CN113030910A - Laser radar system - Google Patents
Laser radar system Download PDFInfo
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- CN113030910A CN113030910A CN201911252681.XA CN201911252681A CN113030910A CN 113030910 A CN113030910 A CN 113030910A CN 201911252681 A CN201911252681 A CN 201911252681A CN 113030910 A CN113030910 A CN 113030910A
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- 238000001514 detection method Methods 0.000 claims abstract description 68
- 230000003287 optical effect Effects 0.000 claims abstract description 16
- 238000001914 filtration Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000004044 response Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar system, which comprises a transmitting module and a receiving module, wherein the transmitting module is used for transmitting a detection laser beam, the receiving module comprises a main receiving lens group, an auxiliary receiving lens group and a detection unit, and the main receiving lens group is used for receiving and converging an echo signal of the detection laser beam reflected by a target to be detected so as to be received by the detection unit; the auxiliary receiving lens group is used for receiving and dispersing echo signals of the detection laser beams reflected by the target to be detected so as to be received by the detection unit; the detection unit is used for receiving and processing the echo signals transmitted by the main receiving lens group and/or the auxiliary receiving lens group. The laser radar system provided by the invention detects by arranging the main receiving lens group and the auxiliary receiving lens group, the auxiliary receiving lens group effectively detects under a short-distance condition, the defect that a non-coaxial laser radar has a short-distance optical detection blind area is overcome, and a high signal-to-noise ratio can be ensured during short-distance detection.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar system.
Background
The laser radar is an active detection system, and the working principle of the active detection system is that a laser signal is actively transmitted to a target to be detected, the laser signal reflected back by the target is received, and the information of the target to be detected is obtained by comparing and analyzing the characteristics of the transmitted and received signals.
At present, many laser radars realize detection of information such as target distance and contour based on a pulse time of flight (PTOF) ranging principle. For a two-dimensional laser radar, the two-dimensional laser radar can be divided into a coaxial optical path and a non-coaxial optical path according to the transmitting and receiving optical path structure of the two-dimensional laser radar. Because the transmitting light path and the receiving light path do not interfere with each other in the non-coaxial light path, the structure is simpler, and the non-coaxial light path is a scheme adopted by many laser radars at present.
However, in the process of implementing the embodiment of the present invention, the inventor finds that the common non-coaxial optical path has at least the following defects in practical application: i.e. there is a problem of close detection blind areas.
Therefore, there is a need for an improved system for lidar in the prior art to overcome the deficiencies of the prior art.
Disclosure of Invention
The invention aims to solve the technical problem that a laser radar adopting a non-coaxial light path in the prior art has a short-distance detection blind area.
In order to solve the technical problem, the invention discloses a laser radar system, which comprises a transmitting module and a receiving module, wherein the transmitting module is used for transmitting a detection laser beam, and the receiving module comprises a main receiving lens group, a detection unit and at least one auxiliary receiving lens group;
the main receiving lens group is used for receiving and converging an echo signal of the detection laser beam reflected by the target to be detected so as to be received by the detection unit;
the at least one auxiliary receiving lens group is used for receiving and dispersing echo signals of the detection laser beams reflected by the target to be detected so as to be received by the detection unit;
the detection unit is used for receiving and processing the echo signals transmitted by the main receiving lens group and/or the at least one auxiliary receiving lens group.
Optionally, the at least one secondary receiving lens group is located between the primary receiving lens group and the transmitting module; the laser emission module is arranged on the main receiving lens group, the at least one auxiliary receiving lens group is arranged on the main receiving lens group, and the at least one auxiliary receiving lens group is arranged on the at least one auxiliary receiving lens group.
Optionally, the receiving module includes a plurality of the auxiliary receiving lens groups, the plurality of the auxiliary receiving lens groups are disposed around the main receiving lens group, and a space is provided between adjacent auxiliary receiving lens groups.
Optionally, the emitting module includes a laser emitting unit and a collimating unit, and the laser emitting unit is configured to emit the detection laser beam;
the collimation unit is used for collimating the detection laser beam and enabling the detection laser beam to be incident to a three-dimensional space.
Optionally, the receiving module further comprises a filtering unit disposed between the main receiving lens group and the detecting unit;
the filtering unit is used for filtering optical signals outside a preset wavelength range and transmitting the echo signals transmitted by the main receiving lens group and/or the auxiliary receiving lens group.
Optionally, a transmission center wavelength of the filter unit is matched with an output wavelength of the laser emission unit, and a transmission bandwidth of the filter unit is matched with an output line width of the laser emission unit.
Optionally, the response wavelength of the detection unit matches the output wavelength of the laser emission unit.
Optionally, the centers of the main receiving lens group, the filtering unit and the detecting unit are coaxial, and the photosensitive surface of the detecting unit is located at the focal plane position of the main receiving lens group.
Optionally, the main receive lens group has positive optical power, the main receive lens group comprising at least one lens.
Optionally, the F-number of the secondary receiving lens group is smaller than the F-number of the primary receiving lens group.
Optionally, the secondary receiving lens group comprises at least one lens.
By adopting the technical scheme, the laser radar system has the following beneficial effects:
1) the laser radar system detects by arranging the main receiving lens group and the auxiliary receiving lens group, and the auxiliary receiving lens group can effectively detect under the condition of short distance, so that the defect that a non-coaxial laser radar has a short-distance optical detection blind area is overcome, and a high signal-to-noise ratio can be ensured during short-distance detection;
2) the laser radar system of the invention completely adopts conventional optical elements, and does not need to process special-shaped structural elements or open holes on the lens or the reflector, thereby not only having small processing and adjusting difficulty, but also reducing the manufacturing cost.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a lidar system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser radar system in a close-range state according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another exemplary lidar system in a close-range state in accordance with the present invention;
FIG. 4 is a schematic diagram of a main receiving lens group and an auxiliary receiving lens group of a receiving module according to an embodiment of the present invention;
the following is a supplementary description of the drawings:
100-a transmitting module; 101-a laser emitting unit; 102-a collimating unit;
200-a receiving module; 201-a primary receiving lens group; 202-a secondary receiving lens group; 203-a detection unit; 204-a filtration unit;
300-target to be measured.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
As shown in fig. 1 to 3, in order to solve the technical problem of the prior art that a laser radar using a non-coaxial optical path has a blind zone for short-range detection, the present invention provides a laser radar system, which includes a transmitting module 100 and a receiving module 200, wherein the transmitting module 100 is used for transmitting a detection laser beam, the receiving module 200 includes a main receiving lens group 201, an auxiliary receiving lens group 202 and a detection unit 203,
the main receiving lens group 201 is configured to receive and converge an echo signal of the detection laser beam reflected by the object 300 to be detected, so that the detection unit 203 can receive the echo signal;
the auxiliary receiving lens group 202 is configured to receive and disperse an echo signal of the detection laser beam reflected by the object 300 to be detected, so that the detection unit 203 can receive the echo signal;
the detection unit 203 is used for receiving and processing the echo signals transmitted by the main receiving lens group 201 and/or the auxiliary receiving lens group 202.
The laser radar system performs detection by arranging the main receiving lens group 201 and the auxiliary receiving lens group 202, generally, in a short distance, a light beam converged by the main receiving lens group 201 enters a region outside an effective receiving area of the detecting unit 203, at this time, the auxiliary receiving lens group 202 can still perform effective detection in the short distance, and the auxiliary receiving lens group 202 can transmit the received echo signal to the detecting unit 203 at a divergence angle capable of covering the detecting unit 203, so that the detecting unit 203 can receive at least part of the echo signal, the defect that a short-distance optical detection blind area exists in a non-coaxial laser radar is effectively overcome, and the detection of the radar system in the short distance has a high signal-to-noise ratio.
In some embodiments, the secondary receiving lens group 202 is located between the primary receiving lens group 201 and the transmitting module 100, as shown in fig. 1 to 3, the secondary receiving lens group 202 has a first preset distance from the primary receiving lens group 201, and the laser transmitting module 100 has a second preset distance from the secondary receiving lens group 202. The value of the first preset distance and the value of the second preset distance may be equal or different. Preferably, the value of the first preset distance may be as small as possible. The second predetermined distance may also be as small as possible, that is, the distances between the main receiving lens group 201, the sub receiving lens group 202 and the laser emitting module 100 are as small as possible.
In some embodiments, the receiving module 200 may further include a plurality of the secondary receiving lens groups 202, the plurality of the secondary receiving lens groups 202 being disposed around the primary receiving lens group 201, and a space is disposed between adjacent secondary receiving lens groups 202. As shown in fig. 4, the receiving module 200 includes 5 secondary receiving lens groups 202, but it should be noted that the number may also be 2, 3, or 7, and the specific number is selected according to actual needs. The pitches of the plurality of sub receiving lens groups 202 may be the same or different.
In some embodiments, as shown in fig. 1 to 3, the emitting module 100 includes a laser emitting unit 101 and a collimating unit 102, the laser emitting unit 101 is configured to emit the detection laser beam; the collimating unit 102 is used for collimating the detection laser beam and is incident to a three-dimensional space. The collimating unit 102 can reduce the divergence angle of the detection laser beam.
In some embodiments, as shown in fig. 1 to 3, the receiving module 200 further includes a filtering unit 204, where the filtering unit 204 is disposed between the main receiving lens assembly 201 and the detecting unit 203, and is configured to filter out optical signals outside a preset wavelength range and transmit the echo signals transmitted through the main receiving lens assembly 201 and/or the auxiliary receiving lens assembly 202. The filtering unit 204 is disposed in front of the detecting unit 203 along the transmission path of the echo signal, and the filtering unit 204 may be an optical filter for filtering stray light and improving a signal-to-noise ratio.
In some embodiments, the transmission center wavelength of the filter unit 204 is matched with the output wavelength of the laser emitting unit 101, and the transmission bandwidth of the filter unit 204 is matched with the output line width of the laser emitting unit 101.
In some embodiments, the response wavelength of the detection unit 203 matches the output wavelength of the laser emitting unit 101. The detection unit 203 may be a detector, and the detector may convert the received echo signal into an electrical signal and output the electrical signal. The detector may be an Avalanche Photodiode (APD) or other type of detector.
In some embodiments, the centers of the main receiving lens group 201, the filtering unit 204 and the detecting unit 203 are coaxial, and the photosensitive surface of the detecting unit 203 is located at the focal plane position of the main receiving lens group 201.
In some embodiments, the primary receive lens group 201 has positive optical power, and the primary receive lens group 201 includes at least one lens. In a possible embodiment, the main receiving lens group 201 may be composed of a plurality of lenses designed and optimized to reduce the aberration of the lens. As shown in fig. 1 and 2, the main receiving lens group 201 is a convex lens; as shown in fig. 3, the main receiving lens group 201 is a concave lens.
In some embodiments, the F-number of the secondary receiving lens group 202 is less than the F-number of the primary receiving lens group 201. The F number of the sub-receiving lens group 202 is sufficiently smaller than the F number of the main receiving lens group 201, so that the divergence angle of the light beam passing through the sub-receiving lens group 202 is sufficiently large to cover the detecting unit 203 and be received by the detecting unit 203. Wherein, the F number is the ratio of the focal length F of the lens group to the clear aperture D; the F number can be noted as the symbol F/#.
In some embodiments, the secondary receiving lens group 202 includes at least one lens. The secondary receiving lens group 202 may be a convex lens, a concave lens, or a combination of multiple designed and optimized lenses, so as to improve the intensity of the reflected signal of the short-distance object 300 to be detected, which reaches the detecting unit 203 after passing through the secondary receiving lens group 202, as much as possible.
In some embodiments, the laser emitting unit 101 has a light source for emitting the detection laser beam; the wavelength of the detection laser beam can be 905nm or 1550nm which is commonly used, or other suitable wavelengths can be adopted.
In some embodiments, the light source may be a Laser Diode (LD), or a Vertical Cavity Surface Emitting Laser (VCSEL), or other types of lasers.
In some embodiments, the lidar system may further include a data processing module, where the processing module is connected to the detection unit 203 and configured to calculate a distance from the target 300 to be measured to the lidar system according to the received signal.
Referring to fig. 1, 2 and 3, the laser radar system of the present invention operates according to the following principle:
the laser emitting unit 101 emits the detection laser beam, which is collimated into a laser beam with a divergence angle of milliradian (mrad) order by the collimating unit 102, and irradiates on the target 300 to be detected in a three-dimensional space, the detection laser beam performs diffuse reflection on the surface of the target 300 to be detected to form an echo signal, wherein a part of the echo signal formed by the diffuse reflection is received by the receiving module 200;
when the distance from the target 300 to be measured to the laser radar system is long, for example, the distance is beyond 50cm, the main receiving lens group 201 is mainly used for collecting and converging the echo signal light, and then the echo signal light is filtered by the filtering unit 204 and reaches the detecting unit 203, and the detecting unit 203 converts the received echo signal into an electric signal for processing; meanwhile, in this state, the amount of possible disturbance light transmitted by the secondary reception lens group 202 is large, and the processing can be optionally omitted;
when the distance from the target 300 to be detected to the laser radar system is short, for example, 30cm or less, a part of the echo signal after the detection laser beam is reflected by the target 300 to be detected enters the main receiving lens group 201, and enters a region outside the receiving range of the detection unit 203 after being converged by the main receiving lens group 201, so that the main receiving lens group 201 has a problem of a short-distance optical blind area, and signal light cannot be received by the detection unit 203; meanwhile, another part of the echo signal is incident to the secondary receiving lens group 202, and the secondary receiving lens group 202 transmits the received echo signal to the detecting unit 203 at a divergence angle capable of covering the detecting unit 203, so that the detecting unit 203 can receive at least part of the echo signal;
when the distance from the target 300 to be measured to the laser radar system reaches a critical state of a certain distance range, the main receiving lens group 201 and the auxiliary receiving lens group 202 can both effectively transmit the echo signal to the detection unit 203, and the specific effective transmission ratio of the two lens groups is related to the focal length of the two lens groups, the specific structure of the detection unit 203, and the like, and in a possible implementation manner, the ratio may reach a state of 1: 1;
the data processing module of the laser radar system calculates the distance from the target 300 to be detected to the laser radar system according to the time difference between the emission and the reception of the laser signals, so as to realize the detection of the target 300 to be detected in the three-dimensional space.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A laser radar system comprises a transmitting module and a receiving module, wherein the transmitting module is used for transmitting a detection laser beam, and the receiving module comprises a main receiving lens group, a detection unit and at least one auxiliary receiving lens group;
the main receiving lens group is used for receiving and converging an echo signal of the detection laser beam reflected by the target to be detected so as to be received by the detection unit;
the at least one auxiliary receiving lens group is used for receiving and dispersing echo signals of the detection laser beams reflected by the target to be detected so as to be received by the detection unit;
the detection unit is used for receiving and processing the echo signals transmitted by the main receiving lens group and/or the at least one auxiliary receiving lens group.
2. The lidar system of claim 1, wherein: the at least one secondary receiving lens group is positioned between the primary receiving lens group and the transmitting module;
the laser emission module is arranged on the main receiving lens group, the at least one auxiliary receiving lens group is arranged on the main receiving lens group, and the at least one auxiliary receiving lens group is arranged on the at least one auxiliary receiving lens group.
3. The lidar system of claim 2, wherein: the receiving module comprises a plurality of auxiliary receiving lens groups, the auxiliary receiving lens groups are arranged around the main receiving lens group, and a space is arranged between every two adjacent auxiliary receiving lens groups.
4. The lidar system according to any of claims 1 to 3, wherein: the emitting module comprises a laser emitting unit and a collimating unit, and the laser emitting unit is used for emitting the detection laser beam;
the collimation unit is used for collimating the detection laser beam and enabling the detection laser beam to be incident to a three-dimensional space.
5. The lidar system of claim 4, wherein: the receiving module further comprises a filtering unit, and the filtering unit is arranged between the main receiving lens group and the detecting unit;
the filtering unit is used for filtering optical signals outside a preset wavelength range and transmitting the echo signals transmitted by the main receiving lens group and/or the auxiliary receiving lens group.
6. The lidar system of claim 5, wherein: the transmission center wavelength of the filter unit is matched with the output wavelength of the laser emission unit, and the transmission bandwidth of the filter unit is matched with the output line width of the laser emission unit.
7. The lidar system of claim 4, wherein: the response wavelength of the detection unit is matched with the output wavelength of the laser emission unit.
8. The lidar system of claim 5, wherein: the centers of the main receiving lens group, the filtering unit and the detecting unit are coaxial;
and the photosensitive surface of the detection unit is positioned on the focal plane of the main receiving lens group.
9. The lidar system according to any of claims 1 to 3, wherein: the main receiving lens group has positive power, and the main receiving lens group includes at least one lens.
10. The lidar system of claim 1, wherein: the secondary receiving lens group includes at least one lens;
and/or the presence of a gas in the gas,
the F-number of the sub-receiving lens group is smaller than that of the main receiving lens group.
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| CN201911252681.XA CN113030910A (en) | 2019-12-09 | 2019-12-09 | Laser radar system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023015563A1 (en) * | 2021-08-13 | 2023-02-16 | 华为技术有限公司 | Receiving optical system, lidar system and terminal device |
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| WO2023015563A1 (en) * | 2021-08-13 | 2023-02-16 | 华为技术有限公司 | Receiving optical system, lidar system and terminal device |
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