CN113050102A - Laser radar system - Google Patents
Laser radar system Download PDFInfo
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- CN113050102A CN113050102A CN202110405090.2A CN202110405090A CN113050102A CN 113050102 A CN113050102 A CN 113050102A CN 202110405090 A CN202110405090 A CN 202110405090A CN 113050102 A CN113050102 A CN 113050102A
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- 238000004519 manufacturing process Methods 0.000 description 2
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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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- 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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- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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 discloses a laser radar system. The laser radar system comprises a rotating module, a reflecting module, a transmitting module and a receiving module; the reflection module comprises at least two reflection surfaces and is positioned on the rotation module; the rotating module is used for driving at least two reflecting surfaces of the reflecting module to rotate around a rotating shaft so as to realize scanning in one direction; the transmitting module corresponds to the receiving module and is respectively positioned at two sides of the reflecting module to form left-right corresponding arrangement; the transmitting module comprises a laser source and a light beam modulation assembly, the laser source is used for emitting at least one laser beam, the light beam modulation assembly is used for modulating the laser beam into a linear beam, and the linear beam is reflected by the reflecting module and then enters a target to be measured; the receiving module comprises a linear array or an area array photoelectric detector, and the linear array or the area array photoelectric detector is used for receiving the echo light beam reflected by the target to be detected. The technical scheme of the invention can reduce the height of the laser radar system and is beneficial to meeting the requirements of the fields of vehicle-mounted and the like.
Description
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a laser radar system.
Background
With the development of laser technology, laser scanning technology is more and more widely applied to the fields of measurement, traffic, driving assistance, mobile robots and the like. The laser radar system is a radar system for detecting the position, speed and other characteristic quantities of a target by laser, and the working principle of the radar system is that a detection laser beam is firstly emitted to the target, then a signal reflected from the target is compared with an emitted signal, and after appropriate processing, the information of the target, such as distance, direction, height, speed, attitude, even shape and the like, can be obtained.
At present, in order to increase the scanning range of the laser radar, a plurality of transmitters are generally arranged in one direction of a transmitting module, a plurality of receivers are arranged in a receiving module, and the surrounding environment is scanned through the rotation of a motor to form a multi-line laser radar optical system. Due to the fact that the transmitting module and the receiving module are arranged up and down correspondingly, the height of the laser radar system is high, and the requirements of some automobile enterprises cannot be met. The prior art generally provides certain challenges to the arrangement of the transmitter and the receiver by compressing the height of the transmitting module and the receiving module, respectively.
Disclosure of Invention
The embodiment of the invention provides a laser radar system, which is used for reducing the height of the laser radar system and is beneficial to realizing the requirement of the system in the fields of vehicle-mounted and the like.
The embodiment of the invention provides a laser radar system, which comprises a rotating module, a reflecting module, a transmitting module and a receiving module, wherein the rotating module is used for rotating a laser beam;
the reflection module comprises at least two reflection surfaces, and the reflection module is positioned on the rotation module;
the rotating module is used for driving at least two reflecting surfaces of the reflecting module to rotate around a rotating shaft so as to realize scanning in one direction;
the transmitting module corresponds to the receiving module and is respectively positioned at two sides of the reflecting module to form left-right corresponding arrangement;
the transmitting module comprises a laser source and a light beam modulation assembly, the laser source is used for emitting at least one laser beam, the light beam modulation assembly is used for modulating the laser beam into a linear beam, and the linear beam is reflected by the reflecting module and then enters a target to be measured;
the receiving module comprises a linear array or an area array photoelectric detector, and the linear array or the area array photoelectric detector is used for receiving the echo light beam reflected by the target to be detected.
Optionally, the beam modulation assembly comprises a diffractive optical element DOE or a powell prism.
Optionally, the optical axis of the reflection module and the optical axis of the receiving module are located on the same straight line or are parallel and not coplanar, and the direction of the optical axis of the transmission module is perpendicular to the rotation axis.
Optionally, the reflection module includes a rotating prism, the rotating prism includes a top surface, a bottom surface and a plurality of side surfaces located between the top surface and the bottom surface, and the side surfaces are reflection surfaces.
Optionally, an included angle between at least one of the reflecting surfaces and the rotating shaft is zero.
Optionally, the top surface, the bottom surface and the four side surfaces enclose a hollow shaft;
the rotating module is arranged in the hollow shaft of the rotating prism.
Optionally, the emission module further includes an emission mirror group, which is located between the laser source and the beam modulation assembly, and is configured to collimate a laser beam emitted from the laser source and then emit the collimated laser beam to the beam modulation assembly;
the receiving module further comprises a receiving mirror group, which is positioned between the linear array or area array photoelectric detector and the reflecting module and is used for focusing the laser beam reflected by the reflecting module and then transmitting the laser beam to the linear array or area array photoelectric detector.
Optionally, the emitting lens group includes at least one of a spherical lens, an aspherical lens or a cylindrical lens, and the receiving lens group includes at least one of a spherical lens, an aspherical lens or a cylindrical lens.
Optionally, the set of emission mirrors and the set of receiving mirrors comprise the same number and kind of lens combinations.
Optionally, the emission mirror group includes two cylindrical lenses arranged in a confocal manner, and the two cylindrical lenses are respectively used for beam collimation in the fast axis direction and the slow axis direction.
The laser radar system provided by the embodiment of the invention comprises a rotating module, a reflecting module, a transmitting module and a receiving module; the reflection module comprises at least two reflection surfaces and is positioned on the rotation module; the rotating module is used for driving at least two reflecting surfaces of the reflecting module to rotate around a rotating shaft so as to realize scanning in one direction; the transmitting module corresponds to the receiving module and is respectively positioned on two sides of the reflecting module to form left and right corresponding settings, the transmitting module comprises a laser source and a light beam modulation component, the laser source is used for emitting at least one laser beam, the light beam modulation component is used for modulating the laser beam into a linear light beam, the linear light beam is emitted into a target to be detected after being reflected by the reflecting module, the receiving module comprises a linear array or an area array photoelectric detector, and the linear array or the area array photoelectric detector is used for receiving an echo light beam reflected by the target to be detected. Emitting a laser beam through a laser source, modulating the laser beam into a linear beam through a beam modulation assembly, and receiving an echo beam through a linear array or an area array photoelectric detector of a receiving module to realize the detection of a target to be detected; the reflection module is arranged on the rotation module, and the rotation module drives the reflection surface of the reflection module to rotate, so that light beam scanning is realized; the transmitting module and the receiving module are arranged symmetrically on the left and right sides of the reflecting module respectively, so that the transmitting module and the receiving module can be prevented from being arranged up and down, the height of the laser radar system is reduced, and the system can meet the requirements of the fields of vehicle-mounted use and the like.
Drawings
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a linear array photodetector according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a reflection module according to an embodiment of the present invention;
fig. 4 and fig. 5 are schematic optical path diagrams of a lidar system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another lidar system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. It should be noted that the terms "upper", "lower", "left", "right", and the like used in the description of the embodiments of the present invention are used in the angle shown in the drawings, and should not be construed as limiting the embodiments of the present invention. In addition, in this context, it is also to be understood that when an element is referred to as being "on" or "under" another element, it can be directly formed on "or" under "the other element or be indirectly formed on" or "under" the other element through an intermediate element. The terms "first," "second," and the like, are used for descriptive purposes only and not for purposes of limitation, and do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention, and referring to fig. 1, the laser radar system according to the embodiment includes a rotation module 10, a reflection module 20, a transmission module 30, and a reception module 40; the reflective module 20 includes at least two reflective surfaces (e.g., side wall surfaces of the reflective module 20, four side wall surfaces are illustrated in fig. 1), and the reflective module 20 is disposed on the rotating module 10; the rotating module 10 is used for driving at least two reflecting surfaces of the reflecting module 20 to rotate around a rotating axis AA so as to realize scanning in one direction; the transmitting module 30 corresponds to the receiving module 40, and is respectively positioned at two sides of the reflecting module 20 to form a left-right corresponding arrangement; optionally, in a certain embodiment, the central axis of the transmitting module 30 and the central axis of the receiving module 40 may be located on the same straight line or parallel and non-coplanar, that is, the central axis of the transmitting module 30 and the central axis of the receiving module 40 are located in the same plane; in another embodiment, the central axes of the transmitting module 30 and the receiving module 40 may be arranged to be parallel but not coplanar, i.e. the central axes of the transmitting module 30 and the receiving module 40 are located in two planes which are parallel and relatively close to each other, respectively. The transmitting module 30 includes a laser source 31 and a light beam modulating assembly 32, the laser source 31 is configured to emit at least one laser light beam, the light beam modulating assembly 32 is configured to modulate the laser light beam into a linear light beam, the linear light beam is reflected by the reflecting module 20 and then enters a target to be detected (not shown in fig. 1), the receiving module 40 includes a linear or planar photodetector 41, and the linear or planar photodetector 41 is configured to receive an echo light beam reflected by the target to be detected.
It can be understood that the laser radar system provided by the embodiment can be used in the fields of unmanned vehicles, automatic navigation robots and the like, and can also be independently applied to 3D mapping, obstacle avoidance and the like. The emitting module 30 and the receiving module 40 are respectively used for emitting a signal beam and receiving an echo beam under the control of a control module (e.g., a field programmable gate array FPGA), the signal beam may be an infrared laser beam, the laser source 31 may be a laser diode LD or a vertical cavity surface emitting laser VCSEL, wherein the LD or the VCSEL can be free space output or coupled output through an optical fiber; the laser source 31 may also be a fiber laser, a gas laser, a solid laser, or the like, and the laser wavelength may be 905nm or 1550 nm; alternatively, the beam modulation component 32 may include a diffractive optical element DOE or a powell prism, which modulates the laser beam emitted from the laser source 31 into a linear beam. The receiving echo beam can adopt a linear array formed by Avalanche Photo Diodes (APDs) or silicon photomultiplier tubes (sipms) as a light receiving element, or in other embodiments, if the transmitting module adopts a plurality of linear arrays of emergent light rays, the receiving module can also adopt an area array of light receiving elements. For example, fig. 2 is a schematic structural diagram of a linear array photodetector provided in an embodiment of the present invention, which includes a plurality of linearly arranged photodetectors 411, where the selected linear array photodetectors may be 1 × 8, 1 × 16, 1 × 32, 1 × 64, and the like, and may be selected according to actual situations in specific implementation. The linear light beam emitted from the emitting module 30 is reflected by the reflecting surface of the reflecting module 20 and then transmitted to the target to be detected, and the echo light beam returned from the target to be detected is reflected by the reflecting surface of the reflecting module 20 and then received by the linear array or area array photodetector 41 of the receiving module 40. When the rotating module 10 drives the reflecting module 20 to rotate, the signal beam emitted from the emitting module 30 can be scanned horizontally, where the horizontal direction refers to a direction perpendicular to the rotating axis AA. In practical implementation, the transmitting module 30 may further be configured to output multiple channels, and correspondingly, the receiving module 40 may further be configured to receive multiple channels, so as to form scanning ranges of different viewing angles. In one embodiment, the transmitting module 30 and the receiving module 40 are respectively disposed at two sides of the reflecting module 20, and the central axes of the two modules are disposed on the same straight line on the same plane perpendicular to the rotation axis AA, so that the transmitting module 30 and the receiving module 40 are prevented from being arranged in a vertical direction (parallel to the rotation axis AA), thereby reducing the height of the lidar system to the maximum. Therefore, the transmitting module 30 and the receiving module 40 are symmetrically distributed about the rotation axis AA of the reflecting module 20, the mass distribution of the whole system structure is uniform, and the stability of the system is improved. In an embodiment, the rotating module 10 may include a motor, and the rotating of the motor drives the reflecting module 20 to rotate. In other embodiments, the optical axes of the transmitting module 30 and the receiving module 40 may also be located in two planes that are parallel to each other and are close to each other, which is not limited in the embodiments of the present invention.
According to the technical scheme of the embodiment, a laser beam is emitted by a laser source, the laser beam is modulated into a linear beam by a beam modulation assembly, and an echo beam is received by a linear array or area array photoelectric detector of a receiving module, so that the detection of the target to be detected is realized; the reflection module is arranged on the rotation module, and the rotation module drives the reflection surface of the reflection module to rotate, so that light beam scanning is realized; the transmitting module and the receiving module are arranged symmetrically on the left and right sides of the reflecting module respectively, so that the transmitting module and the receiving module can be prevented from being arranged up and down, the height of the laser radar system is reduced, and the system can meet the requirements of the fields of vehicle-mounted use and the like.
On the basis of the above technical solution, optionally, the reflection module includes a rotating prism, the rotating prism includes a top surface, a bottom surface, and a plurality of side surfaces located between the top surface and the bottom surface, and the side surfaces are reflection surfaces.
Exemplarily, fig. 3 shows a schematic structural diagram of a reflection module according to an embodiment of the present invention, and referring to fig. 3, the reflection module includes a rotating prism 21, the rotating prism 21 includes a top surface 211, a bottom surface 212, and a first side surface 213, a second side surface 214, a third side surface 215, and a fourth side surface 216 located between the top surface 211 and the bottom surface 212, and the first side surface 213, the second side surface 214, the third side surface 215, and the fourth side surface 216 are reflection surfaces. In other embodiments, the reflection module may include other numbers of side surfaces, for example, three, five, six, or the like, or only a part of the side surfaces may be provided as the reflection surfaces, and only the number of the reflection surfaces is required to be greater than or equal to 2. Optionally, in a specific implementation, there are two adjacent reflection surfaces, and the transmitting module and the receiving module are respectively located at one side of the two adjacent reflection surfaces. Optionally, an angle between the at least one reflecting surface and the rotation axis is zero.
It can be understood that, by setting the included angle between at least one of the reflecting surfaces and the rotation axis to be zero, that is, the reflecting surface is perpendicular to the bottom surface, in this embodiment, the four reflecting surfaces of the prism are all perpendicular to the bottom surface, and the specific implementation can be set according to the actual situation.
Optionally, the included angle between all the reflecting surfaces and the rotation axis is greater than or equal to 0 °.
It should be understood that the term "included angle between the reflection surface and the rotation axis" refers to the magnitude of the included angle between the reflection surface and the rotation axis, and in practical applications, the reflection surface may be inclined outward or inward with respect to the rotation axis, and if the angle is defined as a negative value when the reflection surface is inclined inward, the included angle between the reflection surface and the rotation axis is less than 0 °.
In the present embodiment, the rotating prism includes four reflecting surfaces. For any reflecting surface, the included angle between the reflecting surface and the rotating shaft is simultaneously larger than the included angles between the two adjacent reflecting surfaces and the rotating shaft, or simultaneously smaller than the included angles between the two adjacent reflecting surfaces and the rotating shaft. For example, the included angles between the four reflecting surfaces of the rotating prism and the rotating shaft clockwise are marked as ═ 1, < 2, < 3, and < 4, where ≦ 0 °, < 2 °, < 3 °, < 1 °, < 4 ≦ 1.5 °. The angle 2 is simultaneously greater than the angles 1 and 3, and the angle 3 is simultaneously less than the angles 2 and 4, so that the rotary prism can be more stable in the rotating process. Furthermore, at least one reflecting surface of the rotating prism can be arranged into a layered structure, and the included angle between each layer and the top surface is different, so that laser beams emitted by the plurality of lasers are non-uniformly distributed in the vertical direction when passing through the layered structure, for example, the laser beams in the vertical direction are distributed densely in the middle and sparsely in the upper and lower directions.
Fig. 4 and 5 are schematic optical path diagrams of a laser radar system according to an embodiment of the present invention, where fig. 4 shows a case where a signal beam is parallel to a horizontal plane (in this embodiment, a rotation axis is perpendicular to the horizontal plane), and fig. 5 shows a case where the signal beam has an included angle different from zero with the horizontal plane, when the laser radar system detects, a distance between a target to be detected and the radar is generally long, and a signal beam reflected by a reflection module and a received echo beam may be considered to be parallel.
Optionally, the included angles between the two opposite reflecting surfaces and the rotating shaft are both greater than or smaller than, and the included angle between the reflecting surface between the two reflecting surfaces and the rotating shaft. The arrangement can prevent the included angle between each reflecting surface and the rotating shaft from being gradually increased or gradually reduced, thereby avoiding the occurrence of serious uneven moment of a plurality of reflecting surfaces of the rotating prism.
Optionally, the two opposite reflecting surfaces have the same included angle with the rotation axis. The two opposite reflecting surfaces have the same inclination degree by setting the included angles between the two opposite reflecting surfaces and the rotating shaft to be equal, so that when the rotating prism rotates around the rotating shaft, the two opposite reflecting surfaces cannot generate moment unevenness, and the moment balance of the plurality of reflecting surfaces of the rotating prism is further realized.
Optionally, in another embodiment, at least one of the reflective surfaces is perpendicular to both the top and bottom surfaces. That is, at least one reflecting surface is not inclined relative to the rotating shaft, and the plane is easier to manufacture relative to the inclined surface, so that the manufacturing difficulty of the rotating prism is reduced. In other embodiments, all the reflective surfaces may be perpendicular to the bottom surface, that is, the reflective module is a regular tetrahedron, so as to implement horizontal scanning, and the reflective module may be designed according to actual situations in specific implementation.
Fig. 6 is a schematic structural diagram of another lidar system according to an embodiment of the present invention, and referring to fig. 6, optionally, a top surface 211, a bottom surface 212, and four side surfaces of a rotating prism enclose a hollow shaft 217; the rotating module 10 is arranged in the hollow shaft 217 of the rotating prism. By providing the rotating prism as a hollow structure, the rotating module 10 can be placed inside the rotating prism, thereby reducing the volume of the laser radar system.
With reference to fig. 1, optionally, the emission module 30 further includes an emission mirror group 33, located between the laser source 31 and the beam modulation assembly 32, and configured to collimate the laser beam emitted from the laser source 31 and then make the collimated laser beam incident on the beam modulation assembly 32; the receiving module 40 further includes a receiving mirror group 42, which is located between the linear array or area array photodetector 41 and the reflection module 20, and is configured to focus the laser beam reflected by the reflection module 20 and then enter the linear array or area array photodetector 41. Alternatively, the emitting lens group 33 may include at least one of a spherical lens, an aspherical lens or a cylindrical lens, and the receiving lens group 42 may include at least one of a spherical lens, an aspherical lens or a cylindrical lens. In practical implementation, the emitting mirror group 33 and the receiving mirror group 42 can be any combination of spherical lens, aspherical lens and cylindrical lens. For example, the transmitting lens group is a cylindrical lens, the receiving lens group can be a cylindrical lens, an aspherical lens or a spherical lens, and if cylindrical lenses are used, the transmitting lens group 33 optionally includes two cylindrical lenses disposed in a confocal manner, and the two cylindrical lenses are used for light beam collimation in the fast axis direction and the slow axis direction respectively. Optionally, in a certain embodiment, the emission mirror group 33 and the receiving mirror group 42 include the same number and kind of lens combinations, in other embodiments, the kind and/or number of lenses in the emission mirror group 33 and the receiving mirror group 42 may also be different, and the specific implementation may be designed according to the actual situation, which is not limited in the embodiment of the present invention.
It can be understood that the light beam directly emitted from the laser source 31 in the emitting module 30 may not meet the requirement of the radar detection distance after directly passing through the light beam modulating assembly 32, so that the emitting mirror group 33 may be disposed on the light emitting side of the emitting module 30 for focusing and collimating the light beam emitted from the laser source 31, so that the light beam is incident on the light beam modulating assembly 32 at a relatively small divergence angle, so as to achieve the detection of the long-distance target. The light beam returned by the target to be measured is attenuated through spatial transmission, so that the receiving mirror group 42 can be arranged on the light incident side of the receiving module 40, so that the receiving module 40 collects as many echo light beams as possible, and the field of view of the receiving mirror group 42 is between 0 and 180 degrees. In other embodiments, the receiving module further includes an optical filter between the receiving lens group 42 and the linear or area photodetector 41, the optical filter is used for transmitting the echo light beam and filtering the ambient light such as the sunlight and the incandescent light, so as to improve the recognition accuracy of the target to be detected.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A laser radar system is characterized by comprising a rotating module, a reflecting module, a transmitting module and a receiving module;
the reflection module comprises at least two reflection surfaces, and the reflection module is positioned on the rotation module;
the rotating module is used for driving at least two reflecting surfaces of the reflecting module to rotate around a rotating shaft so as to realize scanning in one direction;
the transmitting module corresponds to the receiving module and is respectively positioned at two sides of the reflecting module to form left-right corresponding arrangement;
the transmitting module comprises a laser source and a light beam modulation assembly, the laser source is used for emitting at least one laser beam, the light beam modulation assembly is used for modulating the laser beam into a linear beam, and the linear beam is reflected by the reflecting module and then enters a target to be measured;
the receiving module comprises a linear array or an area array photoelectric detector, and the linear array or the area array photoelectric detector is used for receiving the echo light beam reflected by the target to be detected.
2. The lidar system of claim 1, wherein the beam modulation assembly comprises a Diffractive Optical Element (DOE) or a Powell prism.
3. The lidar system of claim 1, wherein the optical axis of the reflection module and the optical axis of the receiving module are located on the same line or are parallel and not coplanar, and the optical axis of the transmission module is oriented perpendicular to the rotation axis.
4. The lidar system of claim 1, wherein the reflection module comprises a rotating prism comprising a top surface, a bottom surface, and a plurality of side surfaces between the top surface and the bottom surface, the side surfaces being reflective surfaces.
5. The lidar system of claim 4, wherein an angle between at least one of the reflective surfaces and the axis of rotation is zero.
6. The lidar system of claim 4, wherein the top surface, the bottom surface, and four of the side surfaces enclose a hollow shaft;
the rotating module is arranged in the hollow shaft of the rotating prism.
7. The lidar system of claim 1, wherein the transmitting module further comprises a transmitting mirror group, which is disposed between the laser source and the beam modulation assembly, and is configured to collimate the laser beam emitted from the laser source and then to be incident on the beam modulation assembly;
the receiving module further comprises a receiving mirror group, which is positioned between the linear array or area array photoelectric detector and the reflecting module and is used for focusing the laser beam reflected by the reflecting module and then transmitting the laser beam to the linear array or area array photoelectric detector.
8. The lidar system of claim 7, wherein the set of transmitting mirrors comprises at least one of a spherical lens, an aspherical lens, or a cylindrical lens, and the set of receiving mirrors comprises at least one of a spherical lens, an aspherical lens, or a cylindrical lens.
9. The lidar system of claim 8, wherein the set of transmitting mirrors and the set of receiving mirrors comprise the same number and kind of lens combinations.
10. The lidar system of claim 7, wherein the set of transmitting lenses comprises two cylindrical lenses arranged confocally for beam collimation in a fast axis direction and a slow axis direction, respectively.
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| CN202110405090.2A CN113050102A (en) | 2021-04-15 | 2021-04-15 | Laser radar system |
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| CN202110405090.2A CN113050102A (en) | 2021-04-15 | 2021-04-15 | Laser radar system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113655462A (en) * | 2021-08-26 | 2021-11-16 | 探维科技(北京)有限公司 | Laser radar receiving and transmitting light path horizontal contraposition system |
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