecting mirror) and receives the separation of light beam and join.
Non-coaxial system often results in the volume of laser radar due to needing to have two independent transmittings and receiving module
It is larger, structure is not compact；In addition, there is also adjustment complexity for Non-coaxial system, the problem of higher cost.And traditional beam splitting type is same
Axis scheme, since the stray light at beam splitter is difficult to avoid that, leading to laser radar, there are biggish near field blind areas.
Summary of the invention
In order to optimize the structure design of laser radar, the comprehensive performance of laser radar is improved, the embodiment of the present invention provides one
Kind laser transmitting-receiving module, comprising: transmitting module is suitable for transmitting laser beam；Transmission module, suitable for the laser beam is transmitted to three
Dimension space and the barrier for receiving and transmitting three-dimensional space reflect the echo-signal that the laser beam is formed；Detecting module is fitted
In the echo-signal for the laser beam for detecting the transmission module transmission；Wherein, the transmitting module and detecting module setting
There is pre-determined distance in the same side of the transmission module, and between the transmitting module and the detecting module；The transmission mould
Block includes: the first optical module, and the laser beam that first optical module is suitable for emitting the transmitting module collimates, with
And the echo-signal that the laser beam is formed is reflected to the barrier of the received three-dimensional space of the transmission module and is assembled；With
And light-deflection apparatus, the light-deflection apparatus are suitable for changing the transmission direction of the laser beam collimated through first optical module.
Optionally, the light-deflection apparatus is suitable for changing the laser beam collimated through first optical module by reflecting
Transmission direction.
Optionally, there is preset distance between the light-deflection apparatus and first optical module.
Optionally, the aperture of the light-deflection apparatus is less than the aperture of first optical module.
Optionally, the light-deflection apparatus and first optical module are coaxial, and the transmitting module and the detection
Module is arranged relative to the axial symmetry.
Optionally, the transmission module further includes the second optical module, is set to the transmitting module and first light
It learns between component, the fast axis divergence angle of the laser beam suitable for compressing the transmitting module transmitting.
Optionally, the transmitting module and the detecting module are set to the principal plane for being parallel to first optical module
Same plane in.
Optionally, the laser transmitting-receiving module further includes the isolation dress being set between the transmitting module and detecting module
It sets.
The embodiment of the present invention also provides a kind of laser radar system, comprising: the laser transmitting-receiving mould of multiple embodiment of the present invention
Block, the multiple laser transmitting-receiving module are suitable for rotating coaxially.
Optionally, the transmitting module of each laser transmitting-receiving module includes one or more columns per page laser, and each column laser includes
Along the spaced multiple lasers of the vertical direction of the three-dimensional space, the multiple laser is provided so that each sharp
Optical transceiver module, which has, presets vertical visual field scope.
Optionally, at least two laser transmitting-receiving modules have different default vertical visual field scopes, and it is described extremely
The default vertical visual field scope of few two laser transmitting-receiving modules has overlapping region.
Optionally, the multiple laser transmitting-receiving module is having the same presets vertical visual field scope.
Optionally, the transmission module further include: reflecting element, the reflecting element is with first optical module at pre-
If angle is arranged, the reflecting element is suitable for reflecting the laser beam that first optical module and the light-deflection apparatus transmit
Institute is reflexed to the three-dimensional space and by the echo-signal that the barrier of the three-dimensional space reflects the laser beam formation
State light-deflection apparatus and first optical module.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that
The transmitting optical path and receiving light path of the laser transmitting-receiving module of the embodiment of the present invention share a transmission module, provide
A kind of coaxial-type scheme.However be different from it is traditional be divided using the beam splitters such as spectroscope or aperture reflecting mirror it is coaxial
The laser transmitting-receiving module of system, the embodiment of the present invention is emitted laser beam deviation angle using the light-deflection apparatus, to make
The laser beam of transmitting is mutually separated with received echo-signal, is advantageously implemented the coaxial transmitting-receiving of big optics bore；The laser is received
Send out the compact-sized, small in size of module；The positional relationship of the transmitting module and the detecting module is fixed, and is easier to realize whole
The adjustment of body optical path, Optical Implementation difficulty are small, at low cost.
The laser radar system of the embodiment of the present invention is uniformly distributed using the laser transmitting-receiving module of multiple embodiment of the present invention
Distributed coax structure is constituted around shaft, this distribution light path layout helps to meet eye-safe requirement；It is described to swash
The formula light path design of turning back (i.e. laser beam deviation angle is emitted) of optical transceiver module is conducive to that spatial arrangement is rationally utilized to emit mould
Block and detecting module；In addition, scan line of the multiple laser transmitting-receiving module along vertical visual field ciphering type layout improve it is sharp
The resolution ratio of optical detection and ranging system.
Detailed description of the invention
Fig. 1 is the structural block diagram of the laser transmitting-receiving module 10 of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the laser transmitting-receiving module 20 of another embodiment of the present invention；
Fig. 3 is the top view of the laser radar system 30 of one embodiment of the invention；
Fig. 4 is three laser transmitting-receiving modules As 1, A2 and the A3 of the laser radar system 30 of one embodiment of the invention
Vertical field angle distribution schematic diagram；
Fig. 5 is three laser transmitting-receiving modules As 1, A2 and the A3 of the laser radar system 30 of embodiment illustrated in fig. 4 of the present invention
The vertical distribution schematic diagram of scan line；
Fig. 6 is three laser transmitting-receiving modules As 1, A2 and the A3 of the laser radar system 30 of another embodiment of the present invention
Vertical field angle distribution schematic diagram.
Specific embodiment
It is understandable to enable above-mentioned purpose of the invention, feature and beneficial effect to become apparent, with reference to the accompanying drawing to this
The specific embodiment of invention is described in detail.Each embodiment in this specification is described in a progressive manner, each implementation
What example stressed is the difference from other embodiments, and same or similar part refers to each other i.e. between each embodiment
It can.
It is the structural block diagram of the laser transmitting-receiving module 10 of one embodiment of the invention with reference to Fig. 1, Fig. 1.
In some embodiments, the laser transmitting-receiving module 10 may include transmitting module 11, transmission module 12 and visit
Survey module 13.The transmitting module 11 is suitable for transmitting laser beam, and the transmission module 12 is suitable for the laser beam being transmitted to three
Dimension space and the barrier 18 for receiving and transmitting three-dimensional space reflect the echo-signal that the laser beam is formed, the detection
Module 13 is suitable for detecting the echo-signal for the laser beam that the transmission module 12 is transmitted.It should be noted that the arrow generation in Fig. 1
The transmission direction of mass color, different types of line (such as chain-dotted line or dotted line) represent different optical path branches.
Wherein, the transmitting module 11 and the detecting module 13 are set to the same side of the transmission module 12, and institute
Stating between transmitting module 11 and the detecting module 13 has pre-determined distance.The transmission module 12 includes: the first optical module 121
With light-deflection apparatus 122；The laser beam that first optical module 121 is suitable for emitting the transmitting module 11 collimates,
And the echo-signal that the laser beam is formed is reflected to the barrier 18 of the received three-dimensional space of the transmission module 12 and is carried out
It assembles；The light-deflection apparatus 122 is suitable for changing the transmission direction of the laser beam collimated through first optical module 121.
In some embodiments, the light-deflection apparatus 122 is suitable for changing by refraction through first optical module 121
The transmission direction of the laser beam of collimation, so that the collimated laser beam is emitted to three-dimensional space with certain deviation angle.Wherein,
The aperture of the light-deflection apparatus 122 is less than the aperture of first optical module 121.
As shown in Figure 1, the laser beam that the transmitting module 11 emits is successively through the first optics group in transmitting optical path
Part 121 and the light-deflection apparatus 122 are emitted to three-dimensional space；In receiving light path, the barrier 18 of the three-dimensional space is anti-
Two-way can be divided by penetrating after the echo-signal that the laser beam is formed is incident to the transmission module 12: the one of the echo-signal
Partially (as the dotted line arrows) is directly transmitted to first optical module 121, this part echo signal is inclined due to angle
Folding is incident to the detecting module 13 for having different location with the transmitting module 11 after first optical module 121 convergence
Place, to realize transmitting-receiving separation.It is inclined that another part (as shown in dash-dot arrows) of the echo-signal is incident to the light
Rotary device 122, then extremely along backtracking (i.e. successively by the light-deflection apparatus 122 and first optical module 121)
The transmitting module 11, which can not be incident to the detecting module 13, but this part echo signal is not
It influences the transmitting module 11 and emits laser beam.
In some embodiments, the aperture of the light-deflection apparatus 122 can be much smaller than first optical module 121
Aperture, i.e., the described light-deflection apparatus 122 are only used for blocking a part of area in the laser beam exits face of first optical module 121
Domain.Correspondingly, in receiving light path, an only small portion in the echo-signal that laser beam described in 18 diffusing reflection of barrier is formed
It is divided into and is incident upon the light-deflection apparatus 122, and along backtracking to the transmitting module 11, remaining most echo-signal is then
It is directly transmitted to the region that first optical module 121 is not blocked by the light-deflection apparatus 122, and then by the detection mould
Block 13 receives.
In some embodiments, the laser radar 10 can also include control module (not shown) and processing module (not
Show), the control module is suitable for controlling the transmitting module 11 and emits laser beam, controls the reception of detecting module 13 and institute
The corresponding echo-signal of laser beam is stated, and/or the control processing module carries out corresponding data processing.In some embodiments
In, the processing module can integrate in the detecting module 13, or be arranged independently of the detecting module 13.It is described
Control module can integrate in the processing module, or be arranged independently of the processing module.
In the present embodiment, the transmitting module 11 and the transmission module 12 are set in transmitting optical path, the transmission mould
Block 12 and the detecting module 13 are set in receiving light path, wherein the transmitting optical path and the receiving light path share the biography
Defeated module 12, i.e., the described transmission module 12 have played transmitting simultaneously and have received the function of laser signal, provide a kind of coaxial-type
Scheme.However, being different from traditional coaxial scheme being divided using the beam splitters such as spectroscope or aperture reflecting mirror, this reality
The laser transmitting-receiving module for applying example makes the laser beam deviation angle outgoing of transmitting using the light-deflection apparatus 122, thus will transmitting
Laser beam and received echo-signal separated, be advantageously implemented the coaxial transmitting-receiving of big optics bore；Based on coaxial scheme
Laser transmitting-receiving module it is compact-sized, small in size；Since the positional relationship of the transmitting module 11 and detecting module 13 is fixed,
It is easier to realize the adjustment of whole optical path, Optical Implementation difficulty is small, at low cost.
Implement the present invention for convenience of those skilled in the art, the embodiment of the present invention also provides a kind of laser transmitting-receiving module.
It is the structural schematic diagram of the laser transmitting-receiving module 20 of another embodiment of the present invention with reference to Fig. 2, Fig. 2.
In some embodiments, the laser transmitting-receiving module 20 may include transmitting module 21, transmission module 22 and detection
Module 23.The transmitting module 21 is suitable for transmitting laser beam, what the transmission module 22 was suitable for emitting the transmitting module 21
Laser beam is transmitted to three-dimensional space and reception and the barrier of transmission three-dimensional space reflects the echo letter that the laser beam is formed
Number, the detecting module 23 is suitable for detecting the echo-signal of the laser beam of the transmission module transmission.
Wherein, the transmitting module 21 and the detecting module 23 are set to the same side of the transmission module 22, and institute
Stating between transmitting module 21 and the detecting module 23 has pre-determined distance.
In some embodiments, the transmitting module 21 may include laser array, and the laser array is suitable for pressing
Emit multiple laser pulses according to default timing, the detecting module 23 may include detector array, and the detector array is suitable
In reception echo-signal corresponding with the multiple laser pulse.
In some embodiments, the transmission module 22 may include the first optical module 221 and light-deflection apparatus 222.
The laser beam that first optical module 221 is suitable for emitting the transmitting module 21 collimates, and to the transmission mould
The barrier of the received three-dimensional space of block 22, which reflects the echo-signal that the laser beam is formed, to be assembled, the first light described herein
Learning the received echo-signal of component 221 includes two parts, and a part is that the echo-signal from the three-dimensional space is directly incident
To first optical module 221, another part is that the echo-signal from the three-dimensional space is first incident to the light deflection
Then device 222 reenters and is incident upon first optical module 221.The light-deflection apparatus 222 is suitable for changing through first light
Learn the transmission direction for the laser beam that component 221 collimates.
In some embodiments, the light-deflection apparatus 222 is suitable for changing by refraction through first optical module 221
The transmission direction of the laser beam of collimation, so that the collimated laser beam is emitted to three-dimensional space with certain deviation angle.
In some embodiments, first optical module 221 may include lens group, and the light-deflection apparatus 222 can
To include prism.Specifically, the light-deflection apparatus 222 may include prism wedge, and the tip of the prism wedge can court
To any direction of the three-dimensional space.In practical applications, required laser beam can be determined according to scanning field of view etc.
The deviation angle of outgoing, and then select the dimensional orientation of suitable prism and the setting prism, 21 He of transmitting module
The detecting module 23 will also do corresponding adjustment relative to the position of the light-deflection apparatus 222.
In some embodiments, the transmission module 22 further includes the second optical module (not shown), second optics
Component is set between the transmitting module 21 and first optical module 221, is suitable for compressing the transmitting module 21 and is emitted
Laser beam fast axis divergence angle so that the laser beam is incident to the first optical module as much as possible after fast axis collimation
221 regions blocked by the light-deflection apparatus 222, so that the laser beam is as much as possible successively through the first optics group
Part 221 and the light-deflection apparatus 222 are emitted to three-dimensional space, and only extremely least a portion of laser energy is only through first light
It learns component 221 and is emitted to the three-dimensional space without the light-deflection apparatus 222.It should be noted that this part without
The laser energy that the light-deflection apparatus 222 is directly emitted to three-dimensional space is invalid emanated energy, the usual nothing of echo-signal
Method is received by the detecting module 23.
In some embodiments, second optical module can be any lens that can compress hot spot such as cylindrical lens.
In some embodiments, there can be pre- spacing between the light-deflection apparatus 222 and first optical module 221
From the aperture of the light-deflection apparatus 222 is less than the aperture of first optical module 221.For example, the light-deflection apparatus
222 aperture is much smaller than the aperture of first optical module 221, and in transmitting optical path, the light-deflection apparatus 222 is only used for
The sub-fraction region for blocking the laser beam exits face of the first optical module 221, then in receiving light path, the obstacle of three-dimensional space
Only sub-fraction is incident to the light-deflection apparatus 222 in the echo-signal that laser beam described in object diffusing reflection is formed, and along original
Road is back to the transmitting module 21, remaining most echo-signal is then directly transmitted to first optical module 221 not
The region blocked by the light-deflection apparatus 222, the part echo signal due to angle deviation, through first optical module
It will not be incident at the detecting module 23 that there is different location with the transmitting module 21 along backtracking after 221 convergences,
To realize transmitting-receiving separation.If the laser beam that the transmitting module 21 emits is emitted to through first optical module 221
Non-angular deviation when the three-dimensional space, the echo-signal can be along backtrackings to the transmitting module 21, therefore, this implementation
Example realizes the separation of laser beam and received echo-signal to transmitting by means of the light-deflection apparatus 222.
In some embodiments, the laser transmitting-receiving module 20 further includes being set to the transmitting module 21 and the detection
Isolating device (not shown) between module 23, to reduce interference of the transmitting module 21 to the detecting module 23.
In some embodiments, the light-deflection apparatus 222 and first optical module 221 can be coaxially disposed, and
The transmitting module 21 and the detecting module 23 are arranged relative to the axial symmetry.
In further embodiments, the light-deflection apparatus 222 can also deviate the optical axis of first optical module 221
Setting.The transmitting module 21 and the detecting module 23 can be located at the same side of the optical axis of first optical module 221,
The two sides of the optical axis of first optical module 221, the transmitting module 21 and the detecting module 23 can also be located at
Between positional relationship can be according to the angle and system of the laser beam exits to three-dimensional space distance design etc. because usually
It determines.
In some embodiments, the transmitting module 21 and the detecting module 23 can be set in being parallel to described first
In the same plane of the principal plane of optical module 221.
The transmitting optical path and receiving light path of the laser transmitting-receiving module 20 of the present embodiment share a transmission module 22, provide
A kind of coaxial-type scheme, however be different from it is traditional be divided using the beam splitters such as spectroscope or aperture reflecting mirror it is coaxial
Scheme, the laser beam deviation angle outgoing of transmitting is made in the present embodiment using the light-deflection apparatus 222, to make swashing for transmitting
Light beam is mutually separated with received echo-signal, is advantageously implemented the coaxial transmitting-receiving of big optics bore；Based on described in coaxial scheme
Laser transmitting-receiving module 20 it is compact-sized, small in size；The positional relationship of the transmitting module 21 and detecting module 23 is fixed, and is relatively held
Easily realize the adjustment of whole optical path, Optical Implementation difficulty is small, at low cost.
The embodiment of the present invention also provides a kind of laser radar system.It is swashing for one embodiment of the invention with reference to Fig. 3, Fig. 3
The top view of optical detection and ranging system 30.
In some embodiments, the laser radar system 30 may include that the laser of multiple present inventions is received
Module is sent out, the multiple laser transmitting-receiving module is suitable for rotating around the same shaft 35.Fig. 3 is to include three laser transmitting-receivings
For modules A 1, A2 and A3, the structure and function of the laser radar system 30 is described in detail, however the present invention is implemented
Example is without being limited thereto.
In some embodiments, each laser transmitting-receiving module may include transmitting module 31, transmission module 32 and detection mould
Block (not shown).Wherein, the transmitting module 31 and the detecting module (can be parallel to the side of the shaft 35 along longitudinal direction
To) arrange, the transmitting module 31 can be set in the top of the detecting module.The transmission module 32 may include first
Optical module 321 and light-deflection apparatus 322.The structure and function of the laser transmitting-receiving module can be with reference to earlier figures 1 to Fig. 2 institute
Show embodiment, details are not described herein again.
In some embodiments, the transmission module 32 of each laser transmitting-receiving module can also include reflecting element 323, described
Reflecting element 323 and first optical module 321 are arranged at default angle, and the reflecting element 323 is suitable for described first
The laser beam that optical module 321 and the light-deflection apparatus 322 transmit reflexes to the three-dimensional space and by the three-dimensional space
Between reflect the echo-signal that the laser beam is formed and reflex to the light-deflection apparatus 322 and first optical module 321.?
In some embodiments, the reflecting element 323 can be plane mirror, and the default angle can be acute angle.
In some embodiments, the laser radar system 30 can also include: that rotor (not shown) and stator (do not show
Out).
In some embodiments, the laser radar system 30 can also include light shield 36.
In some embodiments, the transmitting module 31 of each laser transmitting-receiving module may include one or more columns per page laser,
Each column laser includes the spaced multiple lasers of vertical direction along the three-dimensional space, and the multiple laser is set
It is set to so that each laser transmitting-receiving module, which has, presets vertical visual field scope.
In some embodiments, the detecting module may include detector array, and each detector includes photoelectric sensing
Device.The photoelectric sensor is suitable for its received optical signal being converted to electric signal.Specifically, the photoelectric sensor can be
PIN photoelectric sensor, avalanche photodide (Avalanche Photo Diode, APD) or Geiger mode avalanche photoelectricity two
Pole pipe (Geiger-mode Avalanche Photodiode, GM-APD) etc..
In some embodiments, the laser radar system 30 can also include control module (not shown) and processing module
(not shown), the control module are suitable for controlling three laser transmitting-receiving modules As 1, A2 and A3 transmitting laser pulse and control
It makes three laser transmitting-receiving modules As 1, A2 and A3 and receives echo-signal corresponding with the laser pulse of each spontaneous emission, the place
Reason module is suitable for handling the electric signal that the detecting module detects, and obtains the laser radar system by programs such as calculating
The information of 30 barriers detected.The information of the barrier can be its position, shape or speed etc..
In some embodiments, at least two in multiple laser transmitting-receiving modules that the laser radar system 30 includes swash
Optical transceiver module can have different default vertical visual field scopes, and at least two laser transmitting-receivings module is default perpendicular
Straight visual field scope has overlapping region.
In some embodiments, in the overlapping region, the scan line of at least two laser transmitting-receivings module can be with
With different vertical distribution parameters, to realize the encryption of scan line in overlapping region.The vertical distribution parameter includes described
The angle of the horizontal plane of scan line and the laser radar system 30.Usually influence the vertical distribution parameter of the scan line because
There are two elements: the tilt angle of laser height in the vertical direction and optical system.Therefore, in some embodiments, may be used
Different height or tune are respectively in vertical direction so that the respective laser of at least two laser transmitting-receivings module is arranged
The whole respective optical system of at least two laser transmitting-receivings module is respectively provided with different tilt angles (such as optical system
Pitch angle) so that the scan line of at least two laser transmitting-receivings module has different distributions in vertical direction, to realize
The encryption of scan line in overlapped fov.At this point, the vertical angular resolution of the laser radar system 30 is less than each laser transmitting-receiving
The vertical angular resolution of module.
In further embodiments, in the overlapping region, the scan line of at least two laser transmitting-receivings module can
With with identical vertical distribution parameter, i.e., in the overlapping region, at least two laser transmitting-receivings module it is more
Angle between scan line and the horizontal plane of the laser radar system 30 is all the same, so that being not present in the overlapping region
The encryption of scan line, the vertical angular resolution of the laser radar system 30 is equal to the vertical angle of each laser transmitting-receiving module at this time
Resolution ratio.
It is three laser transmitting-receiving modules of the laser radar system 30 of one embodiment of the invention with reference to Fig. 4, Fig. 4
The vertical field angle distribution schematic diagram of A1, A2 and A3.In some embodiments, three laser transmitting-receiving modules As 1, A2 and A3
It can have different vertical visual field scope, such as be respectively -10 ° to 10 °, 0 ° to 25 ° and -5 ° to 15 °,
The vertical visual field scope of two laser transmitting-receiving modules of middle arbitrary neighborhood can have overlapping region, so that the laser radar
System 30 has continuous vertical visual field between -10 ° to 25 °, increases the vertical field angle of the laser radar system 30.
It is three laser transmitting-receiving moulds of the laser radar system 30 of embodiment illustrated in fig. 4 of the present invention in conjunction with reference Fig. 5, Fig. 5
The vertical distribution schematic diagram of the scan line of block A1, A2 and A3, wherein solid line represents the scan line of the laser transmitting-receiving modules A 1, point
Scribing line represents the scan line of the laser transmitting-receiving modules A 2, and dotted line represents the scan line of the laser transmitting-receiving modules A 3.It needs
It is bright, emit laser beam since three laser transmitting-receiving modules As 1, A2 and A3 are respectively facing different horizontal directions,
The scan line of three laser transmitting-receiving modules As 1, A2 and A3 described in synchronization is not in same perpendicular, here for side
Just illustrate three laser transmitting-receiving modules As 1, the encryption relationship of the scan line of A2 and A3, by three laser transmitting-receiving modules
A1, A2 and A3 put together in the scan line that different moments correspond to the same area of object space, but substantially described three
There are phase differences on scanning sequence by laser transmitting-receiving modules A 1, A2 and A3.
In some embodiments, any two laser transmitting-receiving module in three laser transmitting-receiving modules As 1, A2 and A3
There is overlapping region in vertical visual field, in the overlapping region, the scan line of any two laser transmitting-receiving module can be with
With different vertical distribution parameters, the vertical distribution parameter may include the scan line and the laser radar system 30
Horizontal plane between angle, as shown in figure 5, there are three laser transmitting-receiving moulds in 0 ° to the vertical visual field between θ 2
At least three scan lines of block A1, A2 and A3, three angles between scan line and horizontal plane are θ 1, θ 2 and θ 3 respectively, this
Sample is compared to using single transceiver module any in three laser transmitting-receiving modules As 1, A2 and the A3, the laser radar system
The scan line of vertical direction of the system 30 in same object space is encrypted, and vertical angular resolution is greatly lowered.
In some embodiments, the laser of three laser transmitting-receiving modules As 1, A2 and A3 are perpendicular to the laser
Be respectively on the vertical direction of the horizontal plane of radar system 30 different positions or three laser transmitting-receiving modules As 1,
The optical system (including the first optical module 321, light-deflection apparatus 322 or reflecting element 323) of A2 and A3 is respectively provided with difference
Tilt angle, to realize the encryption of three laser transmitting-receiving modules As 1, A2 and the A3 scan line in its overlapped fov.?
In some embodiments, the tilt angle of the optical system can be optical element that the optical system includes relative to described
The pitch angle of horizontal plane.
In some embodiments, multiple laser transmitting-receiving modules that the laser radar system 30 includes can have identical
Preset vertical visual field scope.It is three of the laser radar system 30 of another embodiment of the present invention with reference to Fig. 6, Fig. 6 to swash
The vertical field angle distribution schematic diagram of optical transceiver module A1, A2 and A3.In some embodiments, three laser transmitting-receiving modules
A1, A2 and A3 can have identical vertical visual field scope, such as be -10 ° to 25 °, the laser radar system
30 vertical visual field scope is also -10 ° to 25 °.
In some embodiments, in the identical vertical visual field scope, three laser transmitting-receiving modules As 1, the A2
It can have different vertical distribution parameters with the scan line of A3, to realize the encryption of scan line in vertical visual field.For example, each
Laser transmitting-receiving module may include being located at top along the vertical direction of horizontal plane perpendicular to the laser radar system 30
First laser device, the second laser that lowermost end is located at along the vertical direction and it is located at described the along the vertical direction
Multiple third lasers between one laser and the second laser.Wherein, three laser transmitting-receiving modules As 1, A2 and
The first laser device of A3 can have identical height on the vertical direction, three laser transmitting-receiving modules As 1, A2 and
The second laser of A3 can have identical height on the vertical direction, so that three laser transmitting-receiving modules As 1,
A2 and A3 vertical visual field scope having the same；Also, the third laser of three laser transmitting-receiving modules As 1, A2 and A3
Different height is respectively provided on the vertical direction, so that the third of three laser transmitting-receiving modules As 1, A2 and A3 swashs
Laser beam, that is, scan line of light device transmitting has different vertical distributions, is realized with this in the identical vertical visual field scope
The encryption of interior three laser transmitting-receiving modules As 1, the scan line of A2 and A3.In the present embodiment, the laser radar system 30
Vertical angular resolution is less than the vertical angular resolution of each laser transmitting-receiving module.
In further embodiments, the scan line of three laser transmitting-receiving modules As 1, A2 and A3 swash perpendicular to described
The vertical direction of the horizontal plane of optical detection and ranging system 30 can have identical distribution, i.e., described three laser transmitting-receiving modules
Angle between the multi-strip scanning line of A1, A2 and A3 and the horizontal plane is all the same, so that in the identical vertical field angle model
The encryption of scan line is not present in enclosing, the vertical angular resolution of the laser radar system 30 is equal to each laser transmitting-receiving module
Vertical angular resolution.
The embodiment of the present invention also provides a kind of vehicle, and the vehicle includes swashing for vehicle body and present invention
Optical detection and ranging system, the laser radar system can be installed on the top of the vehicle body, for detecting the vehicle periphery
Barrier information.In some embodiments, the information of the barrier may include the distance, orientation, shape of barrier
Or speed etc..
In conclusion the transmitting optical path and receiving light path of the laser transmitting-receiving module of the embodiment of the present invention share a transmission mould
Block provides a kind of coaxial-type scheme.However it is different from traditional use beam splitters such as spectroscope or aperture reflecting mirror and carries out
The laser transmitting-receiving module of the coaxial system of light splitting, the embodiment of the present invention goes out laser beam deviation angle using the light-deflection apparatus
It penetrates, so that the laser beam of transmitting be made mutually to separate with received echo-signal, is advantageously implemented the coaxial transmitting-receiving of big optics bore；Institute
State the compact-sized, small in size of laser transmitting-receiving module；The positional relationship of the transmitting module and detecting module is fixed, and reality is easier to
The now adjustment of whole optical path, Optical Implementation difficulty is small, at low cost.
The laser radar system of the embodiment of the present invention is uniformly distributed using the laser transmitting-receiving module of multiple embodiment of the present invention
Distributed coax structure is constituted around shaft, this distribution light path layout helps to meet eye-safe requirement；It is described to swash
The formula light path design of turning back (i.e. laser beam deviation angle is emitted) of optical transceiver module is conducive to that spatial arrangement is rationally utilized to emit mould
Block and detecting module；In addition, scan line of the multiple laser transmitting-receiving module along vertical visual field ciphering type layout improve it is sharp
The resolution ratio of optical detection and ranging system.
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 (13)
1. a kind of laser transmitting-receiving module characterized by comprising
Transmitting module is suitable for transmitting laser beam；
Transmission module, the barrier suitable for the laser beam is transmitted to three-dimensional space and receive and transmit three-dimensional space are anti-
Penetrate the echo-signal that the laser beam is formed；
Detecting module, the echo-signal of the laser beam suitable for detecting the transmission module transmission；
Wherein, the transmitting module and the detecting module are set to the same side of the transmission module, and the transmitting module
There is pre-determined distance between the detecting module；
The transmission module includes: the first optical module, and first optical module is suitable for swashing the transmitting module transmitting
Light beam is collimated, and reflects the echo that the laser beam is formed to the barrier of the received three-dimensional space of the transmission module
Signal is assembled；And light-deflection apparatus, the light-deflection apparatus is suitable for changing to swash through what first optical module collimated
The transmission direction of light beam.
2. laser transmitting-receiving module as described in claim 1, which is characterized in that the light-deflection apparatus is suitable for changing by refraction
The transmission direction of laser beam through first optical module collimation.
3. laser transmitting-receiving module as described in claim 1, which is characterized in that the light-deflection apparatus and the first optics group
There is preset distance between part.
4. laser transmitting-receiving module as described in claim 1, which is characterized in that the aperture of the light-deflection apparatus is less than described the
The aperture of one optical module.
5. laser transmitting-receiving module as described in claim 1, which is characterized in that the light-deflection apparatus and the first optics group
Part is coaxial, and the transmitting module and the detecting module are arranged relative to the axial symmetry.
6. laser transmitting-receiving module as described in claim 1, which is characterized in that the transmission module further includes the second optics group
Part is set between the transmitting module and first optical module, suitable for compressing the laser beam of the transmitting module transmitting
Fast axis divergence angle.
7. laser transmitting-receiving module as described in claim 1, which is characterized in that the transmitting module and detecting module setting
In in the same plane of principal plane for being parallel to first optical module.
8. laser transmitting-receiving module as described in claim 1, which is characterized in that further include being set to the transmitting module and detection
Isolating device between module.
9. a kind of laser radar system characterized by comprising
Multiple laser transmitting-receiving modules as claimed in any one of claims 1 to 8, the multiple laser transmitting-receiving module are suitable for coaxial turn
It is dynamic.
10. laser radar system as claimed in claim 9, which is characterized in that the transmitting module packet of each laser transmitting-receiving module
One or more columns per page laser is included, each column laser includes the spaced multiple laser of vertical direction along the three-dimensional space
Device, the multiple laser are provided so that each laser transmitting-receiving module has and preset vertical visual field scope.
11. laser radar system as claimed in claim 10, which is characterized in that at least two laser transmitting-receiving modules have
Different default vertical visual field scopes, and the default vertical visual field scope of at least two laser transmitting-receivings module has weight
Folded region.
12. laser radar system as claimed in claim 10, which is characterized in that the multiple laser transmitting-receiving module has identical
Default vertical visual field scope.
13. laser radar system as claimed in claim 9, which is characterized in that the transmission module further include:
Reflecting element, the reflecting element and first optical module are arranged at default angle, and the reflecting element is suitable for will
First optical module and the laser beam of light-deflection apparatus transmission reflex to the three-dimensional space and by the three-dimensional
The barrier in space reflects the echo-signal that the laser beam is formed and reflexes to the light-deflection apparatus and the first optics group
Part.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182514.6A CN109814087A (en) | 2019-03-11 | 2019-03-11 | Laser transmitting-receiving module and laser radar system |
| CN202310403227.XA CN116299342A (en) | 2019-03-11 | 2019-03-11 | Laser radar system |
| PCT/CN2020/077703 WO2020182024A1 (en) | 2019-03-11 | 2020-03-04 | Laser transceiving module and lidar system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910182514.6A CN109814087A (en) | 2019-03-11 | 2019-03-11 | Laser transmitting-receiving module and laser radar system |
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| CN201910182514.6A Pending CN109814087A (en) | 2019-03-11 | 2019-03-11 | Laser transmitting-receiving module and laser radar system |
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| WO2020182024A1 (en) * | 2019-03-11 | 2020-09-17 | 上海禾赛光电科技有限公司 | Laser transceiving module and lidar system |
| CN112444791A (en) * | 2019-08-29 | 2021-03-05 | 深圳市速腾聚创科技有限公司 | Laser radar capable of reducing close-range blind area |
| WO2021051724A1 (en) * | 2020-01-03 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Laser transceiving module and light modulation method therefor, lidar, and autonomous driving device |
| CN113075643A (en) * | 2020-01-06 | 2021-07-06 | 苏州一径科技有限公司 | Laser radar system and manufacturing method thereof |
| CN113167897A (en) * | 2020-04-03 | 2021-07-23 | 深圳市速腾聚创科技有限公司 | Laser receiving and transmitting system, laser radar and automatic driving equipment |
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| Publication number | Publication date |
|---|---|
| WO2020182024A1 (en) | 2020-09-17 |
| CN116299342A (en) | 2023-06-23 |
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