CN112526480B - Solid-state laser radar and solid-state laser radar control method - Google Patents
Solid-state laser radar and solid-state laser radar control method Download PDFInfo
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- CN112526480B CN112526480B CN202011164709.7A CN202011164709A CN112526480B CN 112526480 B CN112526480 B CN 112526480B CN 202011164709 A CN202011164709 A CN 202011164709A CN 112526480 B CN112526480 B CN 112526480B
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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
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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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The embodiment of the invention discloses a solid-state laser radar and a control method thereof, wherein the solid-state laser radar comprises: the cylindrical lens is arranged between the focusing unit and the receiver and is used for converging and reflecting laser; the reflected laser is laser emitted by the solid-state laser radar and reflected by the object to be measured. The embodiment of the invention can lead the solid-state laser radar to have a larger field angle.
Description
The application is a divisional application of a solid-state laser radar and a solid-state laser radar control method, wherein the application date is 2017, 09, 19 and the patent name is 201710844939X.
Technical Field
The invention relates to the field of detection, in particular to a solid-state laser radar and a solid-state 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 is that the laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after proper processing, the related information of the target, such as the parameters of the distance, the azimuth, the height, the speed, the gesture, the even the shape and the like of the target, can be obtained.
The existing laser radars are divided into a mixed solid-state laser radar and a solid-state laser radar, and the mixed solid-state laser radar has large volume and lower vertical resolution and cannot meet higher and higher requirements. The solid-state laser radar has higher vertical resolution and smaller volume, so that the application field is wider and wider.
Solid-state lidar includes a transmitting end and a receiving end, and the receiving end typically employs an arrayed APD, i.e., an arrayed receiver. Due to bottlenecks such as technology and technology, an APD at a receiving end of the existing solid-state laser radar is mainly a linear array APD. At the receiving end of the solid-state laser radar, the linear array APD is matched with a traditional receiving lens to be used, a larger field angle can be obtained in one direction, and the field angle is smaller in the other direction perpendicular to the direction. The small angle of view can influence the accuracy and distance of solid-state laser radar detection, and the prior solid-state laser radar can not simultaneously acquire a larger angle of view in two vertical directions.
Disclosure of Invention
The embodiment of the invention provides a solid-state laser radar and a solid-state laser radar control method, which can enable the solid-state laser radar to have a larger field angle.
In order to solve the technical problems, the embodiment of the invention discloses the following technical scheme:
in one aspect, there is provided a solid-state lidar comprising:
the cylindrical lens is arranged between the focusing unit and the receiver and is used for converging and reflecting laser;
the reflected laser is laser emitted by the solid-state laser radar and reflected by the object to be measured.
Preferably, the cylindrical lens is a plano-convex cylindrical lens.
Preferably, the convex surface of the cylindrical lens faces the focusing unit.
Preferably, the receiver of the solid-state laser radar is a linear array APD, and the linear array APD is horizontally arranged.
Preferably, if the linear array APD operates in parallel at the same time, the converging direction of the cylindrical lens is perpendicular to the horizontal plane.
Preferably, if the working mode of the linear array APD is time-sequential triggering, the convergence direction of the cylindrical lens is parallel to a horizontal plane.
Preferably, the linear array APD is disposed on a focal plane of the cylindrical lens.
In a second aspect, a control method of a solid-state laser radar is provided, the method including: the cylindrical lens converges and reflects laser;
the cylindrical lens is arranged between the focusing unit and the receiver, and the reflected laser is laser emitted by the solid-state laser radar and reflected by the measured object.
Preferably, if the linear array APD operates in parallel at the same time, the converging direction of the cylindrical lens is perpendicular to the horizontal plane.
Preferably, if the working mode of the linear array APD is time-sequential triggering, the convergence direction of the cylindrical lens is parallel to a horizontal plane.
The embodiment of the invention discloses a solid-state laser radar, wherein a cylindrical lens is arranged between a focusing unit and a receiver, and the cylindrical lens can converge and reflect laser, which is equivalent to reducing the focal length of an optical system at the receiving end of the solid-state laser radar, so that the field angle of the solid-state laser radar can be enlarged, and the solid-state laser radar has a larger field angle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a solid-state lidar according to an embodiment of the present invention;
FIG. 2 is a schematic view of a cylindrical lens according to an embodiment of the present invention;
FIG. 3 is a schematic view of a prior art solid-state lidar field angle;
FIG. 4 is a schematic view of the field angle of the solid-state lidar of the present invention;
FIG. 5 is a schematic view of the spot of a solid-state lidar according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a spot of a prior art solid-state lidar;
FIG. 7 is a schematic view of the spot of a solid-state lidar according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a spot of a solid-state laser radar according to an embodiment of the present invention.
Detailed Description
The following embodiments of the present invention provide a solid-state laser radar and a control method for the solid-state laser radar, so that the solid-state laser radar has a larger angle of view.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic diagram of a solid-state laser radar according to an embodiment of the present invention, as shown in fig. 1, where the solid-state laser radar includes:
a cylindrical lens 110 disposed between the focusing unit 120 and the receiver 130 for converging the reflected laser light;
the reflected laser is laser emitted by the solid-state laser radar and reflected by the object to be measured.
In the solid-state laser radar shown in fig. 1, the solid-state laser radar further comprises an emitter 140, a collimation unit 150, a galvanometer 160, and an object 170 to be measured in fig. 1.
Fig. 2 is a schematic view of a cylindrical lens according to an embodiment of the present invention, and as shown in fig. 2, the cylindrical lens according to an embodiment of the present invention is a plano-convex cylindrical lens, i.e., a lens with one surface being a plane and the other surface being a convex lens.
In the embodiment of the invention, the convex surface of the cylindrical lens faces the focusing unit.
The cylindrical lens shown in fig. 2 can converge light rays in one direction, which is referred to as the converging direction, and 200 in fig. 2 is the converging direction.
Fig. 3 is a schematic diagram of a field angle of a solid-state laser radar in the prior art, where θ is the field angle, d is the width of an image plane in the direction, that is, the length of a linear array APD, and f is the focal length of a focusing unit of the solid-state laser radar, as shown in fig. 3.
The field angle and the focal length f, the image plane width d satisfy the following conditions
FIG. 4 is a schematic view showing the angle of view of the solid-state laser radar according to the present invention, wherein a cylindrical lens is inserted between the focusing unit and the receiver, and the cylindrical lens has a converging effect on light, which is equivalent to reducing the focal length of the optical system at the receiving end of the solid-state laser radar, where the angle of view is θ ', and the focal length of the optical system at the receiving end is f', d is the image plane width in the direction, as shown in FIG. 3
Because of f '< f, θ' > θ.
Therefore, the solid-state laser radar of the embodiment of the invention has a larger field angle.
In the solid-state laser radar disclosed by the invention, the cylindrical lens is arranged between the focusing unit and the receiver, and can converge and reflect laser, which is equivalent to reducing the focal length of the optical system at the receiving end of the solid-state laser radar, so that the field angle of the solid-state laser radar can be enlarged, and the solid-state laser radar has a larger field angle. In addition, in the solid-state laser radar and the control method of the solid-state laser radar in the embodiment of the invention, the field angle is enlarged, but the focal length of the receiving lens is not required to be reduced, and the caliber of the receiving lens is not required to be reduced, so that the detection distance of the laser radar is not reduced.
The following describes in detail the structure of a solid-state lidar employing a cylindrical lens according to an embodiment of the present invention.
Referring to fig. 1, in the embodiment of the present invention, the receiver of the solid-state laser radar is a linear APD, and the linear APD is horizontally disposed.
The linear array APD has two working modes, one is parallel at the same time, and the other is triggered in time sequence.
In the embodiment of the invention, if the working modes of the linear array APDs are parallel at the same time, the converging direction of the cylindrical lenses is vertical to the horizontal plane.
By simultaneously parallel is meant that all APD cells in the linear array APD are simultaneously on receiving, commonly receiving the echo output signal, i.e. commonly receiving the reflected laser, and simultaneously operating at the same time 1*N APD cells. When the linear array APDs are simultaneously combined, due to the adoption of the cylindrical lenses, reflected light rays in the central view field range are converged in advance, and light spots in the horizontal direction are linear, as shown in fig. 5. The light spot is linear and still can be received by the linear array APD, so that the energy loss is very small, and the detection distance of the solid-state laser radar is ensured.
In the embodiment of the invention, if the working modes of the linear array APDs are parallel at the same time, the converging direction of the cylindrical lenses is vertical to the horizontal plane.
By time sequential triggering is meant that each APD cell on a linear array APD opens a received signal in turn in a certain time sequence. The linear array APD is arranged on the focal plane of the receiving end optical system in the horizontal direction, and then a vertical line is arranged on the detection surface.
In the prior art, if a circular light spot is formed on the detection surface when the cylindrical lens is not used, as shown in fig. 6, the light spot rapidly disappears as the angle of view increases to a certain extent.
With the cylindrical lens, the spot is shaped as a line, and as shown in fig. 7, even if the center of the image has been separated from the effective imaging plane of the linear array APD, some energy can enter the effective imaging plane, so that the angle of view of the solid-state laser radar using the cylindrical lens in the vertical direction increases.
When the linear array APD is triggered in time sequence, the converging direction of the cylindrical lens can be a horizontal plane, and the light spot on the linear array APD is in a vertical line shape, as shown in fig. 8.
The solid-state laser radar provided by the embodiment of the invention adopts the cylindrical lens to converge the reflected laser in advance, so that the field angle of the solid-state laser radar can be increased.
Corresponding to the solid-state laser radar, the embodiment of the invention also provides a control method of the solid-state laser radar, which comprises the following steps:
the cylindrical lens converges and reflects laser;
the cylindrical lens is arranged between the focusing unit and the receiver, and the reflected laser is laser emitted by the solid-state laser radar and reflected by the measured object.
In the embodiment of the invention, the cylindrical lens is a flat-convex cylindrical lens, and the convex surface of the cylindrical lens faces the focusing unit.
In the embodiment of the invention, the receiver of the solid-state laser radar is a linear array APD, and the linear array APD is horizontally arranged.
Preferably, if the linear array APD operates in parallel at the same time, the converging direction of the cylindrical lens is perpendicular to the horizontal plane.
Preferably, if the working mode of the linear array APD is time-sequential triggering, the convergence direction of the cylindrical lens is parallel to a horizontal plane.
Preferably, the linear array APD is disposed on a focal plane of the cylindrical lens.
In the control method of the solid-state laser radar, the cylindrical lens is adopted to converge the reflected laser in advance, so that the field angle of the solid-state laser radar can be increased.
The embodiment of the invention discloses a solid-state laser radar and a control method of the solid-state laser radar, wherein a cylindrical lens is arranged between a focusing unit and a receiver, and the cylindrical lens can converge and reflect laser, which is equivalent to reducing the focal length of an optical system at a receiving end of the solid-state laser radar, so that the field angle of the solid-state laser radar can be enlarged, and the solid-state laser radar has a larger field angle. In addition, in the solid-state laser radar and the control method of the solid-state laser radar in the embodiment of the invention, the field angle is enlarged, but the focal length of the receiving lens is not required to be reduced, and the caliber of the receiving lens is not required to be reduced, so that the detection distance of the laser radar is not reduced.
It will be apparent to those skilled in the art that the techniques in the embodiments of the present invention may be implemented by software plus necessary general purpose hardware, including general purpose integrated circuits, general purpose CPUs, general purpose memories, general purpose components, etc., but of course may be implemented by special purpose hardware, including application specific integrated circuits, special purpose CPUs, special purpose memories, special purpose components, etc., although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution in the embodiments of the present invention may be embodied essentially or what contributes to the prior art in the form of a software product, which may be stored in a storage medium, such as a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some portions of the embodiments of the present invention.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The embodiments of the present invention described above do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (2)
1. A solid-state lidar, the solid-state lidar comprising:
the cylindrical lens is arranged between the focusing unit and the receiver and is used for converging and reflecting laser; the cylindrical lens is a flat-convex cylindrical lens, and the convex surface of the cylindrical lens faces the focusing unit;
the reflected laser is laser emitted by the solid-state laser radar and reflected by the object to be measured; the receiver of the solid-state laser radar is a linear array APD which is horizontally arranged on the focal plane of the cylindrical lens;
if the working mode of the linear array APD is time-series triggering, the converging direction of the cylindrical lens is parallel to the horizontal plane.
2. A method for controlling a solid-state lidar, the method comprising:
the cylindrical lens converges and reflects laser; the cylindrical lens is a flat-convex cylindrical lens;
the cylindrical lens is arranged between the focusing unit and the receiver, the convex surface of the cylindrical lens faces the focusing unit, and the reflected laser is laser emitted by the solid-state laser radar and reflected by the object to be measured; the receiver of the solid-state laser radar is a linear array APD which is horizontally arranged on the focal plane of the cylindrical lens;
if the working mode of the linear array APD is time-series triggering, the converging direction of the cylindrical lens is parallel to the horizontal plane.
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| CN202011164709.7A CN112526480B (en) | 2017-09-19 | 2017-09-19 | Solid-state laser radar and solid-state laser radar control method |
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| CN202011164709.7A CN112526480B (en) | 2017-09-19 | 2017-09-19 | Solid-state laser radar and solid-state laser radar control method |
| CN201710844939.XA CN107664760B (en) | 2017-09-19 | 2017-09-19 | Solid-state laser radar and solid-state laser radar control method |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109188401A (en) * | 2018-11-09 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | laser radar optical system and laser radar |
| CN111398935B (en) * | 2018-12-27 | 2022-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar receiving system |
| CN109782299B (en) * | 2019-02-14 | 2021-11-02 | 深圳市迈测科技股份有限公司 | Solid-state laser radar device |
| CN110471071B (en) * | 2019-08-30 | 2021-12-14 | 天津大学 | Multi-linear light type all-solid-state laser radar |
| CN115113181A (en) * | 2021-03-22 | 2022-09-27 | 华为技术有限公司 | Laser radar and echo optical signal receiving method |
| CN113466829A (en) * | 2021-05-14 | 2021-10-01 | 图达通智能科技(苏州)有限公司 | Method for flexibly configuring field angle of existing laser radar through external reflector |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019056565A1 (en) | 2019-03-28 |
| CN112526480A (en) | 2021-03-19 |
| CN107664760A (en) | 2018-02-06 |
| CN107664760B (en) | 2020-11-27 |
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