CN112034487A - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN112034487A CN112034487A CN202011024438.5A CN202011024438A CN112034487A CN 112034487 A CN112034487 A CN 112034487A CN 202011024438 A CN202011024438 A CN 202011024438A CN 112034487 A CN112034487 A CN 112034487A
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- light
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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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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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 present invention provides a laser radar, comprising: the laser radar comprises a transmitting unit and a first receiving unit, wherein the transmitting unit is used for emitting laser rays, the rays emitted by the transmitting unit are emitted to a first target object and reflected on the surface of the first target object, the first receiving unit is used for receiving the rays reflected by the first target object, and the laser radar further comprises a light splitting unit and a second receiving unit; the light splitting unit is arranged in the light emitting direction of the emitting unit and is used for splitting the laser light emitted by the emitting unit into a first path of light and a second path of light which form a preset angle, wherein the first path of light emits towards a first target object along the first direction, and the second path of light emits towards a second target object along the second direction which forms the preset angle with the first direction; the second receiving unit is used for receiving the second path of light reflected by the second target object. After the technical scheme is adopted, the detection of the target objects in different directions can be realized under the condition that no light source is added.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a laser radar.
Background
In the prior art, when the 2D laser scanning radar works, distance information of each reflection target in a plane can be obtained, so that a carrier loaded with the radar can calculate distribution conditions of each object in the plane, and help the carrier to avoid collision during driving. One problem is that there are some "sills" at heights in the work area in addition to in-plane obstacles, which may cause the upper end of the vehicle to collide with the obstacles. Therefore, an additional function is needed for the 2D laser scanning radar to detect the target object in the front height direction, so as to help determine whether the highest position of the vehicle can pass through the front area. If the method is realized by adding a laser transmitting unit and a laser receiving unit at the same time, the complexity and the cost of the system are obviously increased.
Therefore, it is necessary to develop a lidar that has a simple structure and a low cost and can detect a target object in an additional direction.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide the laser radar which has a simple structure and low cost and can detect the target object in the additional direction.
The invention discloses a laser radar, comprising: the device comprises a transmitting unit and a first receiving unit, wherein the transmitting unit is used for emitting laser rays, the rays emitted by the transmitting unit are emitted to a first target object and reflected on the surface of the first target object, the first receiving unit is used for receiving the rays reflected by the first target object,
the laser radar also comprises a light splitting unit and a second receiving unit;
the light splitting unit is arranged in the light emitting direction of the emitting unit and is used for splitting the laser light emitted by the emitting unit into a first path of light and a second path of light which form a preset angle, wherein the first path of light emits towards a first target object along a first direction, and the second path of light emits towards a second target object along a second direction which forms a preset angle with the first direction;
the second receiving unit is used for receiving the second path of light reflected by the second target object.
Preferably, the second receiving unit is disposed in a coaxial direction of the second direction.
Preferably, the lidar further comprises a processing unit, the processing unit is connected with the transmitting unit, the first receiving unit and the second receiving unit, and the processing unit is configured to calculate a first distance between the lidar and the first target object and a second distance between the lidar and the second target object according to laser rays received by the first receiving unit and the second receiving unit;
and the processing unit is used for calculating the height of the second target object relative to the laser radar according to the second distance and the preset angle.
Preferably, the light splitting unit is a light splitting prism.
Preferably, the beam splitting prism is formed by combining two triangular prisms.
Preferably, the light splitting unit comprises a half-transmitting and half-reflecting mirror and a reflecting mirror;
the semi-transparent semi-reflecting mirror is used for dividing the laser light emitted by the emitting unit into a first path of light and a second path of light which are perpendicular to each other, and the reflecting mirror is used for reflecting the second path of light so that the reflected second path of light and the first path of light form the preset angle.
Preferably, the light splitting unit comprises a diaphragm and a mirror group;
the diaphragm is used for dividing the laser light emitted by the emitting unit into a first path of light and a second path of light which are parallel to each other, and the reflector group is used for reflecting the second path of light so that the reflected second path of light and the first path of light form the preset angle.
Preferably, the emission unit comprises a laser diode and an emission objective lens, and the emission objective lens is used for collimating the light emitted by the laser diode;
the first receiving unit comprises a first receiving objective lens and a first avalanche photodiode, and the first receiving objective lens is used for converging the light reflected from the first target object to the first avalanche photodiode;
the second receiving unit comprises a second receiving objective and a second avalanche photodiode, and the second receiving objective is used for converging the light reflected from the second target object to the second avalanche photodiode.
Preferably, the preset angle is greater than 0 degrees and less than 45 degrees.
Preferably, the laser radar further comprises a rotating unit, and the rotating unit is used for driving the transmitting unit, the light splitting unit, the first receiving unit and the second receiving unit to rotate circumferentially.
After the technical scheme is adopted, compared with the prior art, the light splitting device has the advantages that light rays emitted by the light splitting units are split, so that the light rays emitted by one emitting unit can detect target objects in two directions, the emitting units are not required to be additionally arranged, the complexity of the system is reduced, and the cost of the device is reduced.
Drawings
FIG. 1 is a schematic diagram of a lidar according to the present invention and its optical path;
FIG. 2 is a schematic diagram of the structure and optical path of a lidar in one embodiment;
fig. 3 is a schematic structural view of the light splitting prism in fig. 2.
Reference numerals:
110-laser diode, 120-emission objective, 210-first avalanche photodiode, 220-first receiving objective, 300-beam splitter prism, 310, 320-triangular prism, 410-second avalanche photodiode, 420-second receiving objective.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, 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 terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Referring to fig. 1-3, the present invention provides a lidar comprising:
-a transmitting unit
The emitting unit is used for emitting laser rays. Specifically, referring to fig. 2, the emission unit includes a laser diode 110 and an emission objective lens 120, and the emission objective lens 120 collimates laser light generated from the laser diode 110. The emission objective 120 is preferably a convex lens.
-a light-splitting unit
The light splitting unit is arranged in the light emitting direction of the emitting unit and is used for splitting the laser light emitted by the emitting unit into a first path of light and a second path of light which form a preset angle, wherein the first path of light emits towards a first target object along a first direction, and the second path of light emits towards a second target object along a second direction which forms a preset angle with the first direction. The first target object and the second target object may be independent objects in different directions, or may be different parts of an entire object. Preferably, the preset angle is greater than 0 degrees and less than 45 degrees.
Referring to fig. 2, in the present embodiment, the light splitting unit includes a light splitting prism 300, and the incident laser light can be split into two paths of light at any angle by changing the angle of the prism. Referring to fig. 3, the beam splitting prism 300 may be formed by combining two triangular prisms 310 and 320.
In some embodiments, the light splitting unit includes a half mirror and a mirror. The semi-transparent semi-reflecting mirror is used for dividing the laser light emitted by the emitting unit into a first path of light and a second path of light which are perpendicular to each other, and the reflecting mirror is used for reflecting the second path of light so that the reflected second path of light and the first path of light form the preset angle. The reflecting mirror can be a plane reflecting mirror or a reflecting prism, and can be flexibly arranged by a person skilled in the art according to the requirement.
In some embodiments, the light splitting unit includes a diaphragm and a mirror group. The diaphragm is a light shielding component with two light holes, and is used for dividing the laser light emitted by the emission unit into a first path of light and a second path of light which are parallel to each other, and the reflector group is used for reflecting the second path of light, so that the reflected second path of light and the first path of light form the preset angle. The reflector group can be composed of two reflectors which form a certain angle.
-a first receiving unit
The first receiving unit is used for receiving the first path of light reflected by the first target object. Referring to fig. 2, in the present embodiment, the first receiving unit includes a first receiving objective lens 220 and a first avalanche photodiode 210(APD), and the first receiving objective lens 220 is configured to converge the first light reflected from the first target object to the first avalanche photodiode 210. The first receiving objective 220 is preferably a convex lens. The first avalanche photodiode 210 may be a single avalanche photodiode, or may be an array of avalanche photodiodes, and specifically, one skilled in the art may flexibly set the avalanche photodiode according to needs.
-a second receiving unit
The second receiving unit is used for receiving the second path of light reflected by the second target object. Preferably, the second receiving unit is coaxially arranged with the second path of light emitted from the light splitting unit, so as to achieve a better receiving effect. Referring to fig. 2, in this embodiment, the second receiving unit includes a second receiving objective lens 420 and a second avalanche photodiode 410, and the second receiving objective lens 420 is configured to converge the second light reflected from the second target object to the second avalanche photodiode 410. The second receiving objective 420 is preferably a convex lens. The second avalanche photodiode 410 can be a single avalanche photodiode, or an array of avalanche photodiodes, and specifically, can be flexibly configured as required by those skilled in the art.
Preferably, the lidar further comprises;
-a rotary unit
The rotating unit is used for driving the transmitting unit, the light splitting unit, the first receiving unit and the second receiving unit to rotate in the circumferential direction so as to realize the detection of the circumferential target object. The rotating unit can comprise a rotating motor and a supporting seat, the rotating motor directly or through a transmission structure drives the supporting seat to rotate, and the transmitting unit, the light splitting unit, the first receiving unit and the second receiving unit are fixedly arranged on the supporting seat.
-a processing unit
The processing unit is connected with the transmitting unit, the first receiving unit and the second receiving unit, and is used for calculating a first distance between the laser radar and the first target object and a second distance between the laser radar and the second target object according to laser rays received by the first receiving unit and the second receiving unit. The first distance and the second distance can be determined according to the time of laser emission and reception and the setting position of each unit in the radar, which are all common knowledge in the field and are not described herein again. Preferably, the height of the second target object relative to the lidar is calculated according to the second distance and the preset angle, where the height may be understood as taking a plane where the first path of light and the second path of light are located as a vertical plane, and according to the second distance and the preset angle between the lidar and the second target object, the vertical height of the second target object relative to the first path of light may be calculated. The processing unit is preferably a single chip microcomputer.
In some embodiments, the radar may also be provided with a transmission unit, which is connected to the transmitting unit, the first receiving unit and the second receiving unit, and transmits the information transmitted and received by the transmission unit and the second receiving unit to an external terminal device in a wired or wireless manner for calculation processing.
The laser radar of the invention can be preferably used on vehicles, such as AVG trolleys, and can detect objects in the advancing direction of the trolleys through the first light path and detect objects in the height direction in front of the trolleys through the second light path, so as to analyze whether obstacles (generally structures similar to door frames) at the upper end in front of the trolleys are lower than the height of the trolleys, and further judge whether the trolleys can safely pass through.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (10)
1. A lidar comprising: the device comprises a transmitting unit and a first receiving unit, wherein the transmitting unit is used for emitting laser rays, the rays emitted by the transmitting unit are emitted to a first target object and reflected on the surface of the first target object, the first receiving unit is used for receiving the rays reflected by the first target object, and the device is characterized in that,
the laser radar also comprises a light splitting unit and a second receiving unit;
the light splitting unit is arranged in the light emitting direction of the emitting unit and is used for splitting the laser light emitted by the emitting unit into a first path of light and a second path of light which form a preset angle, wherein the first path of light emits towards a first target object along a first direction, and the second path of light emits towards a second target object along a second direction which forms a preset angle with the first direction;
the second receiving unit is used for receiving the second path of light reflected by the second target object.
2. Lidar according to claim 1,
the second receiving unit is arranged in the coaxial direction of the second direction.
3. Lidar according to claim 1,
the laser radar further comprises a processing unit, the processing unit is connected with the transmitting unit, the first receiving unit and the second receiving unit, and the processing unit is used for calculating a first distance between the laser radar and the first target object and a second distance between the laser radar and the second target object according to laser rays received by the first receiving unit and the second receiving unit;
and the processing unit is used for calculating the height of the second target object relative to the laser radar according to the second distance and the preset angle.
4. Lidar according to claim 1,
the light splitting unit is a light splitting prism.
5. Lidar according to claim 4,
the beam splitting prism is formed by combining two triangular prisms.
6. Lidar according to claim 1,
the light splitting unit comprises a semi-transparent semi-reflecting mirror and a reflecting mirror;
the semi-transparent semi-reflecting mirror is used for dividing the laser light emitted by the emitting unit into a first path of light and a second path of light which are perpendicular to each other, and the reflecting mirror is used for reflecting the second path of light so that the reflected second path of light and the first path of light form the preset angle.
7. Lidar according to claim 1,
the light splitting unit comprises a diaphragm and a reflector group;
the diaphragm is used for dividing the laser light emitted by the emitting unit into a first path of light and a second path of light which are parallel to each other, and the reflector group is used for reflecting the second path of light so that the reflected second path of light and the first path of light form the preset angle.
8. Lidar according to claim 1,
the emission unit comprises a laser diode and an emission objective lens, and the emission objective lens is used for collimating light rays emitted by the laser diode;
the first receiving unit comprises a first receiving objective lens and a first avalanche photodiode, and the first receiving objective lens is used for converging the light reflected from the first target object to the first avalanche photodiode;
the second receiving unit comprises a second receiving objective and a second avalanche photodiode, and the second receiving objective is used for converging the light reflected from the second target object to the second avalanche photodiode.
9. Lidar according to claim 1,
the preset angle is greater than 0 degree and less than 45 degrees.
10. Lidar according to claim 1,
the laser radar further comprises a rotating unit, and the rotating unit is used for driving the transmitting unit, the light splitting unit, the first receiving unit and the second receiving unit to rotate circumferentially.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011024438.5A CN112034487A (en) | 2020-09-25 | 2020-09-25 | Laser radar |
| JP2023518803A JP2023542383A (en) | 2020-09-25 | 2021-06-02 | laser radar |
| EP21870853.5A EP4220229A1 (en) | 2020-09-25 | 2021-06-02 | Laser radar |
| PCT/CN2021/097803 WO2022062469A1 (en) | 2020-09-25 | 2021-06-02 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011024438.5A CN112034487A (en) | 2020-09-25 | 2020-09-25 | Laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112034487A true CN112034487A (en) | 2020-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011024438.5A Pending CN112034487A (en) | 2020-09-25 | 2020-09-25 | Laser radar |
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| CN (1) | CN112034487A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022062469A1 (en) * | 2020-09-25 | 2022-03-31 | 杭州欧镭激光技术有限公司 | Laser radar |
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2020
- 2020-09-25 CN CN202011024438.5A patent/CN112034487A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022062469A1 (en) * | 2020-09-25 | 2022-03-31 | 杭州欧镭激光技术有限公司 | Laser radar |
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