CN111289995A - Three-dimensional laser radar device and system - Google Patents
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- 238000012545 processing Methods 0.000 claims abstract description 40
- 238000005259 measurement Methods 0.000 claims abstract description 4
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The invention provides a three-dimensional laser radar device and a system, wherein the three-dimensional laser radar device comprises: the device comprises a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit; the control unit is electrically connected with the laser emission unit and the scanning unit respectively; the laser emission unit is connected with the scanning unit through an optical path, and the transflective prism is respectively connected with the distance measurement unit and the imaging unit through optical paths; the signal unit is electrically connected with the distance measuring unit, and the data processing unit is electrically connected with the signal unit and the imaging unit respectively. Compared with a three-dimensional laser radar device integrated with a camera in the prior art, the device uses the beam splitting device, and can simultaneously acquire the position information and the image information of the measured object through the ranging unit and the imaging unit, so that the design difficulty of an optical system is reduced, the size of the laser radar is reduced, and the cost is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of laser radars, in particular to a three-dimensional laser radar device and a three-dimensional laser radar system.
Background
The continuous development of the unmanned, high-precision mapping, auxiliary driving and robot vision technologies increases the demands of laser radars with strong ranging capability, small volume and low cost, and especially provides new demands for point cloud data and image data fusion for the laser radars in the fields of unmanned and high-precision mapping.
However, in the currently-used point cloud image data fusion system, a camera is usually integrated outside a laser radar, and the system is a simple fusion of a three-dimensional laser radar and a camera, and on one hand, in this way, each three-dimensional laser radar and the camera matched with the three-dimensional laser radar need to be calibrated separately in coordinates, so that the difficulty in assembling and adjusting the system is increased. On the other hand, because two sets of independent systems are fused, the space size cannot be reasonably utilized, so that the whole space size of the system is overlarge, and the integrated use is not facilitated. In the third aspect, the two sets of systems are simply integrated and are calibrated in a complicated manner, so that the overall cost of the system is increased.
Disclosure of Invention
The embodiment of the invention provides a three-dimensional laser radar device and a three-dimensional laser radar system, and solves the technical problems that a point cloud image data fusion system commonly used in the prior art is high in installation and adjustment difficulty, too large in space size, not beneficial to integrated use and high in overall cost.
In a first aspect, an embodiment of the present invention provides a three-dimensional laser radar apparatus, including: the device comprises a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit;
the control unit is electrically connected with the laser emitting unit and the scanning unit respectively; the laser emission unit is connected with the scanning unit through an optical path, and the transflective prism is respectively connected with the distance measurement unit and the imaging unit through optical paths; the signal unit is electrically connected with the distance measuring unit, and the data processing unit is respectively electrically connected with the signal unit and the imaging unit;
the laser emitting unit is used for emitting modulated laser beams under the control of the control unit;
the scanning unit is used for deflecting the modulated laser beam under the control of the control unit so as to complete two-dimensional scanning of a detection area;
the control unit is used for controlling the laser emitting unit and the scanning unit;
the distance measuring unit is used for converging the modulated laser beam and the visible light reflected by the measured object in the detection area, primarily correcting the aberration of the visible light, and converting the optical signal of the modulated laser beam deflected by the transflective prism into an electric signal;
the transflective prism is used for deflecting the modulated laser beam converged by the distance measuring unit and transmitting the visible light;
the imaging unit is used for continuously correcting the aberration of the visible light and converting a visible light signal into image data of a measured object;
the signal processing unit is used for converting the electric signal output by the distance measuring unit into point cloud data of the measured object;
and the data processing unit is used for fusing the point cloud data of the measured object and the image data of the measured object and outputting measured object detection data with position information and image information.
Further, the apparatus as described above, the ranging unit includes: the distance measuring lens group and the distance measuring photoelectric detector are arranged on the base;
the distance measuring mirror group is in optical path connection with the distance measuring photoelectric detector through the transflective prism;
the distance measuring mirror group is used for converging modulated laser beams and visible light reflected by the object to be measured in the detection area and primarily correcting the aberration of the visible light;
and the ranging photoelectric detector is used for converting the optical signal of the modulated laser beam deflected by the transflective prism into an electric signal.
Further, the apparatus as described above, the imaging unit, comprising: an imaging lens group and an imaging photoelectric detector;
the imaging lens group is in optical path connection with the imaging photoelectric detector;
the imaging lens group is used for continuously correcting the aberration of the visible light;
and the imaging photoelectric detector is used for converting the visible light signals after aberration correction of the imaging lens group into image data of the object to be detected.
Further, according to the above device, the center of the reflecting surface of the transflective prism coincides with the optical axis of the distance measuring mirror group, the reflecting surface is coated with an optical film, so that the optical axis of the modulated laser beam converged by the distance measuring mirror group is deflected, and the visible light is transmitted through the transflective prism;
wherein the reflection wavelength range of the optical film is 0.85-1.6 μm.
Further, according to the above-mentioned device, the center of the ranging photodetector is located on the focal plane of the ranging mirror group after the optical axis of the ranging mirror group is deflected.
Further, the apparatus as described above, the ranging mirror group includes: at least one free-form surface lens or at least two spherical mirrors.
Further, in the above device, the optical axis of the imaging lens group coincides with the center of the reflecting surface of the transflective prism.
Further, in the above-described apparatus, the imaging photodetector is located at a focal plane of the imaging lens group.
Further, the apparatus as described above, the imaging lens group comprising: at least one free-form surface lens or at least two spherical mirrors.
Further, according to the device, the modulated laser beam is a near-infrared modulated laser beam, and the wavelength range of the modulated laser beam is 0.85 μm-1.6 μm.
In a second aspect, an embodiment of the present invention provides a three-dimensional lidar system, including the three-dimensional lidar apparatus according to any of the first aspects.
The embodiment of the invention provides a three-dimensional laser radar device and a system, wherein the three-dimensional laser radar device comprises: the device comprises a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit; the control unit is electrically connected with the laser emitting unit and the scanning unit respectively; the laser emission unit is connected with the scanning unit through an optical path, and the transflective prism is respectively connected with the distance measurement unit and the imaging unit through optical paths; the signal unit is electrically connected with the distance measuring unit, and the data processing unit is respectively electrically connected with the signal unit and the imaging unit; the laser emitting unit is used for emitting modulated laser beams under the control of the control unit; the scanning unit is used for deflecting the modulated laser beam under the control of the control unit so as to complete two-dimensional scanning of a detection area; the control unit is used for controlling the laser emitting unit and the scanning unit; the distance measuring unit is used for converging the modulated laser beam and the visible light reflected by the measured object in the detection area, primarily correcting the aberration of the visible light, and converting the optical signal of the modulated laser beam deflected by the transflective prism into an electric signal; the transflective prism is used for deflecting the modulated laser beam converged by the distance measuring unit and transmitting the visible light; the imaging unit is used for continuously correcting the aberration of the visible light and converting a visible light signal into image data of a measured object; the signal processing unit is used for converting the electric signal output by the distance measuring unit into point cloud data of the measured object; and the data processing unit is used for fusing the point cloud data of the measured object and the image data of the measured object and outputting measured object detection data with position information and image information. The detection light and the visible light reflected by the target and converged by the distance measuring unit are split by the transflective prism, the detection light signal is converted into an electric signal, and the electric signal passes through the signal processing unit and then the point cloud data of the measured object is output; the visible light outputs the image data of the measured object through the imaging unit; and outputting final point cloud and image fused detection data after the point cloud data and the image data of the object to be detected pass through the data processing unit. Compared with a three-dimensional laser radar device integrated with a camera in the prior art, the device uses the beam splitting device, and can simultaneously acquire the position information and the image information of the measured object through the ranging unit and the imaging unit, so that the design difficulty of an optical system is reduced, the size of the laser radar is reduced, and the cost is reduced.
It should be understood that what is described in the summary above is not intended to limit key or critical features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a three-dimensional lidar apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a three-dimensional lidar device according to a second embodiment of the present invention.
Reference numerals
101-laser emission unit 102-modulated laser beam 103-scanning unit 104-control unit 105-mixed reflected beam 106-ranging unit 106 a-ranging mirror group 106 b-ranging photoelectric detector 107-transflective prism 108-deflected modulated laser beam 109-visible light 110-imaging unit 110 a-imaging mirror group 110 b-imaging photoelectric detector 111-signal processing unit 112-data processing unit
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and the embodiments of the present invention are illustrative only and are not intended to limit the scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, and in the above-described drawings, if any, 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 are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a three-dimensional lidar device according to an embodiment of the present invention, and as shown in fig. 1, the three-dimensional lidar device according to this embodiment includes: the device comprises a laser emitting unit 101, a scanning unit 103, a control unit 104, a distance measuring unit 106, a transflective prism 107, an imaging unit 110, a signal processing unit 111 and a data processing unit 112.
Wherein, the control unit 104 is electrically connected with the laser emitting unit 101 and the scanning unit 103 respectively; the laser emitting unit 101 is optically connected with the scanning unit 103, and the transflective prism 107 is optically connected with the distance measuring unit 106 and the imaging unit 110 respectively; the signal unit is electrically connected to the distance measuring unit 106, and the data processing unit 112 is electrically connected to the signal unit and the imaging unit 110, respectively.
In this embodiment, the laser emitting unit 101 is configured to emit a modulated laser beam 102 under the control of the control unit 104.
The modulated laser beam 102 emitted by the laser emitting unit 101 may be a near-infrared modulated laser beam, and the wavelength range of the near-infrared modulated laser beam may be 0.85 μm to 1.6 μm, or other ranges, which is not limited in this embodiment.
In this embodiment, the laser emitting unit 101 emits a modulated laser beam 102, and the modulated laser beam 102 is incident on the scanning unit 103.
In this embodiment, the scanning unit 103 is configured to deflect the modulated laser beam 102 under the control of the control unit 104, so as to complete two-dimensional scanning of the detection area.
Specifically, the scanning unit 103 may deflect the modulated laser beam 102 through mechanical scanning or non-mechanical scanning, and complete two-dimensional scanning in the horizontal direction of the detection area, where the two-dimensional scanning may be full-field two-dimensional scanning or local-field two-dimensional scanning, which is not limited in this embodiment.
The control unit 104 is configured to control the laser emitting unit 101 and the scanning unit 103.
In this embodiment, the control unit 104 may send a control emission instruction to the laser emission unit 101 to control the laser emission unit 101 to emit the modulated laser beam 102, and may send a control scanning instruction to the scanning unit 103 to control the modulated laser beam 102 to be deflected to complete two-dimensional scanning of the detection area.
The distance measuring unit 106 is configured to collect the modulated laser beam 102 and the visible light 109 reflected back by the object to be measured in the detection area, primarily correct aberration of the visible light 109, and convert an optical signal of the modulated laser beam deflected by the transflective prism 107 into an electrical signal. The transflective prism 107 is configured to deflect the modulated laser beam 102 converged by the distance measuring unit 106 and transmit the visible light 109. The signal processing unit 111 is configured to convert the electric signal output by the distance measuring unit 106 into point cloud data of the measured object.
Specifically, in this embodiment, after the scanning unit 103 performs two-dimensional scanning on the detection area, the distance measuring unit 106 collects the modulated laser beam 102 and the visible light 109 reflected by the object to be detected in the detection area, the modulated laser beam 102 and the visible light 109 reflected by the object to be detected are mixed reflected beams 105, the distance measuring unit 106 primarily corrects the aberration of the visible light, the mixed reflected beams 105 pass through the transflective prism 107 and then split the modulated laser beam 102 and the visible light 109, and the modulated laser beam 102 collected by the distance measuring unit 106 is deflected and transmits the visible light 109. The modulated laser beam 108 after deflection is received by the ranging unit 106, and an optical signal of the modulated laser beam after deflection is converted into an electric signal, and the electric signal is input into the signal processing unit 111, and the signal processing unit 111 converts the electric signal into point cloud data of the object to be measured.
The ranging unit 106 may include: the distance measuring lens group and the distance measuring photoelectric detector may also be formed by other devices, which are not limited in this embodiment.
In this embodiment, the imaging unit 110 is configured to continuously correct the aberration of the visible light 109 and convert the signal of the visible light 109 into image data of the object to be measured.
Specifically, in this embodiment, the visible light 109 transmitted through the transflective prism 107 is received by the imaging unit 110, the imaging unit 110 continues to correct the aberration of the visible light 109, converts the signal of the visible light 109 of the object to be measured into image data of the object to be measured, and sends the image data of the object to be measured to the data processing unit 112.
In this embodiment, the data processing unit 112 is configured to fuse the point cloud data of the measured object and the image data of the measured object, and output measured object detection data having position information and image information.
Specifically, in this embodiment, the data processing unit 112 receives the point cloud data of the object to be measured sent by the signal processing unit 111 and the image data of the object to be measured of the imaging unit 110, and fuses the point cloud data of the object to be measured and the image data of the object to be measured, where the fused detection data of the object to be measured has position information and image information.
In the data processing unit 112, a specific method for fusing the point cloud data of the object to be measured and the image data of the object to be measured is not limited in this embodiment.
The three-dimensional laser radar device that this embodiment provided includes: a laser emitting unit 101, a scanning unit 103, a control unit 104, a distance measuring unit 106, a transflective prism 107, an imaging unit 110, a signal processing unit 111 and a data processing unit 112; the control unit 104 is electrically connected with the laser emitting unit 101 and the scanning unit 103 respectively; the laser emitting unit 101 is optically connected with the scanning unit 103, and the transflective prism 107 is optically connected with the distance measuring unit 106 and the imaging unit 110 respectively; the signal unit is electrically connected with the distance measuring unit 106, and the data processing unit 112 is electrically connected with the signal unit and the imaging unit 110 respectively; the laser emitting unit 101 is configured to emit a modulated laser beam 102 under the control of the control unit 104; the scanning unit 103 is configured to deflect the modulated laser beam 102 under the control of the control unit 104 to complete two-dimensional scanning of a detection area; the control unit 104 is configured to control the laser emitting unit 101 and the scanning unit 103; the distance measuring unit 106 is configured to converge the modulated laser beam 102 and the visible light 109 reflected back by the object to be measured in the detection area, primarily correct aberration of the visible light 109, and convert an optical signal of the modulated laser beam 108 into an electrical signal after deflecting the transflective prism 107; the transflective prism 107 is configured to deflect the modulated laser beam 102 converged by the distance measuring unit 106 and transmit the visible light 109; the imaging unit 110 is configured to continuously correct the aberration of the visible light 109, and convert the signal of the visible light 109 into image data of the object to be measured; the signal processing unit 111 is configured to convert the electric signal output by the distance measuring unit 106 into point cloud data of the measured object; the data processing unit 112 is configured to fuse the point cloud data of the object to be measured and the image data of the object to be measured, and output object detection data having position information and image information. The detection light and the visible light 109 reflected by the target and converged by the distance measuring unit 106 are split by the transflective prism 107, the detection light signal is converted into an electric signal, and the electric signal passes through the signal processing unit 111 and then the point cloud data of the measured object is output; the visible light 109 outputs the image data of the object to be measured through the imaging unit 110; the point cloud data and the image data of the object to be measured pass through the data processing unit 112 and then output final point cloud and image fused detection data. Compared with a three-dimensional laser radar device integrated with a camera in the prior art, the device uses the beam splitting device, and the position information and the image information of the measured object can be simultaneously acquired through the ranging unit 106 and the imaging unit 110, so that the design difficulty of an optical system is reduced, the size of the laser radar is reduced, and the cost is reduced.
Example two
Fig. 2 is a schematic structural diagram of a three-dimensional lidar device according to a second embodiment of the present invention, and as shown in fig. 2, the three-dimensional lidar device according to this embodiment is further refined by a ranging unit 106 and an imaging unit 110 on the basis of the three-dimensional lidar device according to the first embodiment of the present invention, and the three-dimensional lidar device according to this embodiment further includes the following technical solutions.
Further, in this embodiment, the ranging unit 106 includes: a ranging mirror group 106a and a ranging photodetector 106 b.
The distance measuring mirror group 106a and the distance measuring photodetector 106b are optically connected through the transflective prism 107. The distance measuring mirror group 106a is configured to converge the modulated laser beam 102 and the visible light 109 reflected back by the object to be measured in the detection area, and primarily correct the aberration of the visible light 109; . The range-finding photodetector 106b is configured to convert the optical signal of the modulated laser beam deflected by the transflective prism 107 into an electrical signal.
Preferably, in this embodiment, the center of the reflecting surface of the transflective prism 107 coincides with the optical axis of the distance-measuring mirror group 106a, the reflecting surface is coated with an optical film, so that the optical axis of the modulated laser beam 102 converged by the distance-measuring mirror group 106a is deflected, the visible light 109 is primarily corrected and then transmitted through the transflective prism 107, and the center of the distance-measuring photodetector 106b is located on the focal plane of the distance-measuring mirror group 106a after the optical axis of the distance-measuring mirror group 106a is deflected.
Specifically, in this embodiment, the distance-measuring mirror group 106a converges the modulated laser beam 102 and the visible light 109 reflected back from the object to be measured in the detection region, the modulated laser beam 102 and the visible light 109 reflected back from the object to be measured are mixed reflected beams 105, and since the optical axis of the distance-measuring mirror group 106a coincides with the center of the reflecting surface of the transflective prism 107, the optical axis of the modulated laser beam 102 converged by the distance-measuring mirror group 106a is deflected, so that the optical axis of the deflected modulated laser beam 102 and the optical axis of the distance-measuring mirror group 106a form a certain included angle, and the center of the distance-measuring photodetector 106b is disposed on the focal plane of the distance-measuring mirror group 106a after the optical axis of the distance-measuring mirror group 106a is deflected, so that the deflected modulated laser beam 102 can be completely received by the distance-measuring photodetector 106b, and the optical signal of the deflected modulated laser beam.
Wherein the reflection wavelength range of the optical film is 0.85-1.6 μm.
Specifically, the reflective surface is coated with an optical film that reflects the modulated laser beam 102 having a wavelength in the range of 0.85 μm to 1.6 μm and transmits visible light 109.
Optionally, in this embodiment, the distance measuring mirror group 106a includes: at least one free-form surface lens or at least two spherical mirrors.
In this embodiment, the distance measuring lens group 106a may include at least one free-form surface lens, or may include: at least two spherical mirrors can make the distance measuring lens group 106a have more selectivity to satisfy different requirements.
Further, in the present embodiment, the imaging unit 110 includes: an imaging mirror group 110a and an imaging photodetector 110 b.
The imaging lens group 110a is optically connected to the imaging photodetector 110 b.
Specifically, the imaging lens group 110a is configured to continuously correct the aberration of the visible light 109. The imaging photodetector 110b is configured to convert the visible light 109 signal after aberration correction by the imaging lens group 110a into image data of the object to be measured.
Preferably, the optical axis of the imaging lens group 110a coincides with the center of the reflecting surface of the transflective prism 107. The imaging photodetector 110b is located at the focal plane of the imaging mirror group 110 a.
Specifically, in this embodiment, the imaging lens group 110a receives the visible light 109 transmitted by the transmission prism, and the optical axis of the imaging lens group 110a coincides with the center of the reflection surface of the transflective prism 107, so that the imaging lens group 110a can accurately continue to correct the aberration of the visible light 109 transmitted by the transflective prism 107, and the object to be measured forms a clear image. The imaging photodetector 110b is located on the focal plane of the imaging lens group 110a, so that the visible light 109 converged by the imaging lens group 110a is completely received by the imaging photodetector 110b, and the imaging photodetector 110b can accurately convert the visible light 109 signal after aberration correction by the imaging lens group 110a into image data of the object to be measured.
Optionally, the imaging lens group 110a includes: at least one free-form surface lens or at least two spherical mirrors.
In this embodiment, the imaging lens group 110a may include at least one free-form surface lens, or may include: at least two spherical mirrors can make the imaging lens group 110a have more selectivity to meet different requirements.
Further, in this embodiment, the modulated laser beam 102 is a near-infrared modulation laser beam, and the wavelength range of the modulated laser beam 102 is 0.85 μm to 1.6 μm.
EXAMPLE III
The embodiment of the invention provides a three-dimensional laser radar system which comprises the three-dimensional laser radar device provided by the first embodiment of the invention or the second embodiment of the invention.
In this embodiment, the structure and function of the three-dimensional lidar device are the same as those of the three-dimensional lidar device provided in the first or second embodiment of the present invention, and are not described in detail herein.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A three-dimensional lidar apparatus, comprising: the device comprises a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit;
the control unit is electrically connected with the laser emitting unit and the scanning unit respectively; the laser emission unit is connected with the scanning unit through an optical path, and the transflective prism is respectively connected with the distance measurement unit and the imaging unit through optical paths; the signal unit is electrically connected with the distance measuring unit, and the data processing unit is respectively electrically connected with the signal unit and the imaging unit;
the laser emitting unit is used for emitting modulated laser beams under the control of the control unit;
the scanning unit is used for deflecting the modulated laser beam under the control of the control unit so as to complete two-dimensional scanning of a detection area;
the control unit is used for controlling the laser emitting unit and the scanning unit;
the distance measuring unit is used for converging the modulated laser beam and the visible light reflected by the measured object in the detection area, primarily correcting the aberration of the visible light, and converting the optical signal of the modulated laser beam deflected by the transflective prism into an electric signal;
the transflective prism is used for deflecting the modulated laser beam converged by the distance measuring unit and transmitting the visible light;
the imaging unit is used for continuously correcting the aberration of the visible light and converting a visible light signal into image data of a measured object;
the signal processing unit is used for converting the electric signal output by the distance measuring unit into point cloud data of the measured object;
and the data processing unit is used for fusing the point cloud data of the measured object and the image data of the measured object and outputting measured object detection data with position information and image information.
2. The apparatus of claim 1, wherein the ranging unit comprises: the distance measuring lens group and the distance measuring photoelectric detector are arranged on the base;
the distance measuring mirror group is in optical path connection with the distance measuring photoelectric detector through the transflective prism;
the distance measuring mirror group is used for converging modulated laser beams and visible light reflected by the object to be measured in the detection area and primarily correcting the aberration of the visible light;
and the ranging photoelectric detector is used for converting the optical signal of the modulated laser beam deflected by the transflective prism into an electric signal.
3. The apparatus of claim 1, wherein the imaging unit comprises: an imaging lens group and an imaging photoelectric detector;
the imaging lens group is in optical path connection with the imaging photoelectric detector;
the imaging lens group is used for continuously correcting the aberration of the visible light;
and the imaging photoelectric detector is used for converting the visible light signals after aberration correction of the imaging lens group into image data of the object to be detected.
4. The device of claim 2, wherein the center of the reflecting surface of the transflective prism coincides with the optical axis of the distance-measuring mirror group, the reflecting surface is coated with an optical film to deflect the optical axis of the modulated laser beam converged by the distance-measuring mirror group, and the visible light is transmitted through the transflective prism;
wherein the reflection wavelength range of the optical film is 0.85-1.6 μm.
5. The apparatus of claim 4, wherein the center of the range-finding photodetector is located at the focal plane of the range-finding mirror assembly after the optical axis of the range-finding mirror assembly is deflected.
6. The apparatus of claim 2, wherein the set of range finding mirrors comprises: at least one free-form surface lens or at least two spherical mirrors.
7. The apparatus of claim 3, wherein the optical axis of the set of imaging mirrors coincides with the center of the reflecting surface of the transflective prism.
8. The apparatus of claim 7, wherein the imaging photodetector is located at a focal plane of the imaging mirror group.
9. The apparatus of claim 3, wherein the set of imaging mirrors comprises: at least one free-form surface lens or at least two spherical mirrors.
10. The apparatus according to any one of claims 1-9, wherein the modulated laser beam is a near-infrared modulated laser beam having a wavelength in the range of 0.85 μ ι η to 1.6 μ ι η.
11. A three-dimensional lidar system comprising the three-dimensional lidar apparatus of any of claims 1-10.
Priority Applications (1)
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