CN113075642A - Laser radar and detection method for laser radar - Google Patents

Laser radar and detection method for laser radar Download PDF

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Publication number
CN113075642A
CN113075642A CN202010008630.9A CN202010008630A CN113075642A CN 113075642 A CN113075642 A CN 113075642A CN 202010008630 A CN202010008630 A CN 202010008630A CN 113075642 A CN113075642 A CN 113075642A
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CN
China
Prior art keywords
laser
lidar
scanning
module
scanning module
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Granted
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CN202010008630.9A
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Chinese (zh)
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CN113075642B (en
Inventor
杨佳
沃圣杰
沈阳
王冬梅
徐超
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Ningbo Sunny Automotive Optech Co Ltd
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Ningbo Sunny Automotive Optech Co Ltd
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Priority to CN202010008630.9A priority Critical patent/CN113075642B/en
Priority to US17/791,040 priority patent/US20230028159A1/en
Priority to PCT/CN2021/079408 priority patent/WO2021139834A1/en
Publication of CN113075642A publication Critical patent/CN113075642A/en
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Publication of CN113075642B publication Critical patent/CN113075642B/en
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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
    • 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
    • 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
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/493—Extracting wanted echo signals

Abstract

The invention relates to a lidar comprising: a laser emitting end having a laser for emitting a laser beam for detecting a target object; the scanning module is used for guiding the laser beam emitted by the laser to scan the target object and receiving and guiding the laser beam reflected by the target object; a laser receiving end having a detector for receiving the laser beam reflected from the target guided by the scanning module; the laser radar system comprises a scanning module, at least one laser transmitting end, at least one laser receiving end, a plurality of laser receiving and transmitting module groups and a plurality of scanning modules, wherein the at least one laser transmitting end and the at least one laser receiving end are integrated into a laser receiving and transmitting module group which is constructed into a single structural unit, the plurality of laser receiving and transmitting module groups are distributed and arranged relative to the scanning module, and at least partially spliced view fields of the laser radar are formed through sub. And to a detection method for a lidar.

Description

Laser radar and detection method for laser radar
Technical Field
The present invention relates to a laser radar and a detection method for a laser radar.
Background
The description herein is merely provided for background information related to the present invention and does not necessarily constitute prior art.
The existing mechanical rotary laser radar realizes multi-line scanning by utilizing a plurality of transmitting lasers and a plurality of receiving detectors and realizes 360-degree scanning of a horizontal view field through a rotary platform. For such mechanically rotating lidar, applicants have recognized that: the mechanical rotary laser radar has the disadvantages of low scanning frame rate and complex system structure, and needs to independently debug the laser and the detector. In addition, such lidar is long in assembly cycle, thus resulting in high cost and limiting the development of lidar.
There are also MEMS-based lidar. For such MEMS-based lidar, applicants have recognized that: firstly, in order to ensure a higher vibration frequency, the aperture of a general MEMS micro-galvanometer cannot be too large, and laser emitted by a laser needs to be collimated, but the aperture after general collimation is larger than the aperture of the MEMS micro-galvanometer, which results in low system energy coupling efficiency. Secondly, under a higher vibration frequency, the scanning field of view of the MEMS micro-galvanometer is small, the optical angle is usually only 30-40 degrees, and in order to meet the requirement of a large field of view, a plurality of laser radars are needed for field-of-view splicing. And finally, the MEMS micro-galvanometer is difficult to pass a vehicle gauge test and has higher cost due to the limitation of the process.
Disclosure of Invention
In order to solve the above technical problems, it is an object of the present invention to provide a lidar and a detection method for the lidar, which are capable of flexibly and reliably matching specific application environments and performance requirements, in particular, have an adjustable, in particular, increased, field of view, scanning frequency and scanning resolution of the lidar, while ensuring that the lidar system is simple in structure, low in cost, fast in assembly and simple in testing.
Therefore, according to a first aspect of the present invention, a lidar is proposed, comprising:
the laser detection device comprises a laser emitting end, a laser detection unit and a control unit, wherein the laser emitting end is provided with a laser and is used for emitting a laser beam for detecting a target object;
the scanning module is used for guiding the laser beam emitted by the laser to scan the target object and receiving and guiding the laser beam reflected by the target object;
the laser receiving end is provided with a detector, and the detector is arranged for receiving the laser beam which is guided by the scanning module and reflected from the target;
wherein the at least one laser transmitter and the at least one laser receiver are integrated into a laser transceiver module group configured as a single structural unit, wherein the lidar comprises a plurality of laser transceiver module groups which are distributed relative to the scanning module and form at least partially spliced fields of view of the lidar by means of correspondingly formed sub-fields of view of the plurality of laser transceiver module groups.
According to the technical scheme provided by the invention, the plurality of laser transceiving module groups are arranged in a specific mode, so that the high-efficiency and targeted spliced view field of the detection view field of the laser radar can be realized, particularly a larger horizontal view field is realized, wherein the central view field has an overlapped part, and therefore, the view field of the laser radar can be expanded in a simple mode under the condition of using a limited number of parts, and the scanning frequency and the detection precision of a key test area, particularly the vertical axis (vertical direction) scanning resolution and/or the horizontal scanning resolution are/is improved.
In addition, the laser radar provided by the invention is easy to realize modular assembly, simple in structure, low in cost and short in assembly period, and can flexibly and quickly obtain the laser radar performance meeting the matching requirement according to the application environment condition.
According to an embodiment of the lidar of the present invention, the laser transmitting end further comprises a transmitting mirror group having a laser shaping module arranged to shape the laser beam emitted by the laser.
According to one embodiment of the lidar of the present invention, the laser shaping module comprises a collimating mirror and a dodging sheet arranged sequentially along an optical axis of the laser beam.
According to one embodiment of the lidar of the present invention, the laser shaping module shapes the laser beam emitted by the laser emitting end into a linear spot.
According to the technical scheme provided by the invention, for example, the laser beam is shaped into the linear light spot, and the three-dimensional scanning can be realized by using the one-dimensional scanning module, so that the requirements on scanning components are reduced, and the overall cost of the laser radar is reduced. Meanwhile, by shaping the laser beam into a linear light spot and combining the related improvement measures about the laser transceiving module group provided by the invention, the improved spliced view field of the laser radar can be obtained, the scanning range and/or the scanning resolution of the laser radar are correspondingly increased, and the working flexibility, the reliability and the working performance of the laser radar are obviously improved.
According to an embodiment of the lidar of the present invention, the scanning module includes a transmitting scanning module and a receiving scanning module, wherein the transmitting scanning module is configured to reflect the laser beam emitted from the laser emitting end to the target object, and the receiving scanning module is configured to receive and guide the laser beam reflected from the target object to the laser receiving end.
According to an embodiment of the lidar of the present invention, the laser receiving end further has a receiving mirror group, and the receiving mirror group is configured to receive and transmit the laser beam reflected by the target guided by the scanning module, and to converge the reflected laser beam to a detector of the laser receiving end.
According to an embodiment of the lidar of the present invention, angles between the laser beams emitted from the laser emitting ends of the plurality of sets of laser transceiver modules and the reflecting surface of the scanning module are different from each other, so that the plurality of sets of laser transceiver modules respectively form sub-fields with different orientations and at least partially overlapping with each other.
According to one embodiment of the lidar of the present invention, the lidar further comprises an orientation adjusting device, and the plurality of sets of the laser transceiver modules can adjust the orientation of the reflecting surface relative to the scanning module through the orientation adjusting device, so that the splicing view field and/or the scanning resolution of the lidar can be changed.
According to one embodiment of the lidar of the present invention, the change of the stitching field of view and/or the scanning resolution of the lidar can be effected in the vertical axis direction and/or in the horizontal direction.
According to one embodiment of the lidar of the present invention, the orientation adjustment device comprises an actuator, wherein the orientation adjustment of the set of laser transceiver modules is achieved by controlling the actuator for driving the orientation adjustment device.
According to an embodiment of the lidar according to the present invention, the actuator is an electric motor, a hydraulic actuator, a pneumatic actuator or a piezoelectric actuator.
According to one embodiment of the laser radar, the direction adjusting devices belonging to the laser transceiver module groups can be controlled according to a preset working mode, and different application scenes or environmental conditions can be automatically matched by switching different working modes.
According to an embodiment of the lidar of the present invention, the lidar has a normal operating mode in which the sub-fields of the plurality of sets of laser transceiver modules are at least partially overlapped with each other to form a stitched field of view of the lidar, such that a balanced scanning performance of the lidar is achieved with a certain number of sets of laser transceiver modules.
According to one embodiment of the lidar of the present invention, the lidar has an intensified operating mode in which, by adjusting the orientation of the groups of laser transceiver modules by means of the orientation adjustment device, more groups of laser transceiver modules can be assigned to a specific or critical area for scanning, thereby obtaining an increased stitch view, vertical axis angular resolution and/or horizontal angular resolution in said specific or critical area.
That is, for example, in the normal operation mode, 30% of the sets of wtrus cover or at least partially cover a specific or critical area to be scanned, while in the enhanced operation mode, a greater number of sets of wtrus, for example, 40%, 50% or even 60% or more, are allocated to the specific or critical area to be scanned, so as to enhance the scanning frequency and resolution of the lidar in these areas. Of course, the field angle and scanning direction or other characteristic parameters of the lidar can also be changed by the intensified operating mode to simply, quickly and flexibly match the lidar to specific operating environment conditions and requirements.
According to one embodiment of the lidar of the present invention, the lidar is provided with a control module configured to control laser emission and reception and to obtain characteristic information of a target object through post signal data processing.
According to an embodiment of the lidar of the present invention, the control module may control the orientation adjustment device according to the acquired characteristic information of the target object, so as to automatically adjust the orientations of the plurality of sets of laser transceiver modules relative to the reflecting surface of the scanning module in a closed-loop control manner, thereby dynamically and automatically changing the stitching field of view and/or the scanning resolution of the lidar.
In one embodiment of the lidar according to the invention, in each of the laser transceiver module groups, the laser transmitter and the laser receiver integrated in the laser transceiver module group are arranged next to one another in a common module housing.
An embodiment of the lidar according to the present invention comprises two sets of laser transceiver modules, which are arranged symmetrically/asymmetrically with respect to a central axis of the scanning module.
An embodiment of the lidar according to the present invention comprises four sets of laser transceiver modules, which are arranged symmetrically/asymmetrically with respect to a central axis of the scanning module.
According to an embodiment of the laser radar of the present invention, the laser radar further includes a standby laser transceiver module group, and when the working laser transceiver module group fails or is externally damaged, the standby laser transceiver module group can be immediately put into use to replace the laser transceiver module group that fails or is externally damaged.
In one embodiment of the lidar according to the present invention, the lidar further comprises a fault detection device for detecting an operating state of the laser transceiver module set, and the control module detects or monitors the functionality of the operating laser transceiver module set by means of the fault detection device.
According to one embodiment of the lidar of the present invention, the lidar has an emergency operating mode, wherein upon detection of a failure or external damage to the set of laser transceiver modules, the lidar is switched to the emergency operating mode and the set of standby laser transceiver modules is put into service and replaces the set of laser transceiver modules that failed or have external damage.
According to an embodiment of the lidar according to the invention, the scanning component of the scanning module is a rotary scanning component.
According to one embodiment of the lidar of the present invention, the scanning component of the scanning module comprises a double-sided mirror, a polygon mirror or a galvanometer. Through using two-sided speculum, polygon prism, antarafacial prism or galvanometer etc. as rotatory scanning component, laser radar can have bigger logical light bore, can improve the utilization ratio of laser instrument energy, increases simultaneously and receives the bore, is favorable to improving range finding distance.
According to one embodiment of the lidar of the present invention, different areas of the reflective surface of the rotating scanning component of the scanning module constitute a transmitting scanning module and a receiving scanning module, respectively, wherein the area of the reflective surface used as the transmitting scanning module is arranged to reflect the laser beam emitted by the laser emitting end to the target object, and the area of the reflective surface used as the receiving scanning module is arranged to receive and guide the laser beam reflected by the target object and redirect it to the laser receiving end.
According to one embodiment of the lidar of the present invention, the scanning component of the scanning module comprises an out-of-plane prism, wherein the angles between the reflecting side surfaces of the out-of-plane prism and the central axis are different from each other and are matched with each other, such that the sub-fields of view formed by each reflecting side surface at least partially overlap each other, thereby forming a stitched field of view of the lidar.
According to one embodiment of the lidar of the present invention, the dihedral prism is configured as an dihedral four-prism.
According to a second aspect of the present invention, a detection method for a lidar is further proposed, which is characterized in that the lidar comprises a laser emitting end, a scanning module and a laser receiving end, wherein
The laser provided with the laser emitting end is used for emitting laser beams for detecting a target object;
the scanning module is used for guiding the laser beam emitted by the laser to scan the target object and receiving and guiding the laser beam reflected by the target object;
the detector of the laser receiving end is used for receiving the laser beam reflected from the target guided by the scanning module;
the laser receiving and transmitting module group is distributed and arranged relative to the scanning module, and an at least partially spliced view field of the laser radar is formed through sub view fields correspondingly formed by the laser receiving and transmitting module groups.
The advantageous technical effects stated above for the lidar and its corresponding improved technical measures are also applicable to the detection method for the lidar, and refer to the corresponding description section.
According to an embodiment of the detection method for a lidar of the present invention, the laser emitting end further comprises a transmitting mirror group having a laser shaping module arranged for shaping the laser beam emitted by the laser.
According to one embodiment of the detection method for a lidar according to the present invention, a collimating mirror and a light homogenizing plate are sequentially arranged in the laser shaping module along the optical axis of the laser beam.
According to one embodiment of the detection method for a laser radar of the present invention, a laser shaping module is provided to shape a laser beam emitted from a laser emitting end into a linear spot.
According to an embodiment of the detection method for the lidar, the scanning module includes a transmitting scanning module and a receiving scanning module, wherein the transmitting scanning module is configured to reflect the laser beam transmitted by the laser transmitting end to the target object, and the receiving scanning module is configured to receive and guide the laser beam reflected by the target object to the laser receiving end.
According to an embodiment of the detection method for the lidar of the present invention, the laser receiving end further has a receiving mirror group, and the receiving mirror group is configured to receive and transmit the laser beam guided by the scanning module and reflected by the target object, and to converge the reflected laser beam to a detector of the laser receiving end.
According to one embodiment of the detection method for the lidar of the present invention, the laser beams emitted by the laser emitting ends of the plurality of sets of laser transceiver modules and the reflecting surface of the scanning module have different included angles from each other, so that the plurality of sets of laser transceiver modules respectively form sub-fields having different orientations and at least partially overlapping with each other.
According to one embodiment of the detection method for a lidar according to the present invention, the lidar is provided with a control module, wherein the control module is configured to control laser emission and reception and to obtain characteristic information of a target object by post signal data processing.
According to an embodiment of the detection method for the lidar of the present invention, the detection method further includes an orientation adjusting device for adjusting an orientation of the sets of laser transceiver modules, and the control module is configured to control the orientation adjusting device to adjust the orientations of the sets of laser transceiver modules relative to the reflecting surface of the scanning module, thereby changing the stitching view field and/or the scanning resolution of the lidar.
According to one embodiment of the detection method for a lidar according to the invention, the control module is arranged for varying the stitching field of view and/or the scanning resolution of the lidar in the vertical axis direction and/or in the horizontal direction.
According to one embodiment of the detection method for a lidar of the present invention, the orientation adjustment apparatus comprises an actuator, wherein the control module is configured to control the actuator for driving the orientation adjustment apparatus, thereby enabling orientation adjustment of the set of laser transceiver modules.
According to one embodiment of the detection method for a lidar according to the present invention, the control module is provided to control the orientation adjustment devices associated with the respective groups of laser transceiver modules according to a predetermined operating mode, wherein the control module is capable of automatically adapting to different application scenarios or environmental conditions by switching between different operating modes.
According to an embodiment of the detection method for the lidar, the control module may be capable of switching to a normal operating mode, in which the sub-fields of the plurality of sets of the laser transceiver modules at least partially overlap each other to form a stitched field of view of the lidar, so that a balanced scanning performance of the lidar is achieved with a certain number of sets of the laser transceiver modules.
According to one embodiment of the detection method for a lidar of the present invention, the control module is capable of switching to an intensified operating mode in which a greater number of groups of laser transceiver modules are assigned to a specific or critical area for scanning than in the normal operating mode by adjusting the orientation of the groups of laser transceiver modules by means of the orientation adjustment device, thereby obtaining an increased stitched field, vertical axis angular resolution and/or horizontal angular resolution in the specific or critical area.
According to one embodiment of the detection method for the laser radar, the control module is configured to control the orientation adjusting device according to the acquired characteristic information of the target object, so that the orientations of the plurality of sets of laser transceiver modules relative to the reflecting surface of the scanning module can be automatically adjusted in a closed-loop control manner, and therefore the splicing view field and/or the scanning resolution of the laser radar can be dynamically and automatically changed.
In accordance with an embodiment of the detection method for a lidar according to the invention, in each of the transceiver modules, the laser transmitter and the laser receiver integrated in the transceiver module are arranged next to one another in a common module housing.
One embodiment of the detection method for a lidar according to the present invention comprises two sets of laser transceiver modules, which are arranged symmetrically/asymmetrically with respect to the central axis of the scanning module.
One embodiment of the detection method for a lidar according to the present invention comprises four sets of laser transceiver modules, which are arranged symmetrically/asymmetrically with respect to the central axis of the scanning module.
According to an embodiment of the detection method for the laser radar, the detection method further comprises a standby laser transceiver module group, and when the working laser transceiver module group fails or is externally damaged, the standby laser transceiver module group is immediately put into use to replace the laser transceiver module group which fails or is externally damaged.
According to an embodiment of the detection method for a lidar of the present invention, the detection method further comprises a fault detection device for detecting an operating state of the laser transceiver module group, and the control module is configured to detect or monitor a functionality of the operating laser transceiver module group by means of the fault detection device.
According to one embodiment of the detection method for a laser radar of the present invention, the control module is capable of switching to an emergency operation mode, wherein the emergency operation mode of the laser radar is switched when a failure or an external damage of the laser transceiver module group is detected, and the standby laser transceiver module group is put into use to replace the failed or externally damaged laser transceiver module group.
According to one embodiment of the detection method for a lidar according to the invention, the scanning component of the scanning module is a rotary scanning component.
According to one embodiment of the detection method for a lidar according to the invention, the scanning component of the scanning module comprises a double-sided mirror, a polygon mirror or a galvanometer.
According to one embodiment of the detection method for the laser radar of the present invention, different areas of the reflection surface of the rotating scanning component of the scanning module are respectively configured as a transmitting scanning module and a receiving scanning module, wherein the area of the reflection surface used as the transmitting scanning module is configured to reflect the laser beam emitted from the laser emitting end to the target object, and the area of the reflection surface used as the receiving scanning module is configured to receive and guide the laser beam reflected by the target object and change the direction of the laser beam to the laser receiving end.
According to one embodiment of the detection method for a lidar according to the present invention, the scanning component of the scanning module comprises an out-of-plane prism, wherein the angles of the reflecting side surfaces of the out-of-plane prism with the central axis are configured to be different from each other and to be matched to each other such that the sub-fields of view formed by each reflecting side surface at least partially overlap each other, thereby forming a stitched field of view of the lidar.
According to one embodiment of the detection method for a lidar according to the invention, the dihedral prism is configured as an dihedral tetraprism.
Drawings
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted, however, that the drawings are designed solely for purposes of illustration and description and are intended to illustrate the principles of operation and the structural components of lidar technology described herein, and are not necessarily drawn to scale nor otherwise limit the inventive concepts.
Fig. 1 is a schematic diagram of a laser emitting end according to some embodiments of the present invention, where the laser emitting end includes a laser and a shaping module;
FIG. 2 is a schematic diagram of a laser emitting end emitting a linear spot where a laser beam is shaped into a linear spot by a shaping module of the laser emitting end, according to some embodiments of the present invention;
FIG. 3 is a schematic illustration of the angle of a laser beam with the axis of rotation of the scanning component of a scanning module according to some embodiments of the present invention;
FIG. 4 is a system diagram of a lidar according to some embodiments of the invention, here illustratively showing a stitched field of view;
FIG. 5 is a schematic illustration of the angular resolution of the coincident portions with field stitching according to some embodiments of the present invention;
fig. 6 is a schematic view of a first state of rotation of the mirror of the first embodiment of the lidar according to the present invention;
fig. 7 is a schematic view of a second state of rotation of the mirror of the first embodiment of the lidar according to the present invention;
FIG. 8 is a schematic illustration of the angular resolution of the coincident portions after field stitching for a first embodiment of a lidar in accordance with the present invention;
FIG. 9 is a schematic top view of a stitched scan field of view of a first embodiment of a lidar in accordance with the present invention;
fig. 10 is a schematic diagram of a second embodiment of a lidar according to the present invention, which increases the number of sets of laser transceiver modules from two to four on the basis of the first embodiment;
FIG. 11 is a schematic view of a scanning module of a third embodiment of a lidar in accordance with the present invention, where the scanning module is configured as a quad prism;
FIG. 12 is a schematic illustration of field stitching of a third embodiment of a lidar in accordance with the present invention;
fig. 13 is a schematic view of a fourth embodiment of a lidar according to the present invention, which has a scanning module configured as an out-of-plane prism on the basis of the third embodiment;
fig. 14 is a schematic view of the detection field of view in the case of scanning using a group of laser transceiver modules in a fourth embodiment according to the present invention.
Detailed Description
The embodiments or examples in the following description are given by way of example only, and other obvious modifications will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus the above terms should not be construed as limiting the present invention.
In some embodiments according to the invention, lidar 1 comprises a laser transmitting end 3, a scanning module 4 and a laser receiving end 5. The laser emitting end 3 has a laser 31, and the laser 31 is configured to emit a laser beam for detecting a target object. The laser receiving end 5 has a detector arranged to receive the laser beam reflected from the object guided through the scanning module 4. The scanning module 4 is arranged to direct the laser beam emitted by said laser 31 to scan the object and/or to receive and direct the laser beam reflected back by the object.
The control module 6 is configured to control the laser emission and reception, and acquire characteristic information of the target object through post signal data processing. In some embodiments, control module 6 may be configured as a separate electronic device from lidar body in its constituent and placement location, depending on the application requirements, thereby enabling, for example, separate design, manufacture, and installation of control module 6, or remote control and data analysis of lidar 1. In further exemplary embodiments, control module 6 may also be optionally designed as a component of lidar 1, for example, arranged in a lidar housing or integrated with an optoelectronic device of lidar 1, so that a complete lidar system can be obtained, for example, during the production and installation of the lidar.
Wherein, at least one laser transmitting terminal 3 and at least one laser receiving terminal 5 are integrated into a laser transceiver module group 2 which is constructed into a single structural unit, wherein the laser radar 1 comprises a plurality of laser transceiver module groups 2, the plurality of laser transceiver module groups 2 are distributed and arranged relative to the scanning module 4, and form at least partially spliced view fields of the laser radar 1 on the whole through sub view fields correspondingly formed by the plurality of laser transceiver module groups 2. According to some embodiments of the present invention, for example, the light beam is shaped into a line, and three-dimensional scanning can be achieved by using the one-dimensional scanning module 4, so that the requirements on scanning components are reduced, and the cost of the whole machine is reduced. The splicing of the detection view fields is realized through the plurality of laser transceiving module groups 2, a larger horizontal view angle is provided, wherein the central view field has a superposition part, and therefore the detection precision of a key test area can be improved.
Fig. 1 is a schematic diagram of a laser emitting end 3 according to some embodiments, where the laser emitting end 3 includes a laser 31 and a laser shaping module. As shown, the laser emitting end 3 has a laser 31, and the laser 31 is configured to emit a laser beam for detecting an object.
The laser 31 may be selected from a solid state laser, a semiconductor laser, or the like, such as a fiber laser. However, the present invention is not limited to the above-described laser types, and any device capable of generating and emitting laser light may be used, and the concept of the present invention is not limited to the form described herein.
In addition, the laser emitting end 3 is also provided with an emitting mirror group. In the illustrated embodiment, the set of emission mirrors is configured as a laser shaping module. The laser shaping module transmits the laser beam emitted by the laser 31 and realizes the functions of collimation, homogenization, shaping and the like of the laser beam. Depending on the design function and purpose, one or more of the three functions of collimation, homogenization and shaping can be used to finally form, for example, a spot or a line.
In the embodiment shown in fig. 1, the laser shaping module is composed of a collimator lens 311 and a dodging sheet 312. The laser beam projected by the laser 31 of the laser emitting end 3 enters the collimating mirror 311 in a relatively divergent manner, and the parallel light exits from the collimating mirror 311 and projects to the light homogenizing sheet 312, and continues to exit after passing through the light homogenizing sheet 312. The form of the laser shaping module can be varied, including but not limited to the combination of the collimating mirror 311 and the dodging sheet 312, and any optical component and combination thereof capable of achieving the corresponding shaping purpose can be used as the laser shaping module in the sense of the present invention, and the concept of the present invention is not limited to the form described herein.
Furthermore, in some embodiments of the present invention, the laser 31 and the laser shaping module may be either integrated or may be configured as separate components to be separately mounted, and the concept of the present invention is not limited to the form described herein.
In the embodiment shown in fig. 2, the laser emitting end 3 emits a linear spot. Here, the laser shaping module of the laser emitting end 3 shapes the laser beam emitted by the laser 31 of the laser emitting end 3 into a linear spot, i.e., a linear scanning laser, so that the laser beam is incident on the reflection surface of the scanning module 4 in the form of a linear spot, as shown in fig. 2. Of course, after the linear light spot is reflected by the reflection surface of the scanning module 4, the target object is still scanned in the form of the linear light spot. The light beam is shaped into a line, and by utilizing the technical scheme provided by the invention, the three-dimensional scanning can be realized by using the one-dimensional scanning module 4, so that the requirements on scanning components are reduced, and the cost of the whole machine is reduced.
The laser receiving end 5 has a detector arranged to receive the laser beam reflected from the object guided through the scanning module 4. As best seen in fig. 4, for example, the laser beam is emitted from the laser emitting end 3 of the laser radar 1, reflected by the reflecting surface of the scanning module 4, and then projected to the target object to scan the target object. Then, the laser beam reflected by the target first strikes the reflection surface of the scanning module 4, and is received and detected by the laser receiving end 5 of the laser radar 1 after being reflected.
Here, the laser signal may be detected using a photo-electric type detector or a photo-thermal type detector, including an avalanche photodiode, a single photon detector, or a photomultiplier, for example. However, in the solution according to the invention, the detector comprises, but is not limited to, the aforementioned type. Any detector capable of converting a laser signal into an electrical signal may be used in the solution proposed by the present invention, and the inventive concept is not limited to the form described herein.
According to some embodiments of the present invention, the laser receiving end 5 further has an receiving lens group. For example, the receiving mirror group is disposed in front of the detector along the propagation direction of the laser beam, so that the receiving mirror group can receive and transmit the laser beam reflected by the target object and/or the laser beam reflected by the scanning module 4, and converge the reflected laser beam onto the detector of the laser receiving end 5.
According to the invention, the scanning module 4 is configured to direct the laser beam, change the propagation direction and mode of the laser beam, and scan the target object; on the other hand, the scanning module 4 is configured to change the propagation direction and manner of the laser beam reflected from the target object, and guide the laser beam to the receiving lens group of the laser receiving end 5 of the laser radar 1.
According to some embodiments of the present invention, the scanning module 4 comprises a transmitting scanning module and a receiving scanning module, wherein the transmitting scanning module is specifically configured to reflect the laser beam emitted from the laser emitting end 3 to the target, and the receiving scanning module is specifically configured to receive and guide the laser beam reflected from the target and redirect the laser beam to the laser receiving end 5.
According to some embodiments of the present invention, the scanning component of the scanning module 4 may include a double-sided mirror, a polygon prism, an out-of-plane prism, or a galvanometer. The laser beam emitted by the laser emitting end 3 of the laser transceiving module group 2 forms an included angle with the rotation axis of the scanning component of the scanning module 4, or forms an included angle with the reflection surface of the scanning component of the scanning module 4. In particular, the included angles formed by the laser beams emitted by the lasers 31 of the laser emitting ends 3 of the laser transceiver module groups 2 and the reflecting surfaces of the scanning modules 4 are different from each other, so that the scanning sub-fields correspondingly formed by the laser transceiver module groups 2 overlap with each other, thereby forming the spliced field of view of the laser radar 1.
In some embodiments, the splicing mode of the spliced view field of the laser radar 1 in the vertical axis direction and/or the spliced view field in the horizontal direction can be changed by appropriately matching the angle formed by the laser beam emitted by the laser 31 of the laser emitting end 3 of the laser transceiver module group 2 and the reflection surface of the scanning module 4, particularly by adjusting the orientation of the laser transceiver module group 2 or changing the reflection surface angle or the component structure of the scanning component of the scanning module 4. Here, the vertical axis direction refers to a direction perpendicular to the horizontal direction, that is, a vertical direction or a vertical direction in a normal operation state of the laser radar.
Fig. 3 is a schematic diagram of the angle between the laser beam emitted from the laser emitting end 3 of the laser transceiver module group 2 and the rotation axis of the scanning module 4 according to some embodiments of the present invention. The scanning unit of the scanning module 4 is configured as a double-sided mirror, and the laser beams emitted by the lasers 31 of the laser emitting ends 3 of the two laser transceiver module groups 2 form angles α and β with the rotation axis of the double-sided mirror, respectively.
The angles α and β formed by the laser beams emitted from the lasers 31 of the laser emitting ends 3 of the two laser transceiver module groups 2 and the rotation axes of the double-sided mirrors of the scanning module 4 may be different from each other, that is, the angles formed by the laser beams emitted from the lasers 31 of the laser emitting ends 3 of the two laser transceiver module groups 2 and the reflection surfaces of the double-sided mirrors of the scanning module 4 are different from each other, so that, as shown in fig. 4, a sub-field a formed by one of the laser transceiver module groups 2 integrating the laser emitting end 3 and the laser receiving end 5 and a sub-field B formed by the other laser transceiver module group 2 integrating the laser emitting end 3 and the laser receiving end 5 have a coincident portion, thereby forming a spliced field of view of the laser radar 1 as a whole.
As shown in fig. 5, since the laser beams of the two laser transceiver module groups 2 are scanned with respect to the overlapped portion, it is apparent that the resolution of the overlapped portion is higher than that of the non-overlapped portion. The lidar 1 as a whole forms a tiled field of view from the subfields of the individual sets of laser transceiver modules 2, also due to the presence of the overlap.
However, the scanning module 4 proposed by the present invention includes, but is not limited to, the aforementioned scanning components, but any optical device capable of changing the propagation direction of the laser beam may be used, and the concept of the present invention is not limited to the form described herein.
According to some embodiments of the present invention, the control module 6 is configured to control the laser emission and reception and obtain the characteristic information of the target object through the post signal data processing, as shown in fig. 4. The control module 6 may be configured as an independent electronic device with respect to the lidar body, separate from the lidar body in terms of composition and arrangement position; alternatively, control module 6 may also be designed as an integral part of laser radar 1.
The control module 6 may control the laser 31, so as to control the timing and manner of emitting the laser beam by the laser 31. For example, the laser beam may be emitted from the laser 31 in a continuous manner or in a pulsed manner. Of course, the control module 6 may also be used to control the detector of the laser receiving end 5 of the lidar 1.
The control module 6 can control the detector for receiving the laser beam reflected from the target guided by the scanning module 4, and perform the post signal data processing to analyze the characteristic information of the target. The characteristic information of the object includes, but is not limited to, characteristic parameters such as speed, position, and shape of the object, and other parameters that can be derived or calculated from the characteristic parameters.
To this end, the control module 6 may comprise an integrated signal processing section for analyzing and processing the photoelectric signal data of the reflected laser beam received by the detector, thereby obtaining characteristic information of the target object. Separate signal processing modules may also be provided for implementing the respective signal processing and analysis functions.
The control module 6 may also control the scanning module 4 to control the rotational speed of the rotating scanning component, e.g., for rotating scanning components such as a double-sided mirror, a polygon mirror, an out-of-plane prism, etc.; or for the vibrating mirror, the vibration frequency or the scanning angle of the vibrating mirror is controlled. The scanning component of the scanning module 4 comprises the non-coplanar prisms, wherein the angles between the reflecting side surfaces of the non-coplanar prisms and the central axis are different from each other and are matched with each other, so that the sub-fields of view formed by each reflecting side surface at least partially overlap each other, thereby forming the spliced field of view of the laser radar 1.
For example, a motor is provided for rotationally driving the rotary scanning component of the scanning module 4. For this purpose, the control module 6 can be provided for controlling the starting, stopping and operating modes, etc. of the electric motor, in particular for regulating the rotational speed of the electric motor.
According to some embodiments of the present invention, the at least one laser transmitter end 3 and the at least one laser receiver end 5 are integrated into one laser transceiver module group 2, and the laser transceiver module group 2 is constructed as a separate structural unit. For example, in each laser transceiver module group 2, the laser transmitter end 3 and the laser receiver end 5 integrated in the laser transceiver module group 2 are arranged next to one another in a common module housing. That is, a single structural unit may be formed by integrating at least one laser transmitter end 3 and at least one laser receiver end 5 into a common housing of the laser transceiver module set.
It is also conceivable to connect the individual laser emitting ends 3 and laser receiving ends 5 to one another side by means of a mechanical connection to form a single structural unit. It is also conceivable to form the laser emitting end 3 and the laser receiving end 5 directly in a common structural module, thus forming a single structural unit.
It should be noted that the laser emitting end 3 and the laser receiving end 5 may be in a top-bottom position relationship, a left-right position relationship, or other position relationships with each other, and all fall within the scope of the present invention. It is important here that the laser transmitter 3 and the laser receiver 5, which are integrated into a structural unit or laser transceiver module group 2, are able to transmit and receive laser beams normally, respectively, without causing optical path interference between the laser transmitter 3 and the laser receiver 5 of one laser transceiver module group 2 or between the laser transmitter 3 and the laser receiver 5 of different laser transceiver module groups 2.
In some embodiments, the lidar 1 comprises a plurality of sets of laser transceiver modules 2, the plurality of sets of laser transceiver modules 2 being distributed with respect to the scanning module 4, whereby the sub-fields of view formed by the plurality of sets of laser transceiver modules 2 correspondingly form fields of view of the lidar 1 that at least partially overlap/splice with each other. Of course, according to the specific structure and functional requirements of the laser radar 1, a specific number of laser transceiver module groups 2 may be selected, or the orientation relationship between the scanning module 4 and the plurality of laser transceiver module groups 2 may be changed according to the application needs, or the orientation relationship between the plurality of laser transceiver module groups 2 may be changed. It is important that the arrangement relationship between the laser transceiver module sets 2 and the scanning module 4 can smoothly realize the transceiving of the laser beams, and the laser transceiver module sets 2 can form mutually complementary sub-fields of view for the target object as required, especially at least partially spliced fields of view as shown in fig. 4 and 5.
In some embodiments, the lidar 1 comprises an even number of sets of laser transceiver modules 2, for example 2, 4, 6, 8, 10, 12 or even more sets of laser transceiver modules 2, which sets of laser transceiver modules 2 may each be distributed as separate structural units substantially symmetrically on both sides with respect to the scanning module 4, whereby the at least partially stitched overall field of view of the lidar 1 is formed in an overlapping manner by the correspondingly formed sub-fields of view of the plurality of sets of laser transceiver modules 2.
Of course, depending on the application and performance requirements of the lidar 1, it is also possible to consider an asymmetrical arrangement of the laser transceiver module 2 with respect to the central axis of the scanning module 4, for example to reinforce scanning focal or critical areas, or for example to cope with a particular scanning angle range, or to change the scanning frequency/scanning angle resolution of a particular area in a targeted manner.
For example, in the case where the laser radar 1 is provided with exactly 2 sets of the laser transceiver modules 2, the 2 sets of the laser transceiver modules 2 and the scanning module 4 may be arranged in a triangle. For example, the 2 sets of laser transceiver modules 2 and the scanning module 4 are respectively located at the vertices of an equilateral triangle.
For example, in the case where the laser radar 1 is provided with exactly 4 sets of laser transceiver modules 2, the 4 sets of laser transceiver modules 2 may be symmetrically arranged on both sides with respect to the scanning component of the scanning module 4, for example, in a rectangular arrangement. It is conceivable that the 4 sets of laser transceiver modules 2 are located at the four corner points of a rectangle, respectively, and the scanning unit of the scanning module 4 may be arranged inside the rectangle, for example, at the geometric center of the rectangle, i.e., at the intersection of two diagonal lines, as required. Of course, it is also contemplated to arrange the scanning components of the scanning module 4 outside this rectangular shape for particular field size and/or scanning resolution requirements.
In some embodiments, it is also conceivable that the lidar 1 comprises more than one odd number of sets of laser transceiver modules 2, for example 3, 5, 7, 9, 11 or even more sets of laser transceiver modules 2. The laser transceiver modules 2 can each be distributed as separate structural units asymmetrically on both sides with respect to the scanning module 4. This makes it possible to increase the number of associated laser transceiver module groups 2 in a targeted manner for a specific or critical scanning region in relation to other regions, and to increase the resolution and/or the scanning frequency in such scanning regions.
In some embodiments, the working sets of laser transceiver modules 2 may still be symmetrically distributed on both sides with respect to the scanning module 4, and the extra sets of laser transceiver modules may be used as spare sets of laser transceiver modules, which are only put into use as a safety redundancy replacement device when the working sets of laser transceiver modules fail or are damaged, thereby ensuring that the laser radar 1 works safely, reliably, and uninterruptedly.
In some embodiments, the backup laser transceiver module group 2 may be separately provided, for example, for an important scanning range, so that when the individual working laser transceiver module group 2 fails or is externally damaged, the backup laser transceiver module group 2 can immediately respond to the failure or the external damage, and the laser transceiver module group 2 that fails or is externally damaged is replaced, thereby ensuring that the laser radar 1 continuously and uninterruptedly scans and monitors the target object.
For this purpose, the lidar 1 may be provided with a fault detection device for detecting the operating state of the laser transceiver module set 2. The control module 6 detects or monitors the functionality of the working laser transceiver module group 2 by means of the fault detection device, and when detecting that the laser transceiver module group 2 has a fault or is externally damaged, switches to the emergency working mode of the laser radar 1, and puts the standby laser transceiver module group 2 into use and replaces the working laser transceiver module group 2 which has a fault or is externally damaged. The detection of the functionality of the active set of laser transceiver modules 2 can be performed intermittently at start-up or at a pause of the laser radar 1. For the application occasions with higher reliability requirements, a fault detection device can be arranged to continuously and continuously monitor the laser transceiving module group 2.
In some embodiments, each laser transceiving module group 2 may be integrated with different numbers of laser transmitting terminals 3 and laser receiving terminals 5, for example, in one laser transceiving module group 2, a plurality of laser transmitting terminals 3 correspond to one laser receiving terminal 5, or one laser transmitting terminal 3 corresponds to a plurality of laser receiving terminals 5, or one laser transmitting terminal 3 corresponds to one laser receiving terminal 5, or a plurality of laser transmitting terminals 3 correspond to a plurality of laser receiving terminals 5. By appropriately setting and matching the number relationship between the laser transmitter terminals 3 and the laser receiver terminals 5, and by appropriately setting the number of the laser transceiver module groups 2, it is not only advantageous to flexibly adjust, in particular, enlarge the overall field of view of the laser radar 1, but also to contribute to the improvement of the scanning frequency, the vertical axis and the horizontal angular resolution in the sub-fields of view of the individual laser transceiver module groups 2, and the scanning frequency, the vertical axis and the horizontal angular resolution in the fields of view of the plurality of laser transceiver module groups 2 that overlap each other, as required.
In some embodiments, the lidar 1 further comprises an orientation adjustment device arranged to adjust the orientation of the set of transceiving laser modules 2, in particular the orientation of the laser transmitter end 3 and the laser receiver end 5 comprised therein. For this purpose, an actuator for adjusting the attitude of the laser transceiver module group 2 may be provided. By controlling the actuator for adjusting the attitude of the laser transceiver module group 2 by the control module 6, the angle of the laser beam emitted by the laser 31 of the laser emitting end 3 of the laser transceiver module group 2 with respect to the reflection surface of the scanning module 4 or the rotation axis of the scanning module 4 can be dynamically and automatically adjusted.
In some embodiments, the control module 6 may coordinate and control the actuators belonging to the respective sets of lasertransceiving modules 2 according to a predetermined operation mode, so that the control module 6 may automatically match different application scenarios or environmental conditions by switching different operation modes, for example, changing the scanning field angle of the lidar 1, increasing the scanning frequency, the vertical axis angular resolution, and/or the horizontal angular resolution of a specific scanning area or a critical scanning area, and the like.
In this case, it is conceivable to provide each laser transceiver module group 2 with a separate orientation adjustment device in order to be able to carry out individual, targeted position adjustments for each laser transceiver module group 2. Alternatively, it is also conceivable to provide a common orientation adjustment device for all laser transceiver module groups 2. Or all the laser transceiver module groups 2 may be grouped, and a common orientation adjusting device is respectively provided for each group of laser transceiver module groups 2, so that the overall or grouped control of all the laser transceiver module groups 2 can be realized, and the adjustment of the scanning field angle, the scanning frequency, the scanning resolution and the like meeting the requirements can be realized in a coordinated and consistent manner.
As the actuator for adjusting the posture of the laser transceiver module group, a motor, a hydraulic actuator, a pneumatic actuator, a piezoelectric actuator, or the like may be used as long as it can drive the orientation adjusting device or adjust the orientation of the laser transceiver module group 2 according to the control signal from the control module 6.
In some embodiments, the control module 6 controls the motor for driving the orientation adjusting device, thereby realizing orientation adjustment by driving the orientation adjusting device. In some embodiments, the plurality of sets of laser transceiver modules 2 can individually adjust the orientation of the reflecting surface relative to the scanning module 4 by the orientation adjusting device, so as to change the spliced view field and/or the scanning resolution of the laser radar 1 by adjusting the sub-view fields correspondingly formed by the plurality of sets of laser transceiver modules 2.
By dynamically and automatically adjusting the included angle of the laser beam emitted by the laser 31 of the laser emitting end 3 of the laser transceiver module group 2 relative to the reflecting surface of the scanning module 4 or the rotation axis of the scanning module 4, the following beneficial effects can be brought: the field of view of the laser radar 1 can be dynamically and automatically changed in an open-loop control/closed-loop control manner according to the application environment of the laser radar 1, for example, according to the acquired characteristic information of the target object; in particular, the vertical axis angular resolution and/or the horizontal angular resolution of the lidar 1 can be dynamically increased for specific critical areas.
To this end, lidar 1 may be configured with different modes of operation, including but not limited to a normal mode of operation and an enhanced mode of operation. In the normal working mode of the laser radar 1, the sub-fields of view of the plurality of laser transceiver module groups 2 are at least partially overlapped with each other, so that the spliced field of view of the laser radar 1 is formed as a whole, and the balanced scanning performance of the laser radar 1 is realized by using the determined number of laser transceiver module groups 2. The balanced scanning performance refers to that, for example, the size of the field of view is mutually coordinated and matched with the vertical axis angular resolution and the horizontal angular resolution, so that the performance of the laser radar 1 meeting the application requirements is achieved.
In the intensified operation mode of the laser radar 1, by adjusting the orientation of the laser transceiver module groups 2 by the orientation adjusting device, more laser transceiver module groups 2 are allocated to a specific area or a critical area for scanning, for example, more laser transceiver module groups 2 are allocated to a specific area or a critical area for scanning than in the normal operation mode, thereby obtaining an increased spliced view field, a vertical axis angular resolution and/or a horizontal angular resolution in the area, and further improving the overall performance of the laser radar 1. That is, for example, in the normal operation mode, 30% of the sets of wtrus 2 cover or at least partially cover a specific or critical area to be scanned, while in the enhanced operation mode, a greater number of sets of wtrus 2, for example, 40%, 50% or even 60% or more, are allocated to the specific or critical area to be scanned, so as to enhance the scanning frequency and resolution of the lidar 1 in these areas. Of course, the field angle and scanning orientation or other characteristic parameters of the lidar 1 may also be changed by the intensified operating mode.
In some embodiments, lidar 1 also has an emergency mode of operation. When detecting that the laser transceiving module group 2 fails or is externally damaged, switching to an emergency working mode of the laser radar 1, and putting the standby laser transceiving module group 2 into use to replace the laser transceiving module group 2 which fails or is externally damaged, so as to ensure that the function and performance of the laser radar 1 are not damaged and reduced.
In some embodiments, the orientation adjustment device may be controlled by the control module 6, so that a variable field of view of the lidar 1 may be achieved dynamically as required. In particular, by changing the postures of the laser transceiver module groups, that is, changing the directions and angles of the laser beams emitted by the laser 31 of the laser emitting end 3, for example, in the case of using as the vehicle-mounted laser radar 1, the spliced view field of the laser radar 1 can be dynamically adjusted according to the external environment conditions of the vehicle, in particular, real-time road conditions, and in particular, the vertical axis angular resolution and the horizontal angular resolution within a specific angular range are improved.
The concept of the invention will be described in further detail below with reference to specific embodiments. It should be noted that the examples set forth herein are merely illustrative of the inventive concepts of the present invention and should not be construed as limiting the invention. The technical features of the lidar 1 referred to herein may be combined or substituted at will within the framework of the inventive concept, without violating natural laws or technical specifications, and are within the scope of the inventive concept.
Fig. 6 to 9 show a first exemplary embodiment of a lidar 1 according to the invention, in which exactly two laser transceiver module groups 2 are provided and a double-sided mirror is used as the scanning component of the scanning module 4. As shown in the figure, the two laser transceiver module groups 2 are symmetrically arranged with respect to the double-sided mirror as a scanning component of the scanning module 4, and are arranged in a triangle with the double-sided mirror. That is to say, the two laser transceiver modules 2 and the scanning module 4 are located at the vertices of a triangle, which may be, in particular, an equilateral triangle.
Of course, depending on the application and performance requirements of the lidar 1, it is also conceivable to arrange the laser transceiver module 2 in a non-triangular arrangement relative to the double-sided mirror as the scanning component of the scanning module 4, for example, in order to cope with a specific scanning angle range or to vary the scanning frequency/scanning angle resolution of a specific region in a targeted manner, and the laser transceiver module 2 may also be arranged in line with the axis of rotation or in a plane.
Fig. 6 shows a first rotation state of the double-sided mirror according to the first embodiment of the present invention, and fig. 7 shows a second rotation state of the double-sided mirror according to the first embodiment of the present invention. Laser beams emitted by a laser emitting end 3 of the laser transceiving module group 2 pass through the laser shaping module and are projected to a target object in a linear laser mode. The two laser transceiving module groups 2 are respectively arranged on two sides of the double-sided reflector and respectively integrated with a laser transmitting end 3 and a laser receiving end 5. And detecting and scanning the target object by rotating the double-sided reflector. The laser beam reflected by the target is also received by the double-sided reflecting mirror of the scanning module 4 and respectively reflected to the laser receiving end 5 of the laser transceiving module group 2. The receiving mirror group of each laser receiving end 5 can receive and transmit the reflected laser beam, and converge the reflected laser beam to the detector of the laser receiving end 5.
The two laser transceiving module groups 2 form respective sub-fields of view, wherein different areas of the reflection surface of the double-sided mirror respectively form a transmitting scanning module/area and a receiving scanning module/area, i.e. the area of the reflection surface used as the transmitting scanning module is specially arranged for reflecting the laser beam emitted by the laser transmitting end 3 to a target object, and the area of the reflection surface used as the receiving scanning module is specially arranged for receiving and guiding the laser beam reflected by the target object and changing the direction of the laser beam to the laser receiving end 5.
Fig. 8 is a schematic illustration of the angular resolution of the coinciding portions after field stitching according to the first embodiment of the present invention. The vertical axis field angle is related to the divergence angle after laser shaping, and is 20 ° in the present embodiment, for example. For example, in the embodiment shown in fig. 8, the detector in the laser receiving end employs a 64-line linear array APD. The lidar 1 has a 0.3 ° plumbing angle resolution in the non-overlapping portion, whereas the plumbing angle resolution can be increased to 0.15 ° in the overlapping portion, the scanning resolution of the overlapping portion being higher than that of the non-overlapping portion. Also, the magnitude of the plumbing resolution is presented here only as an example for illustrating the inventive concept and is not to be construed as limiting the invention. In fact, according to the technical scheme of the invention, the detection scanning field of view of 0.1 degrees or even higher can be realized according to the requirement.
FIG. 9 is a schematic top view of a tiled scan field of view according to a first embodiment of the present invention. Here, for example, a motor may be provided for driving the double-sided mirror to rotate. For this purpose, the control module 6 can be provided for controlling the starting, stopping and operating modes, etc. of the electric motor, in particular for regulating the rotational speed of the electric motor. For example, the scanning subfields formed by the two laser transceiver module groups 2 each have a horizontal field of view of 100 °, where 20 ° is a coincident portion, and thus the total horizontal field angle is 180 °.
It should be noted that the horizontal field angle size is only used as an example for illustrating the inventive concept and does not constitute a limitation to the present invention. In fact, according to the technical scheme of the invention, the detection scanning field of view of more than 200 degrees can be realized according to requirements.
Here, too, an orientation adjusting device (not shown) may be included, by which the plurality of laser transceiver module groups 2 can individually adjust the orientation with respect to the reflecting surface of the scanning module 4, and thereby adjust the angle with the reflecting surface of the scanning module 4.
The control module 6 may control the orientation adjusting device to automatically adjust the orientations of the plurality of laser transceiver module sets 2 relative to the reflecting surface of the scanning module 4 according to the acquired feature information of the target object. In other words, the orientation adjusting device can individually set different angles between the laser transceiver module set 2 and the reflection surface of the scanning module 4, thereby improving the vertical axis and/or horizontal angle resolution of the specific field range.
Fig. 10 shows a second embodiment of the lidar 1 of the present invention in which exactly four sets of transceiver modules 2A-2D are provided and a double-sided mirror is used as the scanning component of the scanning module 4. As shown in the figure, the four laser transceiver module groups 2A to 2D are symmetrically arranged on both sides with respect to the reflection surface of the double-sided mirror as the scanning unit of the scanning module 4, and form a substantially rectangular shape. In other words, the four laser transceiver module groups 2A to 2D are respectively provided at one of four corners of a rectangle, and the double-sided mirror as the scanning section of the scanning module 4 is located at the geometric center of this rectangle. In the second embodiment, the rotation axis of the double-sided mirror as the scanning means of the scanning module 4 coincides with the intersection of two diagonal lines of a rectangle formed by the four laser transceiver module groups 2A to 2D.
Of course, depending on the application and performance requirements of the laser radar 1, it may also be considered that the laser transceiver module group 2 is arranged in a non-rectangular manner with respect to the reflection surface of the double-sided mirror as the scanning component of the scanning module 4, for example, to enhance the scanning key area or critical area, or for example, to cope with a specific scanning angle range, or to change the scanning frequency/scanning angle resolution of a specific area in a targeted manner, and the laser transceiver module group 2 may be arranged in a trapezoidal or other trapezoid manner, in particular, different positions of the laser transceiver module group 2 may be set according to the detection requirements.
As shown in the figure, the four laser transceiving module groups 2A-2D respectively form the corresponding sub-fields 2A-2D, and the sub-fields 2A-2D are overlapped with each other. Similarly, different areas of the reflection surface of the double-sided mirror may respectively constitute a transmitting scanning module/area and a receiving scanning module/area, i.e. the area of the reflection surface used as the transmitting scanning module is specially configured to reflect the laser beam emitted from the laser emitting end 3 to the target object, and the area of the reflection surface used as the receiving scanning module is specially configured to receive and guide the laser beam reflected from the target object and change its direction to the laser receiving end 5.
Here, to drive the double-sided mirror into rotation, a motor can likewise be provided, and the control module 6 can be provided for controlling the starting, stopping and operating modes, etc. of the motor, in particular for regulating the rotational speed of the motor.
On the basis of the first embodiment, the number of the laser transceiver module groups 2 of the second embodiment is increased from two to four. Compared with the first embodiment, the partial coincidence of the sub-fields of view 2A-2D formed by the four laser transceiver module groups 2A-2D is more beneficial to improving the scanning resolution, for example, the vertical axis resolution can reach 0.075 °.
For four sets of modules, the control module 6 may coordinate and control the actuators belonging to the four sets of modules according to a predetermined operating mode, so that the control module 6 may automatically match the lidar to different application scenarios or environmental conditions by switching different operating modes and adjusting the orientations of the four sets of modules by using the actuators, for example, changing the scanning field of view of the lidar 1, and improving the vertical axis angular resolution and/or horizontal angular resolution of a specific scanning area or a critical scanning area.
Fig. 11 shows a scanning module 4 according to a third exemplary embodiment of the present invention, wherein the scanning module 4 is designed as a four-prism, in particular as a regular four-prism or as a rectangular parallelepiped four-prism. The four prisms rotate about their central axes.
FIG. 12 is a schematic illustration of field stitching according to a third embodiment of the present invention. Here, a case where a spliced field of view is formed when a quadrangular prism is used as a scanning means of the scanning module 4 is shown by taking exactly two laser transceiver module groups 2 as an example. As shown in the drawing, the two laser transceiver module groups 2 are symmetrically arranged with respect to the central axis of the quadrangular prism as the scanning unit of the scanning module 4, for example, the two laser transceiver module groups 2 are arranged in the same plane as the central axis of the quadrangular prism. Of course, other irregular or misaligned arrangements may be considered to achieve a particular field stitching effect. Through the appropriate arrangement mode of the laser transceiving module group 2, and simultaneously combining the four prisms as the rotating scanning component of the scanning module 4, the view field of the laser radar 1 can be effectively enlarged, the scanning frequency is increased, and even the real-time monitoring can be carried out aiming at a target object or a specific area.
Fig. 13 shows a fourth exemplary embodiment according to the invention, which is based on the third exemplary embodiment and which is configured as an faceted prism, in particular as an faceted four-prism in the fourth exemplary embodiment. The different-surface quadrangular prism is characterized in that included angles between four side surfaces of the different-surface quadrangular prism and a central axis of the quadrangular prism are different. For example, the laser beams emitted by the laser 31 of the laser emitting end 3 of the laser transceiver module group 2 and the reflecting surfaces of the prism have different included angles, so that the scanning sub-fields formed by the laser transceiver module groups 2 overlap with each other to form the spliced field of view of the laser radar 1.
Fig. 14 is a schematic view of the detection field of view in the case of scanning using a set of transceiver modules in the fourth embodiment according to the present invention, where the overlapping positional relationship between the sub-fields of view a-D corresponding to the respective reflection surfaces of the aspherical prisms can be seen. In fig. 14, the four reflecting sides of the dihedral four-prism are placed in an imaginary manner on one axis (as one intersection point in a plan view), thereby more clearly showing the angle α between the four reflecting sides1、α2And alpha3The positional relationship of (a).
That is, since the included angles formed by the laser beams emitted by the laser 31 of the laser emitting end 3 of the laser transceiving module group 2 and the reflecting surfaces of the different-surface prism are different from each other, the sub-fields correspondingly formed by the reflecting surfaces of the different-surface prism are also in different directions. For example, as shown in fig. 14, the sub-field of view a corresponding to the surface a of the hetero prism is represented as a first rectangle from top to bottom (dotted line) in fig. 14, the sub-field of view B corresponding to the surface B is represented as a second rectangle from top to bottom (solid line) in fig. 14, the sub-field of view C corresponding to the surface C is represented as a third rectangle from top to bottom (dotted line) in fig. 14, and the sub-field of view D corresponding to the surface D is represented as a fourth rectangle from top to bottom (solid line) in fig. 14. In this case, there is a partial field of view between each two adjacent subfields of view, which overlap in a characteristic manner, so that the stitched field of view of lidar 1 as a whole is formed.
It should be noted that by properly matching the angle formed by the laser beam emitted by the laser 31 of the laser emitting end 3 of the laser transceiver module group 2 and the reflecting surface of the scanning module 4, especially by adjusting the orientation of the laser transceiver module group 2 or changing the angle or structure of the reflecting surface of the scanning component of the scanning module 4, the specific splicing view field of the laser radar 1 in the vertical direction and/or the specific splicing view field in the horizontal direction can be realized.
Fig. 14 is a schematic diagram of a stitched probe field of view formed using only one laser transceiver module set 2 for scanning. In practical application, at least two laser transceiving module groups 2 can be used, and a proper arrangement mode is adopted as described above, so that a more complex and special view field splicing effect can be realized, and various and variable requirements of practical application are met. Here, the dihedral prism illustratively has four reflective side surfaces. Of course, it is also possible to consider using other multi-faceted prisms and to set the angles between the different reflecting facets of the faceted prisms or the angles to the central axis according to the inventive concept, depending on the requirements of the actual application, in order to achieve an advantageously large-scale or even panoramic scan field of view, for example to achieve real-time monitoring or greater vertical and/or horizontal resolution.
Finally, it should be understood by those skilled in the art that the embodiments of the present invention shown in the drawings and described above are by way of example only and are not meant to limit the technical solutions or concepts of the present invention. All the technical features described herein with respect to the lidar 1 can be combined or substituted within the framework of the inventive concept in any way without violating natural laws or technical specifications, without falling within the scope of the inventive concept and without constituting a limitation of the invention.

Claims (22)

1. Lidar (1) characterized by comprising:
the device comprises a laser emitting end (3), wherein the laser emitting end (3) is provided with a laser (31), and the laser (31) is used for emitting a laser beam for detecting a target object;
a scanning module (4), wherein the scanning module (4) is arranged to guide the laser beam emitted by the laser (31) to scan the target object and receive and guide the laser beam reflected by the target object;
the laser receiving end (5), the laser receiving end (5) has a detector, the detector is set up and used for receiving the laser beam reflected from the target object and guided by the scanning module (4);
wherein at least one laser transmitter (3) and at least one laser receiver (5) are integrated into a laser transceiver module group (2) which is designed as a single structural unit, wherein the lidar (1) comprises a plurality of laser transceiver module groups (2), wherein the plurality of laser transceiver module groups (2) are distributed relative to the scanning module (4), and wherein an at least partially tiled field of view of the lidar (1) is formed by correspondingly formed subfields of the plurality of laser transceiver module groups (2).
2. The lidar (1) according to claim 1, wherein the laser transmitting end (3) further comprises a set of transmitting mirrors having a laser shaping module arranged for shaping a laser beam emitted by the laser (31).
3. The lidar (1) according to claim 2, wherein the laser shaping module comprises a collimating mirror (311) and a dodging sheet (312) arranged sequentially along the optical axis of the laser beam.
4. The lidar (1) according to claim 1, wherein the scanning module (4) comprises a transmitting scanning module and a receiving scanning module, wherein the transmitting scanning module is configured to reflect the laser beam emitted from the laser emitting end (3) to the target, and the receiving scanning module is configured to receive and guide the laser beam reflected from the target to the laser receiving end (5).
5. The lidar (1) according to claim 1, wherein the laser receiving end (5) further has a receiving mirror group arranged for receiving and transmitting a laser beam guided through the scanning module (4) reflected back by the target object and focusing the reflected laser beam onto a detector of the laser receiving end (5).
6. The lidar (1) according to any of claims 1 to 5, wherein the angles of the laser beams emitted by the lasing ends (3) of the plurality of sets of lasing modules (2) and the reflecting surface of the scanning module (4) are different from each other, such that the plurality of sets of lasing modules (2) respectively form sub-fields of view which are different in orientation and at least partially overlap each other.
7. Lidar (1) according to any of claims 1 to 5, further comprising an orientation adjustment device by which the plurality of sets of modules (2) is adjustable in orientation with respect to the reflective surface of the scanning module (4), whereby the stitching field of view and/or the scanning resolution of the lidar (1) can be changed.
8. Lidar (1) according to any of claims 1 to 5, wherein the lidar (1) is provided with a control module (6), the control module (6) being arranged for controlling laser emission and reception and for obtaining characteristic information of a target object by post signal data processing.
9. Lidar (1) according to claim 8, wherein the control module (6) is capable of controlling the orientation adjustment means belonging to the respective sets of lasertransceiving modules (2) according to a predetermined operation mode and is capable of automatically matching different application scenarios or environmental conditions by switching different operation modes.
10. The lidar (1) according to claim 8, wherein the control module (6) is capable of controlling the orientation adjustment device in accordance with the acquired characteristic information of the target object, such that the orientation of the plurality of sets of laser transceiver modules (2) with respect to the reflecting surface of the scanning module (4) is automatically adjustable in a closed-loop control manner, thereby dynamically and automatically changing the stitched view field and/or the scanning resolution of the lidar (1).
11. Lidar (1) according to any of claims 1 to 5, wherein the scanning component of the scanning module (4) is a rotary scanning component.
12. Lidar (1) according to claim 11, wherein the scanning component of the scanning module (4) comprises a double-sided mirror, a polygon mirror or a galvanometer mirror.
13. Lidar (1) according to claim 11, wherein the scanning components of the scanning module (4) comprise iso-planar prisms, wherein the reflecting side faces of the iso-planar prisms have mutually different angles to the central axis and are matched to each other such that the sub-fields of view formed by each reflecting side face at least partly overlap each other, thereby forming a stitched field of view of the lidar (1).
14. A detection method for a lidar (1), characterized in that the lidar (1) comprises a laser emitting end (3), a scanning module (4) and a laser receiving end (5), wherein
A laser (31) of the laser emitting end (3) is arranged for emitting a laser beam for detecting a target object;
the scanning module (4) is used for guiding the laser beam emitted by the laser (31) to scan the target object and receiving and guiding the laser beam reflected by the target object;
a detector of the laser receiving end (5) is used for receiving the laser beam reflected from the target guided by the scanning module (4);
wherein at least one laser transmitter (3) and at least one laser receiver (5) are integrated into a laser transceiver module group (2) which is designed as a single structural unit, wherein a plurality of laser transceiver module groups (2) are distributed in relation to the scanning module (4) and an at least partially spliced field of view of the lidar (1) is formed by correspondingly formed subfields of the plurality of laser transceiver module groups (2).
15. The detection method for a lidar (1) according to claim 14, wherein the laser emitting end (3) further comprises a set of transmitting mirrors having a laser shaping module arranged for shaping a laser beam emitted by the laser (31).
16. The detection method for a lidar (1) according to claim 14, wherein a collimating mirror (311) and a dodging sheet (312) are arranged sequentially in the laser shaping module along the optical axis of the laser beam.
17. The detection method for lidar (1) according to claim 14, wherein the laser receiving end (5) further has a receiving optics set arranged for receiving and transmitting the laser beam guided through the scanning module (4) reflected back by the target and focusing the reflected laser beam onto a detector of the laser receiving end (5).
18. The detection method for lidar (1) according to any of claims 14 to 17, wherein angles of the laser beams emitted by the laser emitting ends (3) of the plurality of sets of lasing modules (2) and the reflecting surface of the scanning module (4) are different from each other, such that the plurality of sets of lasing modules (2) respectively form sub-fields of view which are different in orientation and at least partially overlap each other.
19. The detection method for a lidar (1) according to any of claims 14 to 17, wherein the lidar (1) is provided with a control module (6), the control module (6) is arranged for controlling laser emission and reception, and characteristic information of a target object is obtained by post-signal data processing.
20. The detection method for a lidar (1) according to claim 19, wherein further comprising an orientation adjustment device for adjusting the orientation of the set of laser transceiver modules (2), the control module (6) being arranged for controlling the orientation adjustment device to adjust the orientation of the plurality of sets of laser transceiver modules (2) with respect to the reflecting surface of the scanning module (4), thereby changing the stitching field of view and/or the scanning resolution of the lidar (1).
21. The detection method for lidar (1) according to claim 19, wherein the control module (6) is arranged to control the orientation adjustment means belonging to each set of laser transceiver modules (2) according to a predetermined operating mode, wherein the control module is capable of automatically adapting to different application scenarios or environmental conditions by switching different operating modes.
22. The detection method for a lidar (1) according to claim 19, wherein the control module (6) is arranged to control the orientation adjustment device in accordance with the acquired characteristic information of the target object, such that the orientation of the plurality of sets of laser transceiver modules (2) with respect to the reflecting surface of the scanning module (4) can be automatically adjusted in a closed-loop control manner, thereby dynamically and automatically changing the stitching field of view and/or the scanning resolution of the lidar (1).
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