CN110531369B

CN110531369B - Solid-state laser radar

Info

Publication number: CN110531369B
Application number: CN201810511749.0A
Authority: CN
Inventors: 邱纯鑫; 刘乐天
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2018-05-25
Filing date: 2018-05-25
Publication date: 2021-11-30
Anticipated expiration: 2038-05-25
Also published as: CN110531369A

Abstract

The invention discloses a solid laser radar which comprises a transmitting system, a receiving system, a light splitting assembly and an optical assembly, wherein the transmitting system, the receiving system, the light splitting assembly and the optical assembly are mutually corresponding, the transmitting system and the receiving system are arranged in the vertical direction, the transmitting system is used for transmitting laser, the optical assembly is used for emitting the laser to a target, the receiving system is used for receiving reflected light reflected by the target, and the light splitting assembly splits the laser and the reflected light. The solid-state laser radar can not only detect and scan the environment and meet the requirements of accurate detection and good receiving effect, but also has the characteristics of small size, simplicity and convenience in assembly and adjustment and the like.

Description

Solid-state laser radar

Technical Field

The invention relates to the technical field of laser detection, in particular to a solid-state laser radar.

Background

The laser radar is a radar system which emits laser beams to detect characteristic quantities of a target such as position, speed and the like, and the working principle of the radar system is that the detection laser beams are emitted to the target firstly, then a receiver receives signals reflected from the target, finally the laser radar compares the reflected signals with the emitted signals, and after appropriate processing, relevant information of the target, such as parameters of target distance, direction, height, speed, attitude, even shape and the like, can be obtained.

Because of the inherent advantage of the laser radar on environment perception, the laser radar becomes a main sensor for detecting the environment by an automatic driving technology. At present, the laser radar mainly adopts a mechanical rotation type: the rotating part drives the transmitting module and the receiving module to rotate for 360 degrees so as to obtain a distance signal of the surrounding environment.

However, the above-mentioned mechanical rotary lidar has a number of disadvantages: the slip ring connecting the rotating part and the fixed part is easy to wear, and the service life of the whole device is influenced; the rotating part occupies a large volume, and the volume is difficult to further reduce to realize miniaturization in future application; the laser radar transmitting module and the receiving module of the multi-line (such as 32 lines and 64 lines) are arranged in a paired mode, the requirement on angle setting is high, the manufacturing difficulty is high, the mass production is not facilitated, and the price is high.

Disclosure of Invention

The embodiment of the invention provides a solid-state laser radar which can detect and scan the environment, meets the requirements of accurate detection and good receiving effect, and has the characteristics of small size, simplicity and convenience in assembly and adjustment and the like.

In order to solve the technical problem, the embodiment of the invention discloses the following technical scheme:

the solid-state laser radar comprises a transmitting system, a receiving system, a light splitting assembly and an optical assembly which correspond to each other, wherein the transmitting system and the receiving system are arranged in the vertical direction, the transmitting system is used for transmitting laser, the optical assembly is used for emitting the laser to a target, the receiving system is used for receiving reflected light reflected by the target, and the light splitting assembly splits the laser and the reflected light.

Preferably, the emission system includes M (M ≧ 1) emission groups, each of the emission groups includes an emitter and a collimator, the emitter is used for emitting the laser, and the collimator is used for collimating the laser.

Preferably, the optical component includes an MEMS device and M (M is greater than or equal to 1) first reflecting mirrors, the MEMS device is configured to scan the laser beam toward a target and receive the reflected light reflected by the target, and the first reflecting mirrors are configured to reflect the laser beam passing through the light splitting component to the MEMS device and reflect the reflected light received by the MEMS device to the light splitting component.

Preferably, the included angle between the optical axes of any two adjacent first reflecting mirrors is the same as alpha (0 deg. < alpha < 180 deg.).

Preferably, the receiving system includes M (M is greater than or equal to 1) receiving groups, each receiving group includes a focusing mirror, a second reflecting mirror and a receiver, the focusing mirror is configured to focus the reflected light, the second reflecting mirror is configured to reflect the focused reflected light to the receiver, and the receiver is configured to detect the reflected light.

Preferably, the light splitting assembly comprises M (M is more than or equal to 1) light splitters, and the light splitters are used for enabling the laser to enter from the first light port and to exit from the second light port.

Preferably, the beam splitter is further configured to allow the reflected light to enter from the second light port and exit from the third light port.

Preferably, still include the mounting panel, transmitting system, receiving system, beam splitting subassembly and optical assembly all are fixed in the mounting panel, transmitting system the beam splitting subassembly with optical assembly is fixed in the upper surface of mounting panel, receiving system is fixed in the lower surface of mounting panel.

The invention discloses a solid laser radar which comprises a transmitting system, a receiving system, a light splitting component and an optical component, wherein the transmitting system, the receiving system, the light splitting component and the optical component are mutually corresponding; the optical component comprises an MEMS device, and the laser emitted by the MEMS device has a better field angle and scanning density, so that the use requirement of accurate detection of a laser radar can be met; the transmitting system adopts a plurality of transmitting groups, the laser is emitted after passing through the first reflector and the MEMS device, splicing and folding of a transmitting light path are realized, meanwhile, the reflected light is firstly received by the MEMS device and the first reflector, the emitted laser and the returned reflected light are split by the light splitting component, the transmitting and receiving share part of the light path, the space is fully utilized, the size is small, and the installation, adjustment and calibration are convenient; the transmitting system and the receiving system are respectively arranged on the upper surface and the lower surface of the mounting plate, the circuit is arranged on the rear sides of the transmitting system and the receiving system, the structural layout is reasonable, the system installation is simple, and the heat dissipation is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described 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 without creative efforts.

Fig. 1 is a schematic diagram illustrating an internal structure of a solid-state lidar according to a first embodiment of the present invention;

fig. 2 is a cross-sectional view of a solid-state lidar according to a first embodiment of the present invention.

Reference numerals

100. A transmitting system; 110. a transmitting group; 111. a transmitter; 112. a collimating mirror; 200. a receiving system; 210. receiving a group; 211. a focusing mirror; 212. a second reflector; 213. a receiver; 300. a light splitting component; 310. a beam splitter; 311. a first optical port; 312. a second optical port; 313. a third optical port; 400. an optical component; 410. a MEMS device; 420. a first reflector; 500. and (7) mounting the plate.

Detailed Description

The following embodiment of the invention provides a solid-state laser radar which meets the requirements of accurate distance measurement and good receiving effect and has the advantages of small size, simplicity and convenience in assembly and adjustment and the like.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

The first embodiment is as follows:

as shown in fig. 1, the solid-state lidar includes a transmitting system 100, a receiving system 200, a light splitting assembly 300 and an optical assembly 400, wherein the transmitting system 100 and the receiving system 200 are arranged in a vertical direction, the transmitting system 100 is used for transmitting laser light, the optical assembly 400 is used for emitting the laser light to a target, the receiving system 200 is used for receiving reflected light reflected by the target, and the light splitting assembly 300 splits the laser light and the reflected light; after the laser is emitted by the emitting system 100, the laser passes through the light splitting assembly 300 and reaches the optical assembly 400, the optical assembly 400 emits the laser to a target, the reflected light reflected by the target is received by the optical assembly 400, and the reflected light passes through the light splitting assembly 300 and is received by the receiving system 200, so that the whole detection process of the laser radar is completed.

The optical fiber transmission device further comprises a mounting plate 500, the transmitting system 100, the receiving system 200, the light splitting assembly 300 and the optical assembly 400 are fixed on the mounting plate 500, the transmitting system 100, the light splitting assembly 300 and the optical assembly 400 are fixed on the upper surface of the mounting plate 500, and the receiving system 200 is fixed on the lower surface of the mounting plate 500.

The emission system 100 includes M (M ≧ 1) emission groups 110, each emission group 110 includes an emitter 111 and a collimator 112, the emitter 111 is used for emitting laser light, and the collimator 112 is used for collimating the laser light.

The optical assembly 400 comprises a MEMS device 410 and M (M is more than or equal to 1) first reflecting mirrors 420, wherein the MEMS device 410 is used for emitting laser to a target for scanning and receiving reflected light reflected by the target, the first reflecting mirrors 420 are used for reflecting the laser passing through the light splitting assembly 300 to the MEMS device 410 and reflecting the reflected light received by the MEMS device 410 to the light splitting assembly 300; the included angle between the optical axes of any two adjacent first reflecting mirrors 420 is the same as alpha (0 deg. < alpha < 180 deg.). The plurality of first reflecting mirrors 420 reflect the laser to the MEMS device 410, and the scanning field angle is enlarged by splicing the optical paths, and meanwhile, the optical paths are folded, and the internal space is fully utilized; the MEMS device 410 is small in structure, small in occupied space and beneficial to miniaturization; the use reliability is good, the manufacture is convenient, and the large-scale production is facilitated.

The receiving system 200 comprises M (M is more than or equal to 1) receiving groups 210, each receiving group 210 comprises a focusing mirror 211, a second reflecting mirror 212 and a receiver 213, the focusing mirror 211 is used for focusing reflected light, the second reflecting mirror 212 is used for reflecting the focused reflected light to the receiver 213, and the receiver 213 is used for detecting the reflected light; the reflected light is received efficiently and well.

The light splitting assembly 300 comprises M (M is more than or equal to 1) light splitting mirrors 310, and the light splitting mirrors 310 are used for enabling laser to enter from a first light port 311 and emit from a second light port 312; meanwhile, the beam splitter 310 is also used for making the reflected light enter from the second light port 312 and exit from the third light port 313; the light splitting component 300 is used for splitting the emitted laser and the returned reflected light, and the emitting and receiving share part of the light path, so that the space is fully utilized, and the miniaturization is facilitated.

Illustratively, as shown in fig. 1, the emission system 100 includes three emission groups 110, each emission group 110 includes an emitter 111 and a collimator 112, that is, there are three emission groups 111 and collimator 112; the optical assembly 400 includes one MEMS device 410 and three first mirrors 420; the receiving system 200 comprises three receiving groups 210, each receiving group 210 comprises a focusing mirror 211, a second reflecting mirror 212 and a receiver 213, namely, the three groups of the focusing mirror 211, the second reflecting mirror 212 and the receiver 213 are shared; the light splitting assembly 300 comprises three light splitting mirrors 310, and the emission group 110, the first reflecting mirror 420, the light splitting mirror 310 and the receiving group 210 are in one-to-one correspondence; the angle between the optical axes of two adjacent first reflecting mirrors 420 is 20 °.

In the use process of the solid-state laser radar disclosed in the embodiment of the present invention, as shown in fig. 2, the emitter 111 in each emission group 110 emits laser, and the laser is collimated by the collimator lens 112; the collimated laser light passes through the corresponding beam splitter 310 in the beam splitter assembly 300, enters from the first light port 311 of the beam splitter 310, and exits from the second light port 312; the laser light passing through the beam splitter 310 is directed to the corresponding first mirror 420 in the optical assembly 400, and is directed to the MEMS device 410 by the first mirror 420; the laser is emitted out to the target through the MEMS device 410 for scanning; the reflected light reflected by the target is received by the MEMS device 410 and then emitted to the first reflecting mirror 420, the reflected light is reflected by the first reflecting mirror 420 to the corresponding beam splitter 310, passes through the corresponding beam splitter 310, enters from the second light port 312 of the beam splitter 310, and exits from the third light port 313; the part of the receiving optical path is shared with the transmitting optical path; the reflected light passing through the beam splitter 310 is received by the corresponding receiving group 210 of the receiving system 200, and is focused by the focusing lens 211, and the focused reflected light is directed to the corresponding second reflecting mirror 212; the second reflecting mirror 212 directs the focused reflected light to a corresponding receiver 213, and the receiver 213 detects the reflected light. The solid-state laser radar does not have any mechanical rotating part, does not need to rotate in the using process, and improves the stability and the service life of the whole device.

The solid-state laser radar adopts a plurality of transmitting groups to be spliced and scans laser emergent light through the MEMS device, and has better field angle and scanning density during emergent light, so that the use requirement of accurate detection of the laser radar can be met; the transmitting system adopts a plurality of transmitting groups, and laser is emitted after passing through the first reflecting mirror and the MEMS device, so that splicing and folding of a transmitting light path are realized; meanwhile, reflected light is received by the MEMS device and the first reflector at first, the emergent laser and the returned reflected light are split by the light splitting component, and the emitting and receiving share part of light paths, so that the space is fully utilized, the size is small, and the installation, adjustment and calibration are convenient; the transmitting system and the receiving system are respectively arranged on the upper surface and the lower surface of the mounting plate, the circuit is arranged on the rear sides of the transmitting system and the receiving system, the structural layout is reasonable, the system installation is simple, and the heat dissipation is facilitated.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A solid-state laser radar is characterized by comprising a transmitting system, a receiving system, a light splitting assembly and an optical assembly which correspond to each other, wherein the transmitting system and the receiving system are arranged in the vertical direction, the transmitting system is used for transmitting laser, the optical assembly is used for emitting the laser to a target, the receiving system is used for receiving reflected light reflected by the target, and the light splitting assembly splits the laser and the reflected light; the transmitting system comprises M transmitting groups, M is more than or equal to 1, the optical assembly comprises an MEMS device and M first reflecting mirrors, the light splitting assembly comprises M light splitters, and the receiving system comprises M receiving groups; the emitting group, the spectroscope, the first reflecting mirror and the receiving group are in one-to-one correspondence; the laser is emitted to the MEMS device through the first reflecting mirror, and the reflected light is received by the MEMS device and then emitted to the first reflecting mirror; included angles between optical axes of any two adjacent first reflectors are the same and are alpha, and alpha is more than 0 degree and less than 180 degrees; still include the mounting panel, transmitting system the receiving system the beam split subassembly with optical component all is fixed in the mounting panel, transmitting system the beam split subassembly with optical component is fixed in the upper surface of mounting panel, receiving system is fixed in the lower surface of mounting panel.

2. The solid state lidar of claim 1, wherein the transmit system comprises M, and M ≧ 1 transmit group, each of the transmit groups comprising an emitter for emitting the laser light and a collimating mirror for collimating the laser light.

3. The solid state lidar of claim 1, wherein the optical assembly comprises a MEMS device and M first mirrors, M ≧ 1, the MEMS device for scanning the laser light toward a target and receiving the reflected light reflected back from the target, the first mirrors for reflecting the laser light passing through the beam splitting assembly to the MEMS device and reflecting the reflected light received by the MEMS device to the beam splitting assembly.

4. The solid state lidar of claim 1, wherein the receive system comprises M receive groups, M ≧ 1, each of the receive groups comprising a focusing mirror for focusing the reflected light, a second reflecting mirror for reflecting the focused reflected light to the receiver, and a receiver for detecting the reflected light.

5. The solid state lidar of claim 1, wherein the beam splitting assembly comprises M beam splitters, M ≧ 1, for causing the laser light to enter from the first optical port and exit from the second optical port.

6. A solid state lidar as claimed in claim 5 wherein the beam splitter is further configured to direct the reflected light into the second port and out of the third port.