CN113064138B - Multi-line laser radar based on multi-wavelength configuration - Google Patents
Multi-line laser radar based on multi-wavelength configuration Download PDFInfo
- Publication number
- CN113064138B CN113064138B CN202110274256.1A CN202110274256A CN113064138B CN 113064138 B CN113064138 B CN 113064138B CN 202110274256 A CN202110274256 A CN 202110274256A CN 113064138 B CN113064138 B CN 113064138B
- Authority
- CN
- China
- Prior art keywords
- lens
- detection signal
- receiving
- signal light
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims abstract description 258
- 238000013519 translation Methods 0.000 claims description 33
- 230000003287 optical effect Effects 0.000 claims description 15
- 239000013307 optical fiber Substances 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 238000003491 array Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000003595 spectral effect Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000000411 transmission spectrum Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
Landscapes
- Engineering & Computer Science (AREA)
- 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)
- Measurement Of Optical Distance (AREA)
Abstract
The invention relates to the technical field of laser radars, and provides a multi-line laser radar based on multi-wavelength configuration, which comprises: an emission light source assembly, an emission lens, a receiving lens and a receiving detector assembly; the emission light source component is used for emitting detection signal light with different wavelengths, and the detection signal light with different wavelengths is collimated by the emission lens to form multiple paths of detection signal light in space for space scanning detection; the detection signal light with different wavelengths reflected by the target object is converged by the receiving lens and then transmitted to the receiving detector assembly for receiving detection. According to the invention, carrier signals of the multi-line laser radar with the same wavelength in the prior art are switched to different wavelengths, detection signals of each angle are carried out based on the different wavelengths, mutual interference during detection is effectively avoided, and the carrier signals with the different wavelengths can not interfere with each other, so that the signals can emit light simultaneously, and the detection efficiency of the laser radar three-dimensional detection system is greatly improved.
Description
[ field of technology ]
The invention relates to the technical field of laser radars, in particular to a multi-line laser radar based on multi-wavelength configuration.
[ background Art ]
The lidar may be classified into a single-line lidar and a multi-line lidar according to the difference in the number of scanning lines. The single-line laser radar only has one detection light source to emit, and the scanning detection of the light beam on the two-dimensional plane is realized through the rotation of the scanning mechanism. Single-line lidar can only scan point cloud data in a two-dimensional plane, and has a plurality of application limits when in use. If the point cloud data of the three-dimensional space is to be detected, a rotation mechanism with another dimension is required to be matched. However, the technical scheme of three-dimensional point cloud detection cannot meet the requirement of real-time detection and can only be applied to the field of detection application of static targets. For this reason, the industry has proposed a multi-line laser radar, in which a plurality of detection light sources are integrated together, and sequentially emit light for detection according to timing control; and simultaneously rotates on the rotating mechanism to realize real-time point cloud data detection.
The current multi-line laser radar is mostly based on a plurality of detector arrays with the same wavelength, and the detector arrays are packaged at corresponding positions. In order to avoid mutual interference among the light sources, all the light sources are uniformly controlled by a control system and sequentially emit light according to time sequence. The technical scheme has the advantages that the light sources are integrated together, multi-angle three-dimensional point cloud data detection is realized, the disadvantage that the light sources cannot emit light at the same time, the detection efficiency of the laser radar three-dimensional detection system is affected, and the laser radar three-dimensional detection system can be affected to a certain extent when in real-time use.
The application scenes of the laser radar are various, and some equipment requires flexible and changeable detection distances and cannot be fixed at a certain distance; while some devices require a fixed detection distance and even if it changes, it is adjusted over a longer period of time, but the spatial resolution requirements are high and a general collimated light path design cannot be used. Therefore, for the latter application, it is necessary to modify the design of the collimation light path of the existing laser radar device, to realize the focal length adjustable distance laser radar detection, and to optimize the detection light spot with a fixed distance as much as possible, so as to improve the spatial resolution of the target.
In view of this, overcoming the drawbacks of the prior art is a problem to be solved in the art.
[ invention ]
The technical problems to be solved by the invention are as follows:
the existing multi-line laser radar is mostly based on a plurality of laser arrays with the same wavelength, and detector arrays are packaged at corresponding positions. In order to avoid mutual interference among the light sources, all the light sources are uniformly controlled by a control system and sequentially emit light according to time sequence. The technical scheme has the defect that a plurality of light sources cannot emit light at the same time, so that the detection efficiency of the laser radar three-dimensional detection system is affected, and the laser radar three-dimensional detection system can be affected to a certain extent when being used in real time.
Further, in a practical scenario, some devices require a fixed detection distance, and even if the detection distance is changed, the detection distance is adjusted in a longer period of time, but the spatial resolution requirement is high, and a general collimation light path design cannot be adopted. Therefore, for the latter application, it is necessary to modify the design of the collimation light path of the existing laser radar device, to realize the focal length adjustable distance laser radar detection, and to optimize the detection light spot with a fixed distance as much as possible, so as to improve the spatial resolution of the target.
The invention achieves the aim through the following technical scheme:
in a first aspect, the present invention provides a multi-line lidar based on a multi-wavelength configuration, comprising: an emission light source assembly, an emission lens, a receiving lens and a receiving detector assembly;
the emission light source component is used for emitting detection signal light with different wavelengths, and the detection signal light with different wavelengths is collimated by the emission lens to form multiple paths of detection signal light in space;
the detection signal light with different wavelengths reflected by the target object is converged by the receiving lens and then transmitted to the receiving detector assembly for receiving detection.
Preferably, the system further comprises a first narrow-band filter array, a second narrow-band filter array, a third narrow-band filter array and a receiving reflector;
The first narrow-band filter array reflects an emission light source used for emitting detection signal light with different wavelengths in the emission light source assembly to a focal plane of an emission lens;
the second narrow-band filter array separates the detection signal light with different wavelengths collimated by the transmitting lens so as to form multiple paths of detection signal light;
the receiving reflector is used for receiving the detection signal light reflected by the target object, reflecting the detection signal light to the receiving lens for converging, and separating the detection signal light with different wavelengths converged by the receiving lens by utilizing a third narrow-band filter array and transmitting the separated detection signal light to the receiving detector assembly.
Preferably, the device also comprises a lens group, a translation device and a camera;
the lens group comprises a concave lens and a convex lens, and the detection signal light reflected by the second narrow-band filter array sequentially passes through the concave lens and the convex lens and then is focused to form an image;
the translation device is connected with the concave lens or the convex lens and is used for adjusting the position of the concave lens or the convex lens so as to adjust the relative distance d1 between the concave lens and the convex lens;
the camera is used for acquiring calibration object images at different detection distances, and further calibrating the relative distance d1 corresponding to the light spot focusing at different detection distances in advance by combining the definition of the calibration object images, and storing the corresponding relation between the detection distances and the relative distance d 1.
Preferably, the device further comprises a position sensor, wherein the position sensor is connected with the concave lens or the convex lens and is used for monitoring the real-time position of the concave lens or the convex lens so as to determine the relative distance d1 between the concave lens and the convex lens.
Preferably, the emission light source assembly specifically includes n light emitters, the n light emitters are arranged from top to bottom, each light emitter emits a wavelength of detection signal light, and n is a natural number.
Preferably, the emission light source component specifically comprises a broadband light source, an array waveguide grating and an emission contact pin;
the input port of the array waveguide grating is coupled with a broadband light source, and each output port of the array waveguide grating is coupled with an emitting contact pin through an optical fiber;
the array waveguide grating separates the detection signal light with different wavelengths emitted by the broadband light source and transmits the detection signal light with different wavelengths to different emission pins through the optical fiber.
Preferably, the transmitting lens is disposed at a central position of the receiving lens to ensure that optical axes of the transmitting system and the receiving system are the same.
Preferably, the filter further comprises an array filter;
The array filter is arranged between the receiving detector component and the receiving lens and is used for separating the reflected detection signal light with different wavelengths, and then transmitting the detection signal light with different wavelengths to corresponding positions of the receiving detector component.
Preferably, the emission light sources in the emission light source assembly are all located on the focal plane of the emission lens.
In a second aspect, the invention also provides a multi-line laser radar based on multi-wavelength configuration, which comprises a transmitting light source component, a transmitting lens, a translation device, a receiving lens, an array filter, a receiving detector component and a camera;
the emission light source component is used for emitting detection signal light with different wavelengths and focusing and imaging after passing through the emission lens;
the detection signal light reflected by the target object is converged by the receiving lens, and then the reflected detection signal light with different wavelengths is separated at the array filter, so that the detection signal light with different wavelengths is transmitted to the corresponding position of the receiving detector assembly;
the translation device is connected with the emission light source assembly or the emission lens and is used for adjusting the position of the emission light source assembly or the emission lens so as to adjust the relative distance d2 between the emission light source assembly and the emission lens;
The camera is used for collecting calibration object images at different detection distances, and further calibrating the relative distance d2 corresponding to the light spot focusing at different detection distances in advance by combining the definition of the calibration object images, and storing the corresponding relation between the detection distances and the relative distance d 2;
the beneficial effects of the invention are as follows:
according to the multi-line laser radar based on multi-wavelength configuration, carrier signals of the multi-line laser radar with the same wavelength in the prior art are switched to different wavelengths, detection signals of each angle are carried out based on different wavelengths, mutual interference during detection is effectively avoided, and as the carrier signals with different wavelengths cannot interfere with each other, the multi-line laser radar can emit light at the same time, and therefore detection efficiency of a laser radar three-dimensional detection system is greatly improved;
furthermore, the optical system of the multi-line laser radar with multi-wavelength configuration is designed into a focusing mode, and the light spot imaging of the laser radar is focused on different detection distances, so that the distance laser radar detection with adjustable focal length can be realized, the light spot size at a fixed distance can be effectively reduced, the spatial resolution of a detected target at the fixed distance can be improved, and the target detail at a finer fixed distance can be resolved.
[ description of the drawings ]
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that 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 multi-line lidar based on a multi-wavelength configuration according to an embodiment of the present invention;
FIG. 2 is a transmission spectrum of a narrowband filter according to an embodiment of the invention;
FIG. 3 is a reflection spectrum of a narrowband filter according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another multi-line lidar based on a multi-wavelength configuration according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another multi-line lidar based on a multi-wavelength configuration according to an embodiment of the present invention;
FIG. 6 is a structural member connection diagram of a multi-line laser radar based on multi-wavelength configuration according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another multi-line lidar based on a multi-wavelength configuration provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of an array filter according to an embodiment of the present invention;
fig. 9 is a schematic diagram of another multi-line lidar based on a multi-wavelength configuration according to an embodiment of the present invention.
[ detailed description ] of the invention
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1:
in order to solve the technical problem of low efficiency of the traditional single-wavelength multi-line laser radar, the invention provides a method for detecting the low efficiency of the traditional single-wavelength multi-line laser radar
A multi-line lidar based on a multi-wavelength configuration, comprising: an emission light source assembly, an emission lens, a receiving lens and a receiving detector assembly;
the emission light source component is used for emitting detection signal light with different wavelengths, the emission light source component is exemplified herein, the emission light source component consists of n light emitters, and one light emitter emits detection signal light with one wavelength; as shown in fig. 1, the light emitters 1, 2, 3, … … and n in the light emitting source assembly are sequentially arranged from top to bottom to form a light emitter array, wherein the wavelengths of the detection signal lights emitted by the light emitters 1, 2, 3, … … and n are respectively λ1, λ2, λ3, … … and λn, the detection signal lights with different wavelengths are obtained by experience of a person skilled in the art, and after being collimated by the light emitting lens, the detection signal lights with different wavelengths form multiple paths of detection signal lights in space for space scanning detection;
The detection signal light with different wavelengths reflected by the target object is converged by the receiving lens and then transmitted to the receiving detector assembly for receiving detection. In order to ensure that the optical axes of the transmitting system and the receiving system are identical, the transmitting lens is arranged at the central position of the receiving lens, specifically, the receiving lens is processed into a form of a central opening, so that the transmitting lens is conveniently arranged at the central position of the receiving lens, and the optical axes of the transmitting system and the receiving system are identical. The receiving detector assembly can be composed of n receiving detectors and used for receiving detection signal light with different wavelengths returned by the target object.
Further referring to fig. 1, the multi-wavelength multi-line laser radar provided in this embodiment further includes a first narrowband filter array, a second narrowband filter array, a third narrowband filter array, and a receiving mirror; the first, second and third narrowband filter arrays are each composed of n narrowband filters, and as shown in fig. 2-3, are respectively transmission spectrums and reflection spectrums of the narrowband filters, as can be seen from fig. 2-3, for a given wavelength λn of detection signal light, all the narrowband filters reflect, and all the detection signal light of the other wavelengths transmit. Based on the design of the narrow-band filter, the selected wavelengths can be reflected in sequence, and all the non-selected wavelengths are transmitted, so that the detection light signals with different wavelengths are multiplexed into the same light path.
The first narrow-band filter array reflects the emission light sources used for emitting the detection signal light with different wavelengths in the emission light source assembly to the focal plane of the emission lens, so that the detection signal light with different wavelengths is collimated;
the second narrow-band filter array separates the detection signal light with different wavelengths collimated by the emission lens so as to form a plurality of paths of detection signal light for space scanning detection;
the receiving reflector is used for receiving the detection signal light reflected by the target object, reflecting the detection signal light to the receiving lens to be converged, separating the detection signal light with different wavelengths converged by the receiving lens by utilizing a third narrow-band filter array, and transmitting the separated detection signal light to the receiving detector assembly for receiving and detecting.
The emission light source component specifically comprises n light emitters which are arranged from top to bottom, wherein each light emitter emits detection signal light with one wavelength, and n is a natural number.
Continuing to explain with reference to fig. 1, the light emitters 1, 2, 3, … … and n in the light emitting source component are sequentially arranged from top to bottom to form a light emitter array, wherein the wavelengths of the detection signal lights emitted by the light emitters 1, 2, 3, … … and n are respectively λ1, λ2, λ3, … … and λn; the first narrowband filter array is composed of n narrowband filters and is used for reflecting detection signal light with wavelengths of λ1, λ2, λ3, … … and λn respectively, so that in order to ensure that the emission light sources of the light emitter 1, the light emitter 2, the light emitter 3, the … … and the light emitter n (the emission light source is the emission light source emitted by the light emitter) are all fallen on the focal plane of the emission lens after being reflected by the first narrowband filter array, the distances between the light emitters are inconsistent with the positions of the corresponding narrowband filters (in order to enable the detection signal light emitted by the light emitter to form better collimated light beams).
After the detection signal light with a plurality of wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n is coupled into the same light path, the emission lens performs light path collimation uniformly and converts the light path collimation into collimated detection signal light to be transmitted outwards. After the lens is emitted, a second narrow-band filter array is arranged, the second narrow-band filter array is composed of n narrow-band filters and is used for reflecting detection signal lights with wavelengths of lambda 1, lambda 2, lambda 3, … … and lambda n respectively, so that the collimated detection signal lights with different wavelengths are separated again after being reflected, and multiple paths of detection signal lights are formed in space for space scanning detection.
After the detection signal light with a plurality of wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n is reflected by a target object, the detection signal light is uniformly received by a large-size receiving reflector, and is reflected to a receiving lens by the receiving reflector for converging and receiving; the third narrow-band filter array is arranged behind the receiving lens and is composed of n narrow-band filters and is used for respectively reflecting the detection signal light with the wavelengths of lambda 1, lambda 2, lambda 3, … … and lambda n, so that the reflected detection signal light with different wavelengths are separated, the detection signal light with different wavelengths is transmitted to corresponding receiving detectors in the receiving detector assembly for detection, n receiving detectors are arranged in the receiving detector assembly and are respectively used for receiving the detection signal light with different wavelengths of lambda 1, lambda 2, lambda 3, … … and lambda n, and in order to ensure better beam focusing detection effect, the receiving detectors 1, 2, 3, … … and n are also arranged in an array, and the distances from the corresponding narrow-band filters are different, so that the receiving detectors are all positioned at the focal plane of the receiving lens, wherein the receiving detectors 1, 2, 3, … … and n are respectively used for receiving the detection signal light with different wavelengths of lambda 1, lambda 2, lambda 3 and lambda … ….
In the following, it will be calculated how much the detection efficiency of the technical solution of the present invention is increased with respect to the existing multi-line lidar. Setting the line number of the multi-line laser radar as n; 1. for a plurality of laser radars with the same wavelength in the prior art, if the repetition frequency of a single transmitting light source is f, the time period of transmitting one pulse by the single light source is 1/f, and the time period of completing one detection by n transmitting light sources is n/f, the detection frequency of the existing multi-line laser radars with the same wavelength is f/n. 2. The technical scheme of the invention is that no matter how many lines of emitting light sources emit light, the emitting light sources emit light at the same time to detect signal light, and the detection frequencies of a plurality of emitting light sources and a single emitting light source are the same, namely f. Compared with the existing multi-line laser radar, the technical scheme of the invention can improve the detection frequency by n times. The more the number of lines, the more obvious the technical advantage of the invention is, and the higher the detection efficiency is.
The embodiment of the invention improves the traditional multi-line laser radar, the wavelength of each detection signal light of the multi-line laser radar in the prior art is the same, and the wavelength of each detection signal light in the invention is different, because the detection signal light of each angle is carried out based on different wavelengths, the mutual interference during detection is effectively avoided, and because carrier signals of different wavelengths can not mutually interfere, the simultaneous light emission can be realized, and the detection efficiency of the laser radar three-dimensional detection system is greatly improved.
Example 2
On the basis of the embodiment 1, in order to optimize control of the emission light source assembly and simplify the system structure, the invention also provides a multi-line laser radar based on multi-wavelength configuration, which also comprises a first narrow-band filter array, an emission lens, a second narrow-band filter array, a receiving reflector, a receiving lens, a third narrow-band filter array and a receiving detector assembly; the main difference from the embodiment 1 is that the emission light source component specifically includes a broadband light source, an arrayed waveguide grating and an emission pin; the input port of the array waveguide grating is connected with a broadband light source, and each output port of the array waveguide grating is connected with an emission contact pin through an optical fiber; the array waveguide grating separates the detection signal light with different wavelengths emitted by the broadband light source and transmits the detection signal light with different wavelengths to different emission pins through the optical fiber.
The emission light source component in the embodiment comprises a broadband light source, an array waveguide grating and emission pins, wherein the broadband light source is used for emitting detection signal light with a certain spectral range, the detection signal light emitted by the broadband light source enters an input port of the array waveguide grating through transmission, the array waveguide grating divides the detection signal light with the certain spectral range into n paths of single-wavelength detection signal light, the single-wavelength detection signal light is output to each output port of the array waveguide grating, the wavelength of each path of detection signal light is different, and each output port of the array waveguide grating is connected with different emission pins through optical fibers.
The explanation is made with reference to fig. 4, the broadband light source emits detection signal light with a certain spectral range, the detection signal light emitted by the broadband light source enters an input port of the arrayed waveguide grating through transmission, the arrayed waveguide grating divides the detection signal light emitted by the broadband light source into n paths of single-wavelength detection signal lights, and the wavelength of each path of single-wavelength detection signal light is lambda 1, lambda 2, lambda 3, … … and lambda n from top to bottom in sequence; the detection signal light with different wavelengths λ1, λ2, λ3, … … and λn is respectively transmitted to the emission pin 1, the emission pin 2, the emission pins 3, … … and the emission pin n through optical fibers, the first narrow-band filter array is composed of n narrow-band filters and is respectively used for reflecting the detection signal light with the wavelengths λ1, λ2, λ3, … … and λn, so that the emission light sources (the emission light sources refer to the emission light sources emitted by the emission pins) of the emission pin 1, the emission pin 2, the emission pins 3, … … and the emission pin n after being reflected by the first narrow-band filter array fall on the focal plane of the emission lens, and the positions of the corresponding narrow-band filters of the respective emission pin distances are inconsistent (so that the detection signal light emitted by the emission pins forms better collimated light beams).
After the detection signals of the wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n which are emitted by the emission pins and have different wavelengths are coupled into the same optical path, the emission lenses perform optical path collimation uniformly and convert the collimated detection signals into collimated detection signals to be transmitted outwards. After the lens is emitted, a second narrow-band filter array is arranged, the second narrow-band filter array is composed of n narrow-band filters and is used for reflecting detection signal lights with wavelengths of lambda 1, lambda 2, lambda 3, … … and lambda n respectively, so that the collimated detection signal lights with different wavelengths are separated again after being reflected, and multiple paths of detection signal lights are formed in space for space scanning detection.
After the detection signal light with a plurality of wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n is reflected by a target object, the detection signal light is uniformly received by a large-size receiving reflector, and is reflected to a receiving lens by the receiving reflector for converging and receiving; the third narrow-band filter array is arranged behind the receiving lens and is composed of n narrow-band filters and is used for reflecting detection signal lights with wavelengths of lambda 1, lambda 2, lambda 3, … … and lambda n, so that the reflected detection signal lights with different wavelengths are separated after being reflected, the detection signal lights with different wavelengths are transmitted to corresponding receiving detectors in the receiving detector assembly for detection, n receiving detectors are arranged in the receiving detector assembly and are respectively used for receiving the detection signal lights with different wavelengths of lambda 1, lambda 2, lambda 3, … … and lambda n, and in order to ensure better beam focusing detection effect, the receiving detectors are also required to be arranged separately, and the distances from the corresponding narrow-band filters are different, so that the receiving detectors are all located at the focal plane of the receiving lens. In order to ensure that the optical axes of the transmitting system and the receiving system are identical, the transmitting lens is arranged at the central position of the receiving lens, specifically, the receiving lens is processed into a form of a central opening, so that the transmitting lens is conveniently arranged at the central position of the receiving lens, and the optical axes of the transmitting system and the receiving system are identical.
According to the embodiment, the multi-line laser radar with single wavelength is switched to be different wavelengths, detection signals of each angle are carried out based on different wavelengths, mutual interference during detection is effectively avoided, carrier signals with different wavelengths cannot interfere with each other, and therefore the multi-line laser radar can emit light simultaneously, so that the detection efficiency of a laser radar three-dimensional detection system is greatly improved. This simplifies the construction of the light emitting source assembly and saves on the cost of the device since there is no need to provide a plurality of light emitters.
Example 3
The application scenes of the laser radar are various, and some equipment requires flexible and changeable detection distances and cannot be fixed at a certain distance; while some devices require a fixed detection distance and even if it changes, it is adjusted over a longer period of time, but the spatial resolution requirements are high and a general collimated light path design cannot be used. Therefore, for the latter application, it is necessary to modify the design of the collimation light path of the existing lidar device, to realize focal length adjustable distance lidar detection, and to optimize the detection light spot with a fixed distance as much as possible, so as to realize high resolution and high efficiency detection of the multi-line lidar.
On the basis of the embodiment 1, in order to realize high-resolution and high-efficiency detection of the multi-line laser radar, the invention also provides the multi-line laser radar based on multi-wavelength configuration, which is used for realizing high-resolution detection of the multi-line laser radar. The embodiment also comprises an emission light source component, a first narrow-band filter array, an emission lens, a second narrow-band filter array, a receiving reflector, a receiving lens, a third narrow-band filter array and a receiving detector component; the main difference from embodiment 1 is that this embodiment 3 further includes a lens group, a translation device, and a camera;
the lens group comprises a concave lens and a convex lens, and the detection signal light reflected by the second narrow-band filter array sequentially passes through the concave lens and the convex lens and then is focused to form an image;
the translation device is connected with the concave lens or the convex lens and is used for adjusting the position of the concave lens or the convex lens so as to adjust the relative distance d1 between the concave lens and the convex lens; here, taking the connection of the translation device and the concave lens as an example, the concave lens is mounted on the translation device, as shown in fig. 5, the translation device mainly adjusts the relative distance d1 between the concave lens and the convex lens by adjusting the position of the concave lens. Of course, in an alternative embodiment, two translation devices may be provided, respectively connected to the concave lens and the convex lens, which cooperate to adjust the relative distance d1.
The camera is used for collecting images of calibration objects (the calibration objects are called when the target objects are used for calibrating the corresponding relation between the detection distance and the relative distance d 1) at different detection distances, and further calibrating the relative distance d1 corresponding to the light spot focusing at different detection distances in advance by combining the definition of the images of the calibration objects, and storing the corresponding relation between the detection distance and the relative distance d 1; when the method is specifically applied, a plurality of detection distances can be selected in advance, and corresponding calibration objects are arranged at each detection distance; and acquiring corresponding calibration object images by using the cameras under each detection distance, searching for a focusing state according to the definition of the calibration object images, and continuously adjusting the position of the concave lens or the convex lens by using the translation device until the definition of the calibration object images is optimal, considering the light spot focusing at the moment, and recording the relative distance between the concave lens and the convex lens at the moment, namely the relative distance d1 corresponding to the light spot focusing under the detection distance.
The camera may be disposed at any one of the receiving detector assemblies, as shown in fig. 5, in this embodiment, the camera is disposed at the receiving detector 1, and the optical axes of the camera and the receiving detector 1 need to be kept coaxial, specifically, a beam splitter may be disposed in front of the receiving detector 1, a beam splitting ratio of the beam splitter may be set according to actual requirements, after the detection signal light with a wavelength λ1 returned by detection reaches the beam splitter, beam splitting is performed according to the set beam splitting ratio, where a portion of light reaches the camera, so that the camera may collect an image. When the corresponding relation between the detection distance and the relative distance d1 is calibrated by the camera at the receiving detector 1, the corresponding relation can be multiplexed to the whole multi-line laser radar without arranging a camera at each receiving detector for calibration.
Based on the structure, when a user sets a detection distance to be used through the upper computer software, the relative distance d1 corresponding to the detection distance can be directly determined according to the pre-stored corresponding relation, and then the concave lens or the convex lens is moved to a designated position through the translation device, so that the light spot focusing at a certain distance is completed, and the high-resolution detection of the multi-line laser radar is realized.
With further reference to fig. 6, the multi-wavelength configuration-based multi-line laser radar provided by the embodiment of the invention further includes a position sensor, a data register and a translation control device, where the position sensor, the data register, the translation control device and the translation device are sequentially connected. Wherein:
the position sensor is connected with the concave lens or the convex lens and is used for monitoring the real-time position of the concave lens or the convex lens so as to determine the relative distance d1 between the concave lens and the convex lens. Fig. 6 shows an example of the translation device being connected to the concave lens, where a corresponding position sensor is connected to the concave lens for monitoring the real-time position of the concave lens.
The data register is used for storing the corresponding relation between the detection distance and the relative distance d1 in advance.
The translation control device is used for controlling the translation device according to the relative distance d1 read from the data register, and then the concave lens or the convex lens is moved to a designated position.
In order to ensure high positioning accuracy, the position sensor can preferably adopt a capacitive position sensor, so that the positioning accuracy can reach the micrometer level. The capacitive position sensor acquires the real-time position of the concave lens or the convex lens through a capacitive detector, and further determines the relative distance d1 between the concave lens and the convex lens. Taking fig. 6 as an example for explanation, the capacitive position sensor is connected to the concave lens, and the real-time position of the concave lens is obtained through the capacitive detector, specifically, the position is represented through the capacitance value.
In actual use, the camera and the translation device are combined to pre-calibrate the relative distance d1 corresponding to the focusing of the light spot under different detection distances, and then the corresponding relation between the detection distance and the relative distance d1 and the corresponding relation between the relative distance d1 and the capacitance value are pre-stored in the data register according to the calibration result; when a user sets a detection distance to be used through upper computer software and the like, the relative distance d1 corresponding to the detection distance can be directly determined according to a pre-stored corresponding relation, the capacitance value corresponding to the relative distance d1 is further determined, then the corresponding capacitance value is sent to the translation control device, the translation control device controls the translation device to move the concave lens to a designated position, namely to a position corresponding to the capacitance value, and the focusing of the fixed-distance light spots is completed.
The embodiment of the invention improves the light path design of the existing laser radar equipment, designs the optical system of the laser radar into a focusing mode, focuses the light spot imaging of the multi-line laser radar on different detection distances by changing the relative distance d1 between the concave lens and the convex lens, not only realizes the detection of the distance laser radar with adjustable focal length, but also can effectively reduce the light spot size at the fixed distance, effectively improves the spatial resolution of a detection target at the fixed distance, and resolves the target detail at the finer fixed distance, thereby realizing the high-resolution detection of the multi-line laser radar.
Example 4
The embodiment of the invention also provides a multi-wavelength configuration-based multi-line laser radar with a non-coaxial optical design, which comprises the following steps: an emission light source assembly, an emission lens, a receiving lens and a receiving detector assembly; the emission light source component is used for emitting detection signal light with different wavelengths, and the detection signal light with different wavelengths is collimated by the emission lens to form multiple paths of detection signal light in space for space scanning detection; the detection signal light with different wavelengths reflected by the target object is converged by the receiving lens and then transmitted to the receiving detector assembly for receiving detection. The device also comprises an array filter; the array filter is arranged between the receiving detector component and the receiving lens and is used for separating the reflected detection signal light with different wavelengths, and then transmitting the detection signal light with different wavelengths to corresponding positions of the receiving detector component.
The embodiment is explained with reference to fig. 7, where the light emitting source assembly is composed of n light emitters, and the light emitters 1, 2, 3, … …, n are sequentially arranged from top to bottom to form a light emitter array, where the wavelengths of the detection signal lights emitted by the light emitters 1, 2, 3, … …, n are λ1, λ2, λ3, … …, λn respectively; in order to ensure that the detection signal light emitted by each light emitter forms a better collimated light beam, the light emitters 1, 2, 3, … …, and the emission light source of the light emitter n (the emission light source here refers to the emission light source emitted by the emitter) are all located on the focal plane of the emission lens.
The detection signal light with a plurality of wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n is converted into collimated detection signal light to be transmitted outwards after being subjected to optical path collimation by the emission lens, and detection light signals with different wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n are transmitted according to different angles and are used for scanning different angles of a space.
The detection signal light with a plurality of wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n is converged by the receiving lens after being reflected by the target object; an array filter is arranged between the receiving lens and the receiving detector component and is used for transmitting the detection signal light with different wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n converged by the receiving lens to the corresponding receiving detector 1, the receiving detector 2, the receiving detectors 3 and … … and the receiving detector n. The basic structure of the array filter is shown in fig. 8, and the passing areas of the detection signal light with different wavelengths are corresponding to different positions, so that all the detection signal light with non-passing wavelengths is intercepted, and mutual interference among the detection signal light is avoided.
Example 5
The application scenes of the laser radar are various, and some equipment requires flexible and changeable detection distances and cannot be fixed at a certain distance; while some devices require a fixed detection distance and even if it changes, it is adjusted over a longer period of time, but the spatial resolution requirements are high and a general collimated light path design cannot be used. Therefore, for the latter application, it is necessary to modify the design of the collimation light path of the existing lidar device, to realize focal length adjustable distance lidar detection, and to optimize the detection light spot with a fixed distance as much as possible, so as to realize high resolution and high efficiency detection of the multi-line lidar.
The multi-line laser radar based on the multi-wavelength configuration of the non-coaxial optical design can realize high-resolution and high-efficiency detection, and comprises a transmitting light source component, a transmitting lens, a translation device, a receiving lens, an array filter, a receiving detector component and a camera;
the emission light source component is used for emitting detection signal light with different wavelengths and focusing and imaging after passing through the emission lens; referring to fig. 9, the light emitting source assembly in this embodiment is composed of n light emitters, where the light emitters 1, 2, 3, … …, n are sequentially arranged from top to bottom to form a light emitter array, and wavelengths of the detection signal lights emitted by the light emitters 1, 2, 3, … …, n are λ1, λ2, λ3, … …, λn, respectively; the detection signal light with different wavelengths passes through the emission lens and then is focused and imaged;
The detection signal light reflected back by the target object (the target object is called a calibration object when being used for calibrating the corresponding relation between the detection distance and the relative distance d 2) is converged by the receiving lens, and then the reflected detection signal light with different wavelengths is separated at the array filter, so that the detection signal light with different wavelengths is transmitted to the corresponding position of the receiving detector assembly;
the detection signal light with a plurality of wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n is converged by the receiving lens after being reflected by the target object; an array filter is arranged between the receiving lens and the receiving detector component and is used for transmitting the detection signal light with different wavelengths lambda 1, lambda 2, lambda 3, … … and lambda n converged by the receiving lens to the corresponding receiving detector 1, the receiving detector 2, the receiving detectors 3 and … … and the receiving detector n. The basic structure of the array filter is shown in fig. 8, and the passing areas of the detection signal light with different wavelengths are corresponding to different positions, so that all the detection signal light with non-passing wavelengths is intercepted, and mutual interference among the detection signal light is avoided.
The translation device is connected with the emission light source assembly or the emission lens and is used for adjusting the position of the emission light source assembly or the emission lens so as to adjust the relative distance d2 between the emission light source assembly and the emission lens; here, taking the connection of the translation device and the emission lens as an example, the emission lens is mounted on the translation device, as shown in fig. 9, the translation device adjusts the relative distance d2 between the emission light source component and the emission lens mainly by adjusting the position of the emission lens. Of course, in an alternative embodiment, two translation devices may be provided, respectively connected to the emission light source assembly and the emission lens, the two translation devices acting together to adjust the relative distance d2.
The camera is used for collecting images of calibration objects (the calibration objects are called when the target objects are used for calibrating the corresponding relation between the detection distance and the relative distance d 2) at different detection distances, and further calibrating the relative distance d2 corresponding to the light spot focusing at different detection distances in advance by combining the definition of the images of the calibration objects, and storing the corresponding relation between the detection distance and the relative distance d 2; when the method is specifically applied, a plurality of detection distances can be selected in advance, and corresponding calibration objects are arranged at each detection distance; and acquiring corresponding calibration object images by using the cameras under each detection distance, searching for a focusing state according to the definition of the calibration object images, and continuously adjusting the position of the emission light source assembly or the emission lens through the translation device until the definition of the calibration object images is optimal, considering the light spot focusing at the moment, and recording the relative distance between the emission light source assembly and the emission lens at the moment, namely the relative distance d2 corresponding to the light spot focusing under the detection distance.
The camera may be disposed at any one of the receiving detector assemblies, as shown in fig. 9, in this embodiment, the camera is disposed at the receiving detector 1, and the optical axes of the camera and the receiving detector 1 need to be kept coaxial, specifically, a beam splitter may be disposed in front of the receiving detector 1, a beam splitting ratio of the beam splitter may be set according to actual requirements, after the detection signal light with a wavelength λ1 returned by detection reaches the beam splitter, beam splitting is performed according to the set beam splitting ratio, where a portion of the light reaches the camera, so that the camera may collect an image. When the corresponding relation between the detection distance and the relative distance d2 is calibrated by the camera at the receiving detector 1, the corresponding relation can be multiplexed to the whole multi-line laser radar without arranging a camera at each receiving detector for calibration.
Based on the structure, when a user sets a detection distance to be used through the upper computer software, the relative distance d2 corresponding to the detection distance can be directly determined according to the pre-stored corresponding relation, and then the transmitting light source assembly or the transmitting lens is moved to a designated position through the translation device, so that the fixed-distance light spot focusing is completed, and the high-resolution detection of the multi-line laser radar is realized.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. A multi-line lidar based on a multi-wavelength configuration, comprising: an emission light source assembly, an emission lens, a receiving lens and a receiving detector assembly;
the emission light source component is used for emitting detection signal light with different wavelengths, and the detection signal light with different wavelengths is collimated by the emission lens to form multiple paths of detection signal light in space;
the detection signal light with different wavelengths reflected by the target object is converged by the receiving lens and then transmitted to the receiving detector assembly for receiving and detecting;
The system also comprises a first narrow-band filter array, a second narrow-band filter array, a third narrow-band filter array and a receiving reflector;
the first narrow-band filter array reflects an emission light source used for emitting detection signal light with different wavelengths in the emission light source assembly to a focal plane of an emission lens;
the second narrow-band filter array separates the detection signal light with different wavelengths collimated by the transmitting lens so as to form multiple paths of detection signal light;
the receiving reflector is used for receiving the detection signal light reflected by the target object, reflecting the detection signal light to the receiving lens for converging, separating the detection signal light with different wavelengths converged by the receiving lens by utilizing a third narrow-band filter array, and transmitting the separated detection signal light to the receiving detector assembly;
the receiving lens is processed into a form of a central opening, so that the transmitting lens is conveniently arranged at the central position of the receiving lens, and the optical axes of the transmitting and transmitting system and the receiving system are ensured to be the same;
the first narrow-band filter array, the second narrow-band filter array and the third narrow-band filter array are respectively composed of n narrow-band filters and are respectively used for reflecting detection signal light with wavelengths of lambda 1, lambda 2, lambda 3, … … and lambda n; the wavelengths of the narrowband filters of the first narrowband filter array are lambda 1, lambda 2, lambda 3, … … and lambda n from the near to the far from the emission lens; the wavelengths of the narrow-band filters of the second narrow-band filter array are lambda 1, lambda 2, lambda 3, … … and lambda n from the near to the far from the emission lens; the wavelengths of the narrow-band filters of the third narrow-band filter array are lambda 1, lambda 2, lambda 3, … … and lambda n from the near to the far from the receiving lens;
After being reflected by the first narrow-band filter array, the light emitted by each light emitter falls on the focal plane of the emission lens, and the positions of the light emitters, which are the distances from the corresponding narrow-band filters, are different by a specified distance, so that the detection signal light emitted by the light emitters forms better collimated light beams.
2. The multi-wavelength configuration-based multi-line lidar of claim 1, further comprising a lens group, a translation device, and a camera;
the lens group comprises a concave lens and a convex lens, and the detection signal light reflected by the second narrow-band filter array sequentially passes through the concave lens and the convex lens and then is focused to form an image;
the translation device is connected with the concave lens or the convex lens and is used for adjusting the position of the concave lens or the convex lens so as to adjust the relative distance d1 between the concave lens and the convex lens;
the camera is used for acquiring calibration object images at different detection distances, and further calibrating the relative distance d1 corresponding to the light spot focusing at different detection distances in advance by combining the definition of the calibration object images, and storing the corresponding relation between the detection distances and the relative distance d1.
3. The multi-wavelength configuration-based multi-line lidar of claim 2, further comprising a position sensor coupled to the concave lens or the convex lens for monitoring a real-time position of the concave lens or the convex lens to determine a relative distance d1 between the concave lens and the convex lens.
4. The multi-wavelength configuration-based multi-line lidar of claim 1, wherein the transmitting light source assembly specifically comprises n light emitters arranged in a row from top to bottom, wherein each light emitter emits a wavelength of the detection signal light, and n is a natural number.
5. The multi-wavelength configuration-based multi-line lidar of claim 1, wherein the transmitting light source assembly specifically comprises a broadband light source, an arrayed waveguide grating, and a transmitting pin;
the input port of the array waveguide grating is coupled with a broadband light source, and each output port of the array waveguide grating is coupled with an emitting contact pin through an optical fiber;
the array waveguide grating separates the detection signal light with different wavelengths emitted by the broadband light source and transmits the detection signal light with different wavelengths to different emission pins through the optical fiber.
6. The multi-wavelength configuration-based multi-line lidar of claim 1, further comprising an array filter;
the array filter is arranged between the receiving detector component and the receiving lens and is used for separating the reflected detection signal light with different wavelengths, and then transmitting the detection signal light with different wavelengths to corresponding positions of the receiving detector component.
7. The multi-wavelength configuration-based multi-line lidar of claim 6, wherein the emission light sources in the emission light source assembly are each located at a focal plane of an emission lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110274256.1A CN113064138B (en) | 2021-03-15 | 2021-03-15 | Multi-line laser radar based on multi-wavelength configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110274256.1A CN113064138B (en) | 2021-03-15 | 2021-03-15 | Multi-line laser radar based on multi-wavelength configuration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113064138A CN113064138A (en) | 2021-07-02 |
| CN113064138B true CN113064138B (en) | 2024-02-02 |
Family
ID=76560607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110274256.1A Active CN113064138B (en) | 2021-03-15 | 2021-03-15 | Multi-line laser radar based on multi-wavelength configuration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113064138B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113655465B (en) * | 2021-08-12 | 2024-05-24 | 重庆理工大学 | Anti-interference laser radar based on multi-wavelength continuous scanning |
| CN113933821B (en) * | 2021-12-17 | 2022-04-12 | 探维科技(北京)有限公司 | Crosstalk measurement method of laser radar |
| CN116106932B (en) * | 2023-04-13 | 2023-06-27 | 深圳煜炜光学科技有限公司 | Vehicle-mounted laser radar device and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103616698A (en) * | 2013-11-19 | 2014-03-05 | 中国科学院合肥物质科学研究院 | Atmosphere fine particle spatial and temporal distribution Raman mie scattering laser radar surveying device |
| WO2017185789A1 (en) * | 2016-04-25 | 2017-11-02 | 武汉光迅科技股份有限公司 | Single light-port multi-channel parallel light emission assembly |
| CN208569042U (en) * | 2018-07-17 | 2019-03-01 | 无锡中科光电技术有限公司 | A kind of low blind area dual wavelength triple channel Airborne Lidar examining system |
| CN208654311U (en) * | 2018-08-15 | 2019-03-26 | 武汉煜炜光学科技有限公司 | A kind of high line number laser radar of multi-wavelength |
| CN110780278A (en) * | 2019-10-25 | 2020-02-11 | 深圳煜炜光学科技有限公司 | High-speed scanning long-distance laser radar and control method thereof |
| CN112304443A (en) * | 2020-10-30 | 2021-02-02 | 中国科学院光电技术研究所 | Hartmann wavefront sensor with variable spatial resolution |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8854597B2 (en) * | 2011-03-16 | 2014-10-07 | Finisar Corporation | Wavelength selective switch |
-
2021
- 2021-03-15 CN CN202110274256.1A patent/CN113064138B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103616698A (en) * | 2013-11-19 | 2014-03-05 | 中国科学院合肥物质科学研究院 | Atmosphere fine particle spatial and temporal distribution Raman mie scattering laser radar surveying device |
| WO2017185789A1 (en) * | 2016-04-25 | 2017-11-02 | 武汉光迅科技股份有限公司 | Single light-port multi-channel parallel light emission assembly |
| CN208569042U (en) * | 2018-07-17 | 2019-03-01 | 无锡中科光电技术有限公司 | A kind of low blind area dual wavelength triple channel Airborne Lidar examining system |
| CN208654311U (en) * | 2018-08-15 | 2019-03-26 | 武汉煜炜光学科技有限公司 | A kind of high line number laser radar of multi-wavelength |
| CN110780278A (en) * | 2019-10-25 | 2020-02-11 | 深圳煜炜光学科技有限公司 | High-speed scanning long-distance laser radar and control method thereof |
| CN112304443A (en) * | 2020-10-30 | 2021-02-02 | 中国科学院光电技术研究所 | Hartmann wavefront sensor with variable spatial resolution |
Non-Patent Citations (1)
| Title |
|---|
| 基于海洋激光雷达的近海表层叶绿素a浓度测量初步测试;张锋;郭金家;李志刚;栾晓宁;;激光与光电子学进展(第05期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113064138A (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113064138B (en) | Multi-line laser radar based on multi-wavelength configuration | |
| US11860280B2 (en) | Integrated illumination and detection for LIDAR based 3-D imaging | |
| JP7165587B2 (en) | Multi-pixel scanning LIDAR | |
| US11988773B2 (en) | 2-dimensional steering system for lidar systems | |
| US11435446B2 (en) | LIDAR signal acquisition | |
| CN108802989B (en) | Parallel multizone image device | |
| CN110118960B (en) | Laser radar | |
| JP2022527550A (en) | LIDAR system with multimode waveguide photodetector | |
| CN102549380A (en) | Optical distance measuring device | |
| CN106569218A (en) | Laser radar optical system based on four-angle simultaneous detection | |
| WO2021258707A1 (en) | Planar array dispersive spectral photosensitive assembly, receive end, and laser radar system | |
| CN111308498A (en) | Three-dimensional imaging laser radar device | |
| CN112923848B (en) | Correlation type laser size measurement sensor | |
| WO2021258708A1 (en) | Dispersion spectrum photosensitive assembly, receiving end, and lidar system | |
| CN115047428A (en) | Laser radar | |
| JP7515545B2 (en) | Integrated illumination and detection for LIDAR-based 3D imaging - Patent Application 20070123633 | |
| US11914076B2 (en) | Solid state pulse steering in LiDAR systems | |
| EP4283330A1 (en) | Lidar device with spatial light modulators | |
| CN113597569A (en) | Lidar system with holographic imaging optics | |
| CN117434549A (en) | Scanning-free high-resolution multispectral laser radar | |
| CN114646943A (en) | Receiving device, laser radar comprising same and detection method | |
| CN110109139A (en) | A kind of high-resolution imaging system and method based on heterodyne detection of laser | |
| CN113848538A (en) | Dispersion spectrum laser radar system and measurement method | |
| EP3665503A1 (en) | Lidar signal acquisition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |