CN111381246A - Laser radar receiving assembly and laser radar system - Google Patents

Laser radar receiving assembly and laser radar system Download PDF

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Publication number
CN111381246A
CN111381246A CN201811613937.0A CN201811613937A CN111381246A CN 111381246 A CN111381246 A CN 111381246A CN 201811613937 A CN201811613937 A CN 201811613937A CN 111381246 A CN111381246 A CN 111381246A
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lens
field
lenses
laser
receiving
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张正正
屈志巍
王庆飞
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Wuhan Wanji Photoelectric Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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Priority to CN201811613937.0A priority Critical patent/CN111381246A/en
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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
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The laser radar receiving assembly and the laser radar system provided by the invention have the advantages that the receiving lens group, the field diaphragm, the field lens and the photoelectric detector are arranged in the laser radar receiving assembly; wherein the receiving lens group includes a plurality of lenses; the main optical axes of different lenses form a preset angle; the different lenses are used for receiving the laser echo beams in different view field directions, so that the received laser echo beams sequentially pass through the view field diaphragm and the field lens and are imaged on the photoelectric detector. Through adopting the mode that sets up a plurality of lenses to make different lenses can receive the laser echo light beam that comes from different visual field directions, and through the formation of image at photoelectric detector of field of view diaphragm and field lens, thereby effectively improved photoelectric detector's observable visual field, and then improved laser radar receiving assembly and laser radar system's detection performance.

Description

Laser radar receiving assembly and laser radar system
Technical Field
The invention relates to a laser application technology, in particular to a laser radar receiving assembly and a laser radar system.
Background
The laser radar system is one of key sensors of the unmanned equipment, is equivalent to the eyes of an automobile, and can accurately identify information such as the position, the size and the like of an obstacle. Generally, a laser radar system transmits a laser beam to a target area through a laser radar transmitting assembly, and then receives a laser echo signal reflected by the target area through a laser radar receiving assembly, so that three-dimensional information of a space to be measured is acquired by analyzing the flight time of laser.
In the prior art, the lidar receiving assembly includes a lens and a receiving probe, wherein the size of the receiving probe is limited by the semiconductor process level. The size of the receiving detector greatly restricts the view field size of the laser radar receiving assembly, and further the detection performance of the laser radar system is influenced.
Therefore, it is difficult to improve the performance of the lidar receiving assembly and the lidar system by increasing the size of the field of view of the lidar receiving assembly without changing the size of the conventional receiving detector.
Disclosure of Invention
The invention provides a laser radar receiving assembly and a laser radar system, aiming at solving the problem that the field of view of the laser radar receiving assembly in the prior art is limited.
The invention provides a laser radar receiving assembly, comprising: the device comprises a receiving lens group, a field diaphragm, a field lens and a photoelectric detector;
wherein the receiving lens group includes a plurality of lenses; the main optical axes of different lenses form a preset angle; the different lenses are used for receiving the laser echo beams in different view field directions, so that the received laser echo beams sequentially pass through the view field diaphragm and the field lens and are imaged on the photoelectric detector.
In an alternative embodiment, the focal points of the lenses in the receiving lens group are arranged in coincidence.
Wherein the receiving lens group includes a plurality of lenses; the main optical axes of different lenses form a preset angle; the different lenses are used for receiving the laser echo beams in different view field directions, so that the received laser echo beams sequentially pass through the view field diaphragm and the field lens and are imaged on the photoelectric detector.
In an alternative embodiment, the focal points of the lenses in the receiving lens group are arranged in coincidence.
In an alternative embodiment, the focal point of each lens is located on the plane of the aperture of the field stop.
In an alternative embodiment, each lens in the receiving lens group is a converging lens for converging each laser echo beam in the field stop.
In an optional embodiment, the field lens is configured to compress and condense each laser echo light beam transmitted through the field stop, so that the compressed and condensed echo light beam is imaged in a detection area of the photodetector.
In an alternative embodiment, the preset included angle between the main optical axes of two adjacent lenses is less than or equal to half of the sum of the field angles of the two lenses.
In an alternative embodiment, the aperture size of the field stop is equal to the sum of the tangent value of the upper field angle and the tangent value of the lower field angle of any lens, multiplied by the focal length of the any lens;
the upper field angle is an included angle between the propagation direction of the upper field-of-view laser echo beam received by the lens and a main optical axis of the lens; the lower field angle is an included angle between the propagation direction of the lower field laser echo beam received by the lens and the main optical axis of the lens.
In an alternative embodiment, the following formula 1 is satisfied between the upper and lower angles of view of the two adjacent lenses:
Figure BDA0001925430790000021
wherein, the f1Is the focal length of one of the two adjacent lenses,
Figure BDA0001925430790000022
is the clear aperture, omega, of the lens11And ω12The upper and lower field angles of the lens are respectively; f is2Is the focal length of the other of the two adjacent lenses,
Figure BDA0001925430790000031
is the clear aperture, ω, of the other lens21And ω22The upper and lower angles of view of the other lens, respectively.
In another aspect, the present invention provides a lidar system comprising a lidar receiving assembly as defined in any of the preceding claims and a lidar transmitting assembly.
In an alternative embodiment, the lidar transmission assembly includes a laser transmitter;
the laser transmitter is used for transmitting a laser emission beam to a measured target and forming a laser echo beam which is emitted into the laser radar receiving assembly through reflection of the measured target.
The focal point of each lens is positioned on the plane of the aperture of the field stop.
The laser radar receiving assembly and the laser radar system provided by the invention have the advantages that the receiving lens group, the field diaphragm, the field lens and the photoelectric detector are arranged in the laser radar receiving assembly; wherein the receiving lens group includes a plurality of lenses; the main optical axes of different lenses form a preset angle; the different lenses are used for receiving the laser echo beams in different view field directions, so that the received laser echo beams sequentially pass through the view field diaphragm and the field lens and are imaged on the photoelectric detector. Through adopting the mode that sets up a plurality of lenses to make different lenses can receive the laser echo light beam that comes from different visual field directions, and through the formation of image at photoelectric detector of field of view diaphragm and field lens, thereby effectively improved photoelectric detector's observable visual field, and then improved laser radar receiving assembly and laser radar system's detection performance.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of a laser radar receiving assembly according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a main lens of a laser radar receiver assembly according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an operation principle of a main lens in a laser radar receiving assembly according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a laser radar receiving assembly according to a second embodiment of the present invention;
fig. 5 is a schematic diagram illustrating an operating principle of a main lens of a laser radar receiving assembly according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a laser radar system according to a third embodiment of the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In the prior art, the lidar receiving assembly includes a lens and a receiving probe, wherein the size of the receiving probe is limited by the semiconductor process level. The size of the receiving detector greatly restricts the view field size of the laser radar receiving assembly, and further the detection performance of the laser radar system is influenced.
Therefore, it is difficult to improve the performance of the lidar receiving assembly and the lidar system by increasing the size of the field of view of the lidar receiving assembly without changing the size of the conventional receiving detector.
It is noted that the exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
In order to solve the above problems, the present invention provides a lidar receiving assembly that is adaptable to a lidar system and provides the lidar system with the functions of detecting and receiving a laser echo beam.
In order to improve the size of a field of view which can be provided by a laser radar receiving assembly under the condition of not changing the size of a photoelectric detector, the laser radar receiving assembly provided by the invention is provided with a receiving lens group, a field stop, a field lens and the photoelectric detector. Wherein the receiving lens group includes a plurality of lenses; the main optical axes of different lenses form a preset angle; the different lenses are used for receiving the laser echo beams in different view field directions, so that the received laser echo beams sequentially pass through the view field diaphragm and the field lens and are imaged on the photoelectric detector.
Fig. 1 is a schematic structural diagram of a laser radar receiving assembly according to an embodiment of the present invention.
As shown in fig. 1, the laser radar receiving assembly includes: a receiving lens group, a field stop 141, a field lens 142, and a photodetector 143;
for convenience of description, as shown in fig. 1, the number of lenses in this embodiment will be described as 3, that is, the receiving lens group includes a first lens 111, a second lens 121, and a third lens 131.
The optical axis of the first lens 111 is 112, the optical axis of the second lens 121 is 122, the optical axis of the third lens 131 is 132, and the main optical axes of different lenses form a preset angle, and different lenses are configured to receive laser echo beams in different view field directions, so that each received laser echo beam sequentially passes through the view field diaphragm 141 and the field lens 142 and is imaged on the photodetector 143.
Specifically, the focal lengths of the first lens 111, the second lens 121, and the third lens 131 are f1、f2、f3. The size of the field stop 141 is D. The first lens 111 is used for receiving the laser echo beam from the middle field of view direction, and the field of view size ω of the first lens 1111(ii) a The second lens 121 can be used for receiving the laser echo beam from the upper field direction, and the size ω of the field of view of the second lens 1212(ii) a The third lens 131 is used for receiving the laser echo beam from the lower field of view direction, and the field of view size ω of the third lens 1313。
And the angle between the first lens axis 112 and the second lens axis 122 is shown as α1The angle between the first lens axis 112 and the third lens axis 132 is shown as α2. Preferably, the preset included angle between the main optical axes of two adjacent lenses is less than or equal to half of the sum of the field angles of the two lenses.
Specifically, the relationship between each included angle and the size of each lens field needs to satisfy the following formula a and formula b:
a1≤(ω1+ω2) /2 formula a
a3≤(ω1+ω3) And/2 formula b.
After each lens receives the laser echo beam in the corresponding field direction, each lens will respectively guide the laser echo beam to pass through the aperture of the field diaphragm 141, and through the convergence of the field lens 142, the laser echo beam is finally imaged on the photodetector 143.
At this time, the overall field of view ω of the entire lidar receiving assembly will satisfy formula c:
ω≤α1+α2+(ω4+ω3) Formula/2
In addition to the above embodiment, it is preferable that the focal points of the lenses in the receiving lens group are arranged to overlap. By adopting the lens setting mode with coincident focuses, the aperture size of the field diaphragm can be further reduced, and the size of the whole assembly is reduced.
And preferably, the focal point of each lens is located on the plane of the aperture of the field stop. That is, the image-side focal points of the first lens 111, the second lens 121, and the third lens 131 coincide, and the image-side focal point is located at the center of the field stop 141. As described above, when the focal point of each lens is located on the plane of the aperture of the field stop 141, the aperture size of the field stop 141 at this time will reach the minimum value.
In addition, in the above embodiment, each lens in the receiving lens group is a converging lens for converging each laser echo beam in the field stop 141. The field diaphragm 141 is 1/3 of the conventional photoelectric detector of the receiving system, so that the size of the detector is effectively reduced.
In addition, optionally, the field lens 142 is configured to compress and condense each laser echo light beam transmitted through the field stop 141, so that the compressed and condensed echo light beam is imaged in a detection area of the photodetector 143. By setting the field lens 142 for further reducing the imaging size, the echo beams in the field corresponding to the first lens 111, the second lens 121, and the third lens 131 are all converged into the field diaphragm 141, and the converged light is further compressed by the field lens 142 and converged onto the photodetector 143, so as to realize the final imaging.
Fig. 2 is a schematic diagram of a main lens in a lidar receiving assembly according to an embodiment of the present invention, where the field of view that the first lens 111 can receive is- ω11～ω12，ω11+ω12＝ω1. For the first lens 111, the light rays outside the receiving field will be blocked by the field stop 141 and cannot enter the field lens 142 and the detector 143 behind it. Wherein the angle between the laser echo beam 113 of the lower field of view and the optical axis 112 of the first lens is-omega11And then, the light beams pass through the first lens 111 and are converged to the upper part of the field stop 141. The field lens 142 is located near the rear of the field stop 141. After the converged light passes through the field lens 142, the light is highly compressed and finally imaged on the detector 143. The included angle between the upper field of view laser echo beam 114 and the optical axis 112 of the first lens is ω12And then, the light beams pass through the first lens 111 and then are converged to the lower part of the field stop 141. After the converged light passes through the field lens 142, the light is highly compressed and finally imaged on the detector 143. By using the field lens 141, the height of the incident light is compressed, the size of the image plane is further reduced, the size of the detector 143 can be effectively reduced, and the cost is reduced.
Preferably, in the present embodiment, the aperture size of the field stop 141 is equal to the sum of the tangent of the upper field angle and the tangent of the lower field angle of any one lens, multiplied by the focal length of that any one lens; the upper field angle is an included angle between the propagation direction of the upper field-of-view laser echo beam received by the lens and a main optical axis of the lens; the lower field angle is an included angle between the propagation direction of the lower field laser echo beam received by the lens and the main optical axis of the lens.
Accordingly, the following formula 1 is satisfied between the upper and lower field angles of the two adjacent lenses:
Figure BDA0001925430790000071
wherein, the f1Is the focal length of one of the two adjacent lenses,
Figure BDA0001925430790000072
is the clear aperture, omega, of the lens11And ω12The upper and lower field angles of the lens are respectively; f is2Is the focal length of the other of the two adjacent lenses,
Figure BDA0001925430790000073
is the clear aperture, ω, of the other lens21And ω22The upper and lower angles of view of the other lens, respectively.
Specifically, fig. 3 is a schematic diagram of an operating principle of a main lens in a laser radar receiving assembly according to an embodiment of the present invention.
The first receiving lens 111 is responsible for the direct front field of view, so the gaussian image plane of the first lens 111 coincides with the field stop 141. The height D of the convergent point of the down-field laser echo beam 113 of the first lens after passing through the first lens 11111＝f1×tanω11. The upper field of view laser echo beam 114 of the first lens passes through the height D of the convergent point of the first lens 11112＝f1×tanω12. The overall height D of the field stop 141 is D11+D12。
The included angle between the down-field laser echo beam 123 of the second lens and the optical axis 112 of the second lens is ω21And a height D of the Gaussian image surface 145 converged to the second lens 122 after passing through the second lens 12121＝f2×tanω21. In order to ensure that all the rays of the bottom field laser echo beam 123 of the second lens can pass through the field stop 141, the field stop is arranged to be optically transparentIt must be ensured that the uppermost end of the converging light beam passes through said field stop 141. The aperture of the second receiving lens 121 is
Figure BDA0001925430790000081
Through calculation, the height D21 of the bottom field laser echo beam 123 of the second lens converging to the gaussian image surface 145 of the second lens 122 after passing through the second lens 121 should satisfy the formula c:
Figure BDA0001925430790000082
therefore, the lower field angle of the second lens 122 should satisfy the formula d:
Figure BDA0001925430790000083
the angle between the second top field of view laser echo signal 124 and the optical axis 112 of the second lens is ω22And a height D of the Gaussian image surface 145 converged to the second lens 121 after passing through the second lens 12122＝f2×tanω22. Wherein ω is2＝ω21+ω22. In order to ensure that all the rays of the upper field laser echo beam 123 of the second lens can pass through the field stop 141, it is necessary to ensure that the lowest end of the converging beam passes through the field stop 141. Through calculation, the upper field of view laser echo beam 123 of the second lens passes through the second lens
The height of the Gaussian image surface 145 converged to the second lens 122 after 121 satisfies the formula e
Figure BDA0001925430790000084
Therefore, the upper field angle of the second lens should satisfy the formula f:
Figure BDA0001925430790000085
according to the laser radar receiving assembly, the plurality of receiving lens groups are arranged in the receiving lens group and can be used for receiving the laser echo beams in different view field directions, and the view field diaphragms and the field lenses are utilized for converging and imaging the laser echo beams on the photoelectric detectors, so that the whole view field of the laser radar receiving assembly is effectively expanded under the condition that the size of the photoelectric detectors is not changed, the size of the detectors is effectively reduced, the limitation of the existing semiconductor preparation process level is broken through, and the cost of the laser radar is reduced. In addition, in the present embodiment, since the plurality of lenses share one field stop, field lens, and photodetector, the problem of increased cost caused by splicing the fields of view by using a plurality of field stops, field lenses, and photodetectors is also avoided.
In order to further improve the device performance of the laser radar receiving assembly, the plurality of lenses in the receiving lens group can adopt different arrangement modes to receive laser echo beams in different view field directions.
Specifically, fig. 4 is a schematic structural diagram of a laser radar receiving assembly according to a second embodiment of the present invention.
In the present invention, the arrangement of the lenses in the receiving lens group can be as shown in fig. 1, and the plurality of lenses are arranged in sequence along the same bending direction, and it can also adopt the arrangement mode as shown in fig. 4, that is, the plurality of lenses are arranged in sequence along different bending directions.
In the configuration shown in fig. 4, the lidar receiving assembly includes a first lens 211, a second lens 221, a third lens 231, a fourth lens 241, a field stop 251, a field lens 252, and a photodetector 253.
The optical axis of the first lens 211 is 212, the optical axis of the second lens 221 is 222, the optical axis of the third lens 231 is 232, and the optical axis of the fourth lens 211 is 212. Wherein the horizontal reference plane is 201, and D of the field stop 251xThe direction is consistent, the vertical reference plane is 202, and D of the field diaphragm 251 isyThe directions are consistent.
The first lens 211, the second lens 221 and the third lens231, the focal length of the fourth lens 241 is f1、f2、f3、f4. The size of the field diaphragm 251 is Dx×Dy. The size of the field of view of the first lens 211 is as follows: omega1x，ω1y(ii) a The field size ω of the second lens 2212x，ω2y(ii) a The size ω of the field of view of the third lens 2313x，ω3y(ii) a The field size ω of the fourth lens 2414x，ω4y。
Wherein the image space focal points of the first lens 111, the second lens 121, the third lens 131 and the fourth lens 141 are coincident, and the image space focal point is located at the center of the field stop 251, the included angle between the optical axis 212 of the first lens and the vertical reference 202 is α1The included angle between the optical axis 212 of the first lens and the horizontal reference 201 is β1And is and
Figure BDA0001925430790000091
the angle between the second lens optical axis 222 and the vertical reference 202 is α2The angle between the optical axis 222 of the second lens and the horizontal reference 201 is β2And is and
Figure BDA0001925430790000101
the angle between the optical axis 232 of the third lens element and the vertical reference 202 is α3The included angle between the optical axis 232 of the third lens and the horizontal reference 201 is β3And is and
Figure BDA0001925430790000102
the angle between the optical axis 242 of the fourth lens element and the vertical reference 202 is α4The included angle between the optical axis 242 of the fourth lens element and the horizontal reference 201 is β4And is and
Figure BDA0001925430790000103
further, fig. 5 is a schematic diagram illustrating an operating principle of a main lens of a laser radar receiving assembly according to a second embodiment of the present invention. Fig. 5 shows the projection of two adjacent receiving lenses on the horizontal reference surface 201. The included angle between the down-view laser echo beam 113 of the first lens and the optical axis 112 of the first lens is omega1x1A height D of the Gaussian image plane 245 converged to the first lens 211 after passing through the first lens 21111＝f1×tanω1x1. In order to ensure that all the light rays of the bottom field laser echo beam 213 of the first lens can pass through the field stop 241, it is necessary to ensure that the top end of the converging beam passes through the field stop 241. The aperture of the first receiving lens 211 is
Figure BDA0001925430790000104
Through calculation, the bottom field laser echo beam 213 of the first lens passes through the first lens 211 and then converges to the height of the gaussian image plane 245 of the first lens 211
Figure BDA0001925430790000105
Therefore, the lower field angle of the first lens is
Figure BDA0001925430790000106
The included angle between the upper field of view laser echo beam 214 of the first lens and the optical axis 211 of the first lens is omega1x2And a height D of the Gaussian image surface 145 converged to the first lens 211 after passing through the first lens 12112＝f2×tanω1x2. In order to ensure that all the light rays of the upper field laser echo beam 214 of the first lens can pass through the field stop 241, it is necessary to ensure that the lowest end of the converging beam passes through the field stop 241. It can be found by calculation that the down-field laser echo beam 213 of the first lens passes through the first lensThe height of the Gaussian image surface 145 converged by the mirror 211 to the first lens 211 is
Figure BDA0001925430790000111
Therefore, the upper field angle of the second lens is
Figure BDA0001925430790000112
Similarly, the upper and lower angles of view ω of the second lens correspond to21、ω22And satisfies the formula g:
Figure BDA0001925430790000113
wherein ω is2x＝ω2x1+ω2x2。
Similarly, two adjacent fields of view ω on the vertical plane 202 can be obtained1y1、ω1y2、ω2y2、ω2y2The formula h needs to be satisfied:
Figure BDA0001925430790000114
according to the laser radar assembly provided by the second embodiment of the invention, the plurality of lenses can be arranged in different ways to receive the laser echo beams in different view field directions, so that the performance of the laser radar receiving assembly is further improved.
On the basis of the foregoing embodiments, fig. 6 is a schematic structural diagram of a laser radar system according to a third embodiment of the present invention.
As shown in fig. 6, the lidar system includes a lidar receiving assembly 1 and a lidar transmitting assembly 2 as described in any of the above.
Wherein the lidar transmission assembly 2 comprises a laser transmitter 21; the laser transmitter 21 is configured to transmit a laser emission beam to the target 3 to be measured, and form a laser echo beam entering the lidar receiving assembly 1 through reflection by the target to be measured.
In the laser radar system provided by the third embodiment of the invention, the receiving lens group, the field diaphragm, the field lens and the photoelectric detector are arranged in the laser radar receiving assembly; wherein the receiving lens group includes a plurality of lenses; the main optical axes of different lenses form a preset angle; the different lenses are used for receiving the laser echo beams in different view field directions, so that the received laser echo beams sequentially pass through the view field diaphragm and the field lens and are imaged on the photoelectric detector. Through adopting the mode that sets up a plurality of lenses to make different lenses can receive the laser echo light beam that comes from different visual field directions, and through the formation of image at photoelectric detector of field of view diaphragm and field lens, thereby effectively improved photoelectric detector's observable visual field, and then improved laser radar receiving assembly and laser radar system's detection performance.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
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 (10)

1. A lidar receiving assembly, comprising: the device comprises a receiving lens group, a field diaphragm, a field lens and a photoelectric detector;
wherein the receiving lens group includes a plurality of lenses; the main optical axes of different lenses form a preset angle; the different lenses are used for receiving the laser echo beams in different view field directions, so that the received laser echo beams sequentially pass through the view field diaphragm and the field lens and are imaged on the photoelectric detector.
2. The lidar receiving assembly of claim 1, wherein the focal points of the lenses of the receiving lens group are arranged coincident.
3. The lidar receiving assembly of claim 2, wherein the focal point of each lens is located in a plane of an aperture of the field stop.
4. The lidar receiving assembly of claim 1, wherein each lens of the receiving lens group is a converging lens for converging each laser echo beam within the field stop.
5. The lidar receiving assembly of claim 1, wherein the field lens is configured to compress and condense each laser echo beam transmitted through the field stop, so that the compressed and condensed echo beam is imaged in a detection area of the photodetector.
6. The lidar receiving assembly of claim 1, wherein the predetermined included angle between the principal optical axes of two adjacent lenses is less than or equal to one-half of the sum of the field angles of the two lenses.
7. The lidar receiving assembly of claim 1, wherein the field stop has an aperture size equal to a sum of a tangent of an upper field angle and a tangent of a lower field angle of any one of the lenses multiplied by a focal length of the any one of the lenses;
the upper field angle is an included angle between the propagation direction of the upper field-of-view laser echo beam received by the lens and a main optical axis of the lens; the lower field angle is an included angle between the propagation direction of the lower field laser echo beam received by the lens and the main optical axis of the lens.
8. The lidar receiving assembly of claim 7, wherein the upper and lower angles of view of the two adjacent lenses satisfy the following equation 1:
Figure FDA0001925430780000021
wherein, the f1Is the focal length of one of the two adjacent lenses,
Figure FDA0001925430780000022
is the clear aperture, omega, of the lens11And ω12The upper and lower field angles of the lens are respectively; f is2Is the focal length of the other of the two adjacent lenses,
Figure FDA0001925430780000023
is the clear aperture, ω, of the other lens21And ω22The upper and lower angles of view of the other lens, respectively.
9. A lidar system comprising the lidar receiving assembly of any of claims 1-8 and a lidar transmitting assembly.
10. The lidar system of claim 9, wherein the lidar transmission assembly comprises a laser transmitter;
the laser transmitter is used for transmitting a laser emission beam to a measured target and forming a laser echo beam which is emitted into the laser radar receiving assembly through reflection of the measured target.
CN201811613937.0A 2018-12-27 2018-12-27 Laser radar receiving assembly and laser radar system Pending CN111381246A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112612014A (en) * 2020-11-27 2021-04-06 西安知微传感技术有限公司 High-performance MEMS laser radar receiving system
CN114325640A (en) * 2021-11-18 2022-04-12 杭州宏景智驾科技有限公司 Laser radar receiving device and laser radar
CN117368886A (en) * 2022-06-30 2024-01-09 深圳市速腾聚创科技有限公司 Laser emission module and laser radar

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112612014A (en) * 2020-11-27 2021-04-06 西安知微传感技术有限公司 High-performance MEMS laser radar receiving system
CN114325640A (en) * 2021-11-18 2022-04-12 杭州宏景智驾科技有限公司 Laser radar receiving device and laser radar
CN117368886A (en) * 2022-06-30 2024-01-09 深圳市速腾聚创科技有限公司 Laser emission module and laser radar

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