CN109917348B - Laser radar system - Google Patents
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- CN109917348B CN109917348B CN201910072138.5A CN201910072138A CN109917348B CN 109917348 B CN109917348 B CN 109917348B CN 201910072138 A CN201910072138 A CN 201910072138A CN 109917348 B CN109917348 B CN 109917348B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention provides a laser radar system which comprises an emitting module and a scanning module, wherein the emitting module and the scanning module are sequentially arranged along a first light path; the emission module comprises a laser emission unit and a telecentric lens group; the laser emitting unit has a plurality of light sources for emitting a plurality of laser beams; the telecentric lens group is used for respectively collimating each laser beam into parallel beams and enabling a plurality of parallel beams to converge along a first light path and enter the scanning module; the scanning module is used for reflecting the converged parallel light beams to a three-dimensional space and receiving and reflecting echo light beams reflected by a target to be measured. The laser radar system can ensure that laser beams emitted from different angles are effectively and collimates and emit, the emitting efficiency of the laser is ensured to the maximum extent, and laser beam parts emitted by a plurality of light sources can be prevented from dispersedly falling outside the scanning module in the working process of the laser radar system to form stray light.
Description
Technical Field
The invention relates to the technical field of environment perception, in particular to a laser radar system.
Background
In the automatic driving technology, an environment perception system is a basic and important ring and is a guarantee for the safety and intelligence of an automatic driving automobile. The resolution is one of important parameters of the vehicle-mounted laser radar as an important sensor for sensing surrounding information. The higher the resolution of the lidar, the richer the information, and the more favorable the automatic driving decision.
The resolution of a lidar employing scanning methods such as a scanning mirror is often limited by the scanning frequency of the scanning device. To further increase the resolution, this can be achieved by correspondingly increasing the number of lasers and detectors. The prior common technical scheme is that an emission collimating lens is adopted, the collimating lens is directly used as an aperture diaphragm, and lasers at different positions are emitted at a certain included angle after passing through the collimating lens, so that scanning at different angular positions is realized.
However, in the process of implementing the technical solution of the invention in the present application, the inventors of the present application found that the above-mentioned technology has at least the following technical problems:
because the scanning mirror is away from the collimating lens by a certain distance, different emergent laser beams fall on different positions of the scanning mirror, when the size of the scanning mirror is smaller, part of the laser beams fall outside the scanning mirror, and on one hand, the light emitting efficiency and the distance measuring performance are influenced; on the other hand, internal stray light is formed, resulting in a near blind area.
Disclosure of Invention
The invention solves the technical problems that in the prior art, due to the limitation of the size of a scanning mirror, part of laser beams fall on the area outside the scanning mirror to form stray light and the like.
In order to solve the technical problem, a first aspect of the invention discloses a laser radar system, which comprises an emission module and a scanning module, wherein the emission module and the scanning module are sequentially arranged along a first light path;
the emission module comprises a laser emission unit and a telecentric lens group;
the laser emitting unit has a plurality of light sources for emitting a plurality of laser beams;
the telecentric lens group is used for respectively collimating each laser beam into parallel beams and enabling each parallel beam to converge along a first light path and enter the scanning module;
the scanning module is used for reflecting the converged parallel light beams to a three-dimensional space and receiving and reflecting echo light beams reflected by a target to be measured.
Optionally, the scanning module comprises a movable part having a first reflective surface;
and a plurality of parallel light beams are converged by the telecentric lens group and then are incident to the scanning module so as to form a plurality of light spots on the movable part, and the plurality of light spots are all positioned in the reflection area of the first reflection surface.
Optionally, a plurality of said spots are at least partially coincident.
Optionally, the movable part of the scanning module is set as an aperture stop of an optical system constituted by the telecentric lens group.
Optionally, the telecentric lens group comprises a first sub-lens group and a second sub-lens group, and the first sub-lens group and the second sub-lens group are sequentially arranged along the first optical path;
optionally, the first sub-lens group has positive optical power, which is disposed proximate to the laser emitting unit;
the second sub-lens group has positive focal power and is arranged at a first preset distance from the first sub-lens group along the first optical path.
Optionally, the first sub-lens group is composed of a single lens, and the lens is a hemispherical lens or a meniscus lens.
Optionally, the second sub-lens group includes at least one lens having positive power, and the lens is a plano-convex lens or a biconvex lens.
Optionally, the laser radar system further includes a light splitting module and a receiving module, the light splitting module is disposed between the transmitting module and the scanning module along the first light path, and the scanning module, the light splitting module, and the receiving module are sequentially disposed along a second light path;
the light splitting module is used for transmitting the parallel light beams and reflecting the echo light beams reflected by the scanning module;
the scanning module is used for reflecting the parallel light beams which penetrate through the light splitting module to a three-dimensional space and reflecting echo light beams reflected by a target to be detected to the light splitting module;
the receiving module is used for receiving the echo light beam reflected by the light splitting module.
Optionally, the lidar system further comprises a deflection module, and the deflection module is located between the light splitting module and the scanning module;
the deflection module is used for deflecting the parallel light beams transmitted through the light splitting module and receiving and deflecting the echo light beams reflected by the scanning module.
The invention discloses a laser radar system in a second aspect, which comprises a scanning module, a plurality of transmitting modules and a plurality of receiving modules, wherein the plurality of transmitting modules and the plurality of receiving modules are in one-to-one correspondence;
each emission module comprises a laser emission unit and a telecentric lens group;
the laser emitting unit has a plurality of light sources for emitting a plurality of laser beams;
the telecentric lens group is used for respectively collimating each laser beam into parallel beams and enabling a plurality of parallel beams to converge along a first light path and enter the scanning module;
the scanning module is used for reflecting the laser beams of the plurality of emission modules to a three-dimensional space and receiving and reflecting a plurality of echo light beams of the laser beams after being reflected by a target to be measured in the three-dimensional space;
the plurality of receiving modules are used for receiving and processing the plurality of echo light beams.
Optionally, the scanning module includes a movable part having a first reflecting surface;
and a plurality of parallel light beams are converged by the telecentric lens group and then are incident to the scanning module so as to form a plurality of light spots on the movable part, and the plurality of light spots are all positioned in the reflection area of the first reflection surface.
By adopting the technical scheme, the laser radar system has the following beneficial effects:
according to the laser radar system, the laser beams of the laser emission unit are respectively collimated through the telecentric lens group and are converged to the scanning module along the first light path, so that the laser beams emitted from different angles can be effectively collimated and are reflected to a three-dimensional space through the scanning module, the emitting efficiency of the laser is guaranteed to the maximum extent, and the laser beam parts emitted by a plurality of light sources can be prevented from scattering and falling outside the scanning module in the working process of the laser radar system to form stray light to cause a near blind area and influence the measurement accuracy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a lidar system according to an embodiment of the present invention;
FIG. 2 is a light path diagram of a lidar system according to an embodiment of the present invention;
FIG. 3 is an optical diagram of a lidar system according to another embodiment of the invention;
fig. 4 is a block diagram of a lidar system according to another embodiment of the present invention.
The following is a supplementary description of the drawings:
1-a transmitting module; 11-a laser emitting unit; 12-a telecentric lens group; 121-a first sub-lens group; 122-a second sub-lens group;
2-a scanning module;
3-a receiving module; 31-a detection unit; 32-a convergence unit;
4-a light splitting module;
5-a deflection module;
6-a control module.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
In order to solve the technical problems that in the prior art, a laser radar is limited by the size of a scanning mirror, and part of laser beams fall on the area outside the scanning mirror to form stray light, and the like, fig. 1 shows a structural block diagram of a laser radar system according to an embodiment of the present invention, and the technical solution of the present invention is described below with reference to fig. 1. As shown in fig. 1, the present invention provides a laser radar system, which may include an emitting module 1 and a scanning module 2, where the emitting module 1 and the scanning module 2 are sequentially disposed along a first optical path;
the emitting module 1 comprises a laser emitting unit 11 and a telecentric lens group 12, wherein the laser emitting unit 11 is provided with a plurality of light sources and is used for emitting a plurality of laser beams; the telecentric lens group 12 is configured to collimate each laser beam into a parallel light beam, and converge and irradiate the parallel light beams to the scanning module 2 along a first light path; the scanning module 2 is used for reflecting the converged parallel light beams to a three-dimensional space and receiving and reflecting echo light beams reflected by a target to be measured.
Specifically, when the laser radar system is in a working state, the plurality of light sources of the laser emitting unit 11 emit a plurality of laser beams and respectively irradiate the laser beams to the telecentric lens group 12, the telecentric lens group 12 collimates each laser beam into a parallel light beam, and makes each parallel light beam converge along a first light path and irradiate the scanning module 2, the scanning module 2 reflects each received parallel light beam converged by the telecentric lens group 12 to the three-dimensional space for detection, a target to be detected in the three-dimensional space is reflected to form an echo light beam, and the scanning module 2 receives the echo light beam and reflects the echo light beam to the receiving module of the laser radar system. The first optical path may be understood as an emission optical path, i.e. an optical path from the emission of the plurality of laser beams to the incidence to the three-dimensional space. By applying the scheme, each laser beam is collimated by the telecentric lens group 12 and converged to the scanning module 2 along the first light path, so that the laser beams emitted at different angles can be effectively collimated and are emitted to the scanning module 2 finally, and the emitting efficiency of the laser is ensured to the maximum extent; and laser beam parts emitted by a plurality of light sources are prevented from dispersedly falling outside the scanning module 2 in the working process of the laser radar system, and stray light is formed to cause a near blind area, so that the measurement precision is not influenced.
It should be noted that the plurality of light sources of the laser emitting unit may emit the laser beam simultaneously or may not emit the laser beam simultaneously, for example, the plurality of light sources emit the laser beam according to a preset time sequence.
In some embodiments, the scanning module 2 may be an electrostatic galvanometer, an electromagnetic galvanometer, a piezoelectric galvanometer, an electrothermal galvanometer, or the like. The scanning module 2 is also capable of changing the direction of the laser beam reflected to the three-dimensional space by rotating and/or swinging, thereby scanning the target in the three-dimensional space.
In some embodiments, the scanning module 2 comprises a movable part having a first reflective surface; a plurality of parallel light beams are converged by the telecentric lens group 12 and then enter the scanning module 2 so as to form a plurality of light spots on the movable part, and the plurality of light spots are all positioned in the reflection area of the first reflection surface.
Specifically, each of the parallel light beams converged by the telecentric lens group 12 is incident on the movable portion, and a plurality of light spots are formed on the first reflecting surface, and are all located in the reflecting area of the first reflecting surface, so that interference caused by stray light falling outside the reflecting area is avoided.
In some embodiments, a plurality of the spots may be at least partially coincident. In particular, a plurality of light spots may also completely overlap. As shown in fig. 2, the light spot formed by the first light source completely falls within the light spot formed by the second light source.
In some embodiments, the movable portion of the scanning module is configured as an aperture stop of the optical system formed by telecentric lens group 12. Note that the aperture stop, also called an effective stop, plays a role in limiting the light beam in the optical system, and the aperture stop of the optical system constituted by the telecentric lens group 12 is understood to be the limit of the light beam by the edge of the movable portion of the scanning module. The aperture stop limits the effective aperture of the light beam. The telecentric lens assembly 12 is designed to perform two functions, one is collimation and the other is to satisfy the requirement of the aperture stop, i.e. the aperture stop is arranged at a specific position of the optical system formed by the telecentric lens assembly 12 to form a telecentric light path.
In some embodiments, as shown in fig. 2, the telecentric lens group 12 comprises a first sub-lens group 121 and a second sub-lens group 122, the first sub-lens group 121 and the second sub-lens group 122 being disposed in sequence along the first optical path;
the first sub-lens group 121 has positive power, and is disposed next to the laser emission unit 11;
the second sub-lens group 122 has positive focal power, and is disposed at a first preset distance from the first sub-lens group 121 along the first optical path.
Wherein, the first sub-lens group 121 is disposed next to the laser emitting unit 11, which can be understood as follows:
the first sub-lens group 121 is attached to the emitting side of the laser emitting unit 11, or the first sub-lens group 121 covers the outer sides of the plurality of light sources, or a certain distance is provided between the first sub-lens group 121 and the laser emitting unit 11, and preferably, the distance may be as small as possible.
The first preset distance between the second sub-lens group 122 and the first sub-lens group 121 can be flexibly set according to the size requirement of the whole laser radar system, as long as it is satisfied that the laser beam converged by the second lens group and the first lens group falls within the reflection area of the scanning module 2.
In some embodiments, the first sub-lens group 121 is composed of a single lens, which is a hemispherical lens or a meniscus lens. As shown in fig. 2, the first sub-lens group 121 is a meniscus lens having an optical power greater than zero, and a concave surface (incident surface) of the meniscus lens faces the laser emitting unit 11. In a possible implementation mode, the incident surface and the emergent surface of the meniscus lens can be further coated with a high-transmittance depolarizing dielectric film.
In other possible embodiments, the first sub-lens group 121 may further include a plurality of lenses.
In some embodiments, the second sub-lens group 122 includes at least one lens with positive optical power, and the lens is a plano-convex lens or a double-convex lens. In other possible embodiments, the second sub-lens group 122 may further include a plurality of lenses having positive optical power.
In some embodiments, as shown in fig. 1 and fig. 2, the lidar system further includes a receiving module 3 and a light splitting module 4, where the light splitting module 4 is disposed between the transmitting module 1 and the scanning module 2 along the first optical path, and the scanning module 2, the light splitting module 4, and the receiving module 3 are sequentially disposed along a second optical path;
the light splitting module 4 is used for transmitting the parallel light beams and reflecting the echo light beams reflected by the scanning module 2;
the scanning module 2 is configured to reflect the parallel light beam that has passed through the light splitting module 4 to a three-dimensional space, and is configured to reflect an echo light beam reflected by a target to be measured to the light splitting module 4;
the receiving module 3 is configured to receive the echo light beam reflected by the light splitting module 4.
Specifically, each beam of the parallel light beams converged by the telecentric lens group 12 passes through the light splitting module 4 and enters the scanning module 2, the scanning module 2 reflects each received beam of the parallel light beams to a three-dimensional space for detection, a target to be detected in the three-dimensional space is reflected to form an echo light beam, and the scanning module 2 receives the echo light beam, reflects the echo light beam by the light splitting module 4 and finally enters the receiving module 3. The second optical path may be understood as a receiving optical path, that is, an optical path from a plurality of echo light beams reflected by the target to be measured to a receiving module 3. The second optical path and the first optical path are partially coaxial, that is, the first optical path and the second optical path are partially coaxial between the scanning module 2 and the light splitting module 4.
Fig. 3 shows an optical path diagram of a lidar system according to another embodiment of the present invention, which differs from the above-described embodiment of fig. 2 by the addition of a deflection module. Specifically, as shown in fig. 3, the lidar system may further include a deflection module 5, where the deflection module 5 is located between the light splitting module 4 and the scanning module 2;
the deflection module 5 is configured to deflect the parallel light beam transmitted through the light splitting module 4 and to receive and deflect the echo light beam reflected by the scanning module 2.
Specifically, the deflection module 5 may be a prism or a mirror with a high reflectance, or the like. The laser radar system comprises the deflection module 5, so that the light beam of the emission module 1 can be finally incident to the reflection area of the scanning module 2, as shown in fig. 3, the deflection module 5 is added to flexibly arrange the relative positions of the scanning module 2, the light splitting module 4 and the emission module 1, and the size and appearance adjustment requirements of the laser radar system are better met.
In some embodiments, as shown in fig. 1, the lidar further includes a control module 6, wherein the control module 6 is respectively connected to the transmitting module 1, the scanning module 2 and the receiving module 3, and the control module 6 is configured to respectively control the laser transmitting unit 11 to transmit the laser beam, control the rotation and/or swing of the movable portion of the scanning module 2, and control the receiving module 3 to receive and process the echo beam.
In some embodiments, as shown in fig. 1, the receiving module 3 comprises a detection unit 31 for receiving and processing the echo light beam.
In some embodiments, as shown in fig. 1, the receiving module 3 may further include a converging unit 32, where the converging unit 32 is disposed before the detecting unit 31 along the second optical path, and is configured to converge the echo light beam reflected by the light splitting module 4 for being received by the detecting unit 31.
Fig. 4 is a block diagram of another lidar system according to an embodiment of the present invention. Another embodiment of the present invention is described below with reference to fig. 4. This scheme differs from the scheme shown in fig. 1 in that a plurality of transmitting modules 1 and a plurality of receiving modules 3 share one scanning module 2. The invention provides another laser radar system which comprises a scanning module 2, a plurality of transmitting modules 1 and a plurality of receiving modules 3, wherein the plurality of transmitting modules 1 and the plurality of receiving modules 3 are in one-to-one correspondence;
the emergent surfaces of a plurality of emission modules 1 face the scanning module 2, and each emission module 1 comprises a laser emission unit 11 and a telecentric lens group 12;
the laser emitting unit 11 has a plurality of light sources for emitting a plurality of laser beams;
the telecentric lens group 12 is used for collimating each laser beam of the plurality of emission modules 1 into parallel beams respectively, and converging the parallel beams along a first optical path and enabling the parallel beams to be incident to the scanning module 2;
the scanning module 2 is used for reflecting the multiple laser beams of the plurality of emission modules 1 to a three-dimensional space and receiving and reflecting multiple echo light beams of the multiple laser beams after being reflected by a target to be measured in the three-dimensional space;
the plurality of receiving modules 3 are configured to receive and process the plurality of echo light beams.
In this embodiment, as shown in fig. 4, the plurality of emission modules 1 may be arranged side by side, a second preset distance is provided between adjacent emission modules 1, and the scanning module 2 is located at one side of the plurality of emission modules 1. In the working state of the laser radar system, a plurality of first light paths are correspondingly formed between a plurality of transmitting modules 1 and one scanning module 2, and a plurality of second light paths are correspondingly formed between a plurality of receiving modules 3 and one scanning module 2. The first light path is a transmitting light path, and the second light path is a receiving light path.
In some embodiments, as shown in fig. 4, the lidar system further includes a plurality of optical splitting modules 4, the plurality of optical splitting modules 4 and the plurality of transmitting modules 1 are in one-to-one correspondence, and each of the deflecting modules 5 is respectively disposed between the scanning module 2 and the transmitting module 1 corresponding to the deflecting module 5 along one of the first optical paths;
the light splitting module 4 is used for transmitting the parallel light beams and reflecting the echo light beams reflected by the scanning module 2;
the plurality of optical splitting modules 4 and the plurality of receiving modules 3 are also in one-to-one correspondence, and the scanning module 2, the plurality of optical splitting modules 4 and the plurality of receiving modules 3 correspondingly form a plurality of second optical paths;
the scanning module 2 is configured to reflect the parallel light beam that has passed through the light splitting module 4 to a three-dimensional space, and is configured to reflect an echo light beam reflected by a target to be measured to the light splitting module 4;
the receiving module 3 is configured to receive the echo light beam reflected by the corresponding light splitting module 4.
In some embodiments, as shown in fig. 4, the lidar system further includes a plurality of deflection modules 5, where the plurality of deflection modules 5 and the plurality of optical splitting modules 4 are in one-to-one correspondence, and each of the deflection modules 5 is located between the scanning module 2 and the optical splitting module 4 corresponding to the deflection module 5;
the deflection module 5 is configured to deflect the parallel light beam transmitted through the light splitting module 4 and to receive and deflect the echo light beam reflected by the scanning module 2.
In some embodiments, the scanning module 2 comprises a movable part having a first reflective surface; a plurality of parallel light beams are converged by the telecentric lens group 12 and then enter the scanning module 2 so as to form a plurality of light spots on the movable part, and the plurality of light spots are all positioned in the reflection area of the first reflection surface.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The laser radar system is characterized by comprising an emitting module and a scanning module, wherein the emitting module and the scanning module are sequentially arranged along a first light path;
the emission module comprises a laser emission unit and a telecentric lens group;
the laser emitting unit has a plurality of light sources for emitting a plurality of laser beams;
the telecentric lens group is used for respectively collimating each laser beam into parallel beams and enabling each parallel beam to converge along a first light path and enter the scanning module;
the scanning module is used for reflecting the converged parallel light beams to a three-dimensional space and receiving and reflecting echo light beams reflected by a target to be measured;
wherein the scanning module comprises a movable part, and the movable part of the scanning module is arranged as an aperture stop of an optical system formed by the telecentric lens group.
2. The lidar system of claim 1, wherein the movable portion has a first reflective surface;
and a plurality of parallel light beams are converged by the telecentric lens group and then are incident to the scanning module so as to form a plurality of light spots on the movable part, and the plurality of light spots are all positioned in the reflection area of the first reflection surface.
3. The lidar system of claim 2, wherein a plurality of the spots are at least partially coincident.
4. The lidar system of claim 1, wherein the telecentric lens group comprises a first sub-lens group and a second sub-lens group, the first sub-lens group and the second sub-lens group being disposed in series along the first optical path;
the first sub-lens group has positive focal power and is arranged close to the laser emission unit;
the second sub-lens group has positive focal power and is arranged at a first preset distance from the first sub-lens group along the first optical path.
5. The lidar system of claim 4, wherein the first sub-lens group comprises a lens that is a hemispherical lens or a meniscus lens.
6. The lidar system of claim 4, wherein the second sub-lens group comprises at least one lens having positive optical power, the lens being a plano-convex lens or a biconvex lens.
7. The lidar system of any of claims 1-6, further comprising a spectroscopy module and a receiving module, the spectroscopy module disposed between the transmitter module and the scanning module along the first optical path, the scanning module, the spectroscopy module, and the receiving module disposed in sequence along a second optical path;
the light splitting module is used for transmitting the parallel light beams and reflecting the echo light beams reflected by the scanning module;
the scanning module is used for reflecting the parallel light beams which penetrate through the light splitting module to a three-dimensional space and reflecting echo light beams reflected by a target to be detected to the light splitting module;
the receiving module is used for receiving the echo light beam reflected by the light splitting module.
8. The lidar system of claim 7, further comprising a deflection module positioned between the beam splitting module and the scanning module;
the deflection module is used for deflecting the parallel light beams transmitted through the light splitting module and receiving and deflecting the echo light beams reflected by the scanning module.
9. A laser radar system is characterized by comprising a scanning module, a plurality of transmitting modules and a plurality of receiving modules, wherein the plurality of transmitting modules and the plurality of receiving modules are in one-to-one correspondence;
each emission module comprises a laser emission unit and a telecentric lens group;
the laser emitting unit has a plurality of light sources for emitting a plurality of laser beams;
the telecentric lens group is used for respectively collimating each laser beam into parallel beams and enabling a plurality of parallel beams to converge along a first light path and enter the scanning module;
the scanning module is used for reflecting the laser beams of the plurality of emission modules to a three-dimensional space and receiving and reflecting a plurality of echo light beams of the laser beams after being reflected by a target to be measured in the three-dimensional space;
the multiple receiving modules are used for receiving and processing the multiple echo light beams;
wherein the scanning module comprises a movable part, and the movable part of the scanning module is arranged as an aperture stop of an optical system formed by the telecentric lens group.
10. The lidar system of claim 9, wherein the scanning module comprises a movable portion having a first reflective surface;
and a plurality of parallel light beams are converged by the telecentric lens group and then are incident to the scanning module so as to form a plurality of light spots on the movable part, and the plurality of light spots are all positioned in the reflection area of the first reflection surface.
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| CN201910072138.5A CN109917348B (en) | 2019-01-25 | 2019-01-25 | Laser radar system |
| PCT/CN2020/072156 WO2020151539A1 (en) | 2019-01-25 | 2020-01-15 | Laser radar system |
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| CN109917348A (en) | 2019-06-21 |
| WO2020151539A1 (en) | 2020-07-30 |
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