CN111505603A - Laser radar system and laser radar control method - Google Patents

Laser radar system and laser radar control method Download PDF

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Publication number
CN111505603A
CN111505603A CN201910096190.4A CN201910096190A CN111505603A CN 111505603 A CN111505603 A CN 111505603A CN 201910096190 A CN201910096190 A CN 201910096190A CN 111505603 A CN111505603 A CN 111505603A
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CN
China
Prior art keywords
laser
beam splitter
return light
light signal
mirror
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CN201910096190.4A
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Chinese (zh)
Inventor
魏威
杜亚军
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Suteng Innovation Technology Co Ltd
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Suteng Innovation Technology Co Ltd
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Priority to CN201910096190.4A priority Critical patent/CN111505603A/en
Publication of CN111505603A publication Critical patent/CN111505603A/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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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

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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 invention relates to a laser radar system and a laser radar control method, wherein the system comprises: the laser emitting system is used for emitting emergent laser; an optical assembly including a beam splitter and a mirror for causing the outgoing laser light to pass out of the beam splitter and for causing the beam splitter and the mirror to deflect the received return light signal; the return light signal is return laser which carries relevant information of the target object after the emergent laser responds to the target object; an optical scanning device for changing the direction of the outgoing laser beam transmitted from the spectroscope to emit the outgoing laser beam to the target object, and for changing the direction of the return light signal to emit the return light signal to the optical unit; and the laser receiving system is used for receiving the return light signal deflected by the beam splitter and the reflecting mirror. Therefore, no matter how the surface condition of the target object is, the laser receiving system can well respond to the return light signal, the energy of the return light signal received by the laser receiving system is increased, and the precision and the accuracy are improved.

Description

Laser radar system and laser radar control method
Technical Field
The invention relates to the field of laser radars, in particular to a laser radar system and a laser radar control method.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle of the system is to emit detection signals to a target object, compare the received signals reflected from the target object with the emission signals, and obtain the relevant information of the target object after proper processing.
At present, there are two main detection methods for the solid-state coaxial scheme of the laser radar, the first is to use the polarization characteristic of the laser and the depolarization characteristic of the target object to perform laser detection, and the second is to perform laser detection through the reflectivity of the target object.
In the first method, due to the random depolarization characteristic of the target object, it is difficult for the lidar to recognize both natural objects and artificial objects. In the second method, the laser radar can respond to the return light signal of the target object well when detecting a smooth target object with a low reflectance, and the laser radar cannot obtain the return light signal of the target object well when detecting a rough target object with a low reflectance.
Therefore, it is desirable to provide a lidar system that can combine the above two detection methods.
Disclosure of Invention
In view of the above, it is desirable to provide a lidar system and a lidar control method that are capable of responding to return optical signals well to target objects of different surface conditions.
In one aspect, an embodiment of the present invention provides a laser radar system, including:
the laser emitting system is used for emitting emergent laser;
an optical assembly including a beam splitter and a mirror, for transmitting the outgoing laser light out of the beam splitter, and for deflecting the received return light signal by the beam splitter and the mirror; the return light signal is return laser which carries relevant information of the target object after the emergent laser responds to the target object;
an optical scanning device for changing a direction of the outgoing laser beam transmitted from the beam splitter so as to emit the outgoing laser beam to the target object, and for changing a direction of the return light signal so as to emit the return light signal to the optical unit;
and the laser receiving system is used for receiving the return light signals deflected by the spectroscope and the reflecting mirror.
In one embodiment, the center of the beam splitter and the center of the reflector are both located on the optical axis of the outgoing laser light.
In one embodiment, the mirror is an open-centered mirror.
In one embodiment, the area of the beam splitter is equal to or less than the area of the central aperture of the reflector.
In one embodiment, the beam splitter is located at a central aperture of the reflector.
In one embodiment, the area of the beam splitter is equal to the area at the central aperture of the mirror.
In one embodiment, the beam splitter is a beam splitter prism, a beam splitter flat sheet or a half-transmitting and half-reflecting mirror.
In one embodiment, the optical scanning device is a one-dimensional MEMS, a two-dimensional MEMS, a mechanical galvanometer, or a combination thereof.
In one embodiment, the system further includes an optical filter disposed between the optical assembly and the laser receiving system for filtering out interference light.
In another aspect, an embodiment of the present invention provides a laser radar control method, where the method is applied to the laser radar system according to the above embodiment, and the method includes:
the laser emitting system emits emergent laser;
the optical assembly comprises a spectroscope and a reflecting mirror, and the spectroscope enables the emergent laser to penetrate out of the spectroscope;
the optical scanning device changes the direction of the outgoing laser light transmitted by the spectroscope and also changes the direction of a return optical signal; the return light signal is return laser which carries relevant information of the target object after the emergent laser responds to the target object;
the beam splitter and the mirror deflect the return light signal from the optical scanning device;
the laser receiving system receives the return light signal deflected by the beam splitter and the mirror.
The laser radar system provided by the above embodiment comprises a laser emitting system, an optical component, an optical scanning device and a laser receiving system; the optical assembly comprises a spectroscope and a reflecting mirror, the spectroscope and the reflecting mirror can deflect received return light signals, the laser receiving system receives the return light signals deflected by the spectroscope and the reflecting mirror and acquires information of a target object according to the received return light signals, when the return light signals reach the optical assembly, the return light signals reach the spectroscope, and part of light meeting the deflection condition is deflected by the spectroscope and then is emitted to the laser receiving system; the return light signal reaching the mirror portion is reflected by the mirror and then directed to the laser receiving system. Therefore, when the surface of the target object is smooth, the polarization state signal is weak, the reflectivity signal is strong, and the reflectivity signal in the return light signal is reflected by the reflector and then received by the laser receiving system; when the surface of the target object is rough, the polarization state signal is strong, the reflectivity signal is weak, and the polarization state signal in the return light signal is received by the laser receiving system after being deflected by the spectroscope, so that the laser receiving system can well respond to the return light signal no matter how the surface of the target object is, the energy of the return light signal received by the laser receiving system is increased, and the precision and the accuracy are improved.
Drawings
FIG. 1 is a schematic diagram of a lidar system provided in one embodiment;
FIG. 2 is a schematic diagram of a lidar system provided in another embodiment;
fig. 3 is a schematic flowchart of a lidar control method according to an embodiment.
Description of reference numerals:
a laser radar system 10; a laser emitting system 100; an optical assembly 200;
a spectroscope 201; a mirror 202; an optical scanning device 300;
a laser receiving system 400; the target object 500.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The conventional laser radar system has a problem that it is difficult to respond to a return light signal of a target object. Therefore, embodiments of the present invention provide a laser radar system and a laser radar control method, which aim to solve the above technical problems of the conventional technology.
The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. 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.
Fig. 1 is a schematic diagram of a lidar system according to an embodiment. As shown in fig. 1, laser radar system 10 includes: a laser emitting system 100 for emitting an outgoing laser; an optical assembly 200, including a beam splitter 201 and a mirror 202, for transmitting the outgoing laser light out of the beam splitter 201, and deflecting the received return light signal by the beam splitter 201 and the mirror 202; the return light signal is return laser which carries relevant information of the target object 500 after the emergent laser responds to the target object 500; an optical scanning device 300 for changing the direction of the outgoing laser beam emitted from the beam splitter 201 to direct the outgoing laser beam to the target object 500, and for changing the direction of the return light signal to direct the return light signal to the optical unit 200; a laser receiving system 400 for receiving the return optical signal deflected by the beam splitter 201 and the reflecting mirror 202.
Specifically, the laser emitting system 100 is configured to emit the outgoing laser light and transmit the emitted outgoing laser light to the optical assembly 200. Optionally, the laser emission system includes an emitter and a collimating optical lens group, the emitter is configured to emit outgoing laser light, and the collimating optical lens group is configured to collimate the outgoing laser light emitted by the emitter. Alternatively, there may be one emitter. Alternatively, the number of emitters may be plural, and the plural emitters may be arranged in one dimension or two dimensions.
The optical assembly 200 includes a beam splitter 201 and a reflecting mirror 202, so that the emitted laser light is transmitted out of the beam splitter 201 and transmitted to the optical scanning device 300; the beam splitter 201 and the mirror 202 in the optical assembly 200 are further configured to receive a return light signal from the target object 500, and deflect the return light signal to the laser receiving system 400, where the return light signal is return laser light that carries information about the target object 500 after the outgoing laser light responds to the target object 500. Optionally, the beam splitter 201 deflects S-state polarized light in the received return light signal to the laser receiving system, and the mirror 202 reflects the received return light signal and directs the reflected return light signal to the laser receiving system. Alternatively, the mirror 202 may be an open-centered mirror. Optionally, the area of the beam splitter 201 is smaller than or equal to the area of the central opening of the reflector 202.
The optical scanning device 300 for emitting the emitted laser beam to the target object 500 by changing the direction of the emitted laser beam emitted from the beam splitter 201; receives the return light signal, changes the direction of the return light signal, and directs the return light signal to the optical module 200. Optionally, the optical scanning device 300 is a one-dimensional MEMS, a two-dimensional MEMS, a mechanical galvanometer, or a combination thereof.
The laser receiving system 400 receives the return light signal deflected by the beam splitter 201 and the mirror 202, and acquires information on the target object 500 based on the received return light signal. Optionally, the laser receiving system 400 includes a focusing optical lens group for converging the received return optical signal on the receiver, and a receiver for receiving the return optical signal. Alternatively, the number of receivers may be one or more. Alternatively, the plurality of receivers may be arranged in one dimension or two dimensions.
In the present embodiment, the laser radar system includes a laser emitting system, an optical assembly, an optical scanning device, and a laser receiving system; the optical assembly includes a beam splitter and a mirror capable of deflecting the received return light signal, and the laser receiving system receives the return light signal deflected by the beam splitter and the mirror and acquires information of the target object from the received return light signal. When the return light signal reaches the optical component, the return light signal reaching the spectroscope deflects part of light meeting the deflection condition by the spectroscope and then emits the part of light to the laser receiving system; the return light signal reaching the mirror portion is reflected by the mirror and then directed to the laser receiving system. Therefore, when the surface of the target object is smooth, the polarization state signal is weak, the reflectivity signal is strong, and the reflectivity signal in the return light signal is reflected by the reflector and then received by the laser receiving system; when the surface of the target object is rough, the polarization state signal is strong, the reflectivity signal is weak, and the polarization state signal in the return light signal is received by the laser receiving system after being deflected by the spectroscope, so that the laser receiving system can well respond to the return light signal no matter how the surface of the target object is, the energy of the return light signal received by the laser receiving system is enhanced, and the precision and the accuracy are improved.
With reference to fig. 1, on the basis of the above embodiment, as an alternative implementation manner, the center of the beam splitter 201 and the center of the reflector 202 are both located on the optical axis of the outgoing laser.
Specifically, the center of the beam splitter 201 is located on the optical axis of the outgoing laser beam emitted by the laser emission system 100, and the center of the reflector 202 is also located on the optical axis of the outgoing laser beam emitted by the laser emission system 100. Optionally, the beam splitter 201 may be a beam splitter prism, a beam splitter flat sheet, or a half mirror.
In this embodiment, the beam splitter and the reflecting mirror included in the optical assembly are both located on the optical axis of the outgoing laser light emitted by the laser emission system, so that the optical assembly can receive the outgoing laser light to the maximum extent, and meanwhile, the optical assembly can receive the return light signal to the maximum extent, thereby improving the intensity of the laser signal received by the optical assembly; the outgoing laser and the return light signals are transmitted along the optical axis, and errors are reduced.
Fig. 2 is a schematic diagram of a lidar system according to another embodiment. On the basis of the above embodiment, as an alternative implementation, the reflective mirror 201 is located at the central opening of the reflective mirror 202.
Specifically, the reflector 202 is a central opening type reflector, and the beam splitter 201 is located at a central opening of the reflector 202. Optionally, the area of beam splitter 201 is equal to the area at the central aperture of mirror 202. Alternatively, the central opening shape of the central opening reflector may be a circular shape, a rectangular shape, or an irregular shape, as shown in fig. 2, in this embodiment, the central opening shape of the central opening reflector is a circular shape for example.
In this embodiment, the mirror in the optical assembly is a central-opening mirror, and the beam splitter is located at the central opening of the mirror, so that leakage of the return light signal from the gap can be reduced as much as possible, the energy of the return light signal received by the laser receiving system is increased, and the precision and accuracy are improved.
On the basis of the above embodiment, as an optional implementation manner, the system 10 further includes an optical filter, which is disposed between the optical assembly 200 and the laser receiving system 400 and is used for filtering out interference light.
Specifically, the laser radar system 10 further includes an optical filter disposed between the optical assembly 200 and the laser receiving system 400, and configured to filter interference light in a return light signal transmitted to the laser receiving system 400 by the optical assembly 200.
In this embodiment, the laser radar system further includes an optical filter, which filters out interference light in the return light signal transmitted to the laser receiving system by the optical component, so that accuracy of the optical signal received by the laser receiving system is improved, and accuracy of the acquired information of the target object is improved.
Fig. 3 is a schematic flowchart of a lidar control method according to an embodiment. As shown in fig. 3, the method includes:
s301, emitting laser by the laser emitting system.
And S302, the optical assembly comprises a spectroscope and a reflector, and the spectroscope enables the emergent laser to be transmitted out.
S303, the optical scanning device changes the direction of the outgoing laser beam transmitted by the beam splitter, and also changes the direction of a return optical signal; and the return light signal is return laser which carries relevant information of the target object after the emergent laser responds to the target object.
S304, the beam splitter and the mirror deflect the return light signal from the optical scanning device.
S305, the laser receiving system receives the return light signal deflected by the beam splitter and the reflecting mirror.
For specific definitions of the lidar control method, reference may be made to the above definitions of the lidar system, which are not further described herein.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A lidar system, wherein the system comprises:
the laser emitting system is used for emitting emergent laser;
an optical assembly including a beam splitter and a mirror, for transmitting the outgoing laser light out of the beam splitter, and for deflecting the received return light signal by the beam splitter and the mirror; the return light signal is return laser which carries relevant information of the target object after the emergent laser responds to the target object;
an optical scanning device for changing a direction of the outgoing laser beam transmitted from the beam splitter so as to emit the outgoing laser beam to the target object, and for changing a direction of the return light signal so as to emit the return light signal to the optical unit;
and the laser receiving system is used for receiving the return light signals deflected by the spectroscope and the reflecting mirror.
2. The lidar system of claim 1, wherein a center of the beam splitter and a center of the mirror are both located on an optical axis of the exiting laser light.
3. The lidar system of claim 1, wherein the mirror is an open-center mirror.
4. The lidar system of claim 3, wherein the beam splitter has an area equal to or less than an area at the central aperture of the reflector.
5. The lidar system of claim 3, wherein the beam splitter is located at a central aperture of the reflector.
6. The lidar system of claim 5, wherein an area of the beam splitter is equal to an area at a central aperture of the reflector.
7. The lidar system of claim 1, wherein the beam splitter is a beam splitter prism, a beam splitter plate, or a half mirror.
8. The lidar system of claim 1, wherein the optical scanning device is a one-dimensional MEMS, a two-dimensional MEMS, a mechanical galvanometer, or a combination thereof.
9. The lidar system of claim 1, further comprising an optical filter disposed between the optical assembly and the laser receiving system for filtering out interfering light.
10. A lidar control method applied to the lidar system according to any one of claims 1 to 7, wherein the lidar system comprises a laser emitting system, an optical assembly, a light scanning device, and a laser receiving system, and wherein the method comprises:
the laser emitting system emits emergent laser;
the optical assembly comprises a spectroscope and a reflecting mirror, and the spectroscope enables the emergent laser to penetrate out of the spectroscope;
the optical scanning device changes the direction of the outgoing laser light transmitted by the spectroscope and also changes the direction of a return optical signal; the return light signal is return laser which carries relevant information of the target object after the emergent laser responds to the target object;
the beam splitter and the mirror deflect the return light signal from the optical scanning device;
the laser receiving system receives the return light signal deflected by the beam splitter and the mirror.
CN201910096190.4A 2019-01-31 2019-01-31 Laser radar system and laser radar control method Pending CN111505603A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910096190.4A CN111505603A (en) 2019-01-31 2019-01-31 Laser radar system and laser radar control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910096190.4A CN111505603A (en) 2019-01-31 2019-01-31 Laser radar system and laser radar control method

Publications (1)

Publication Number Publication Date
CN111505603A true CN111505603A (en) 2020-08-07

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