CN113359106A - Optical module and laser radar based on field of view scanning - Google Patents
Optical module and laser radar based on field of view scanning Download PDFInfo
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- CN113359106A CN113359106A CN202010152560.4A CN202010152560A CN113359106A CN 113359106 A CN113359106 A CN 113359106A CN 202010152560 A CN202010152560 A CN 202010152560A CN 113359106 A CN113359106 A CN 113359106A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 166
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000000737 periodic effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an optical module based on field scanning and a laser radar. The optical module includes: an optical lens group; an optical focal plane module comprising an optical signal emitting module and/or an optical signal receiving module; the optical lens group and the optical focal plane module move relatively to realize field scanning, and the photoelectric device of the optical signal transmitting module and/or the photoelectric device of the optical signal receiving module are/is positioned in the plane of the focal plane of the optical lens group. The invention provides a mode for realizing field scanning. The independent scanner component is omitted, and the field scanning is realized by using the existing components in the optical module. Reduce cost and reduce size. Meanwhile, the resolution ratio is convenient to improve, and the scanning detection efficiency is improved.
Description
Technical Field
The present invention relates to signal scanning and detection, and more particularly to an optical module and a lidar based on field scanning.
Background
The laser radar is used as an active scanning type sensor, and the scanning mode is the core logic of the active scanning type sensor. The scanning mode has direct relation with the performance ceiling of the laser radar, and has important influence on the measurement precision, the distance measurement, the resolution, the volume and the structural complexity. The method also plays a key role in judging whether the method is suitable for high-grade automatic driving.
Therefore, research and innovation on a scanning mode can promote the function expansion of the laser radar product, so that key technical support is provided for the necessary intelligent systems of unmanned systems such as an automobile anti-collision self-adaptive cruise control system and an advanced driving auxiliary system.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a mode for realizing field scanning.
Furthermore, the existing components in the optical module are used for realizing the field scanning, and an independent scanner component is omitted.
Furthermore, the cost is reduced, and the size is reduced.
The invention discloses an optical module based on field scanning, which comprises:
an optical lens group;
an optical focal plane module comprising an optical signal emitting module and/or an optical signal receiving module;
the optical lens group and the optical focal plane module move relatively to realize field scanning, and the photoelectric device of the optical signal transmitting module and/or the photoelectric device of the optical signal receiving module are/is positioned in the plane of the focal plane of the optical lens group.
The optical module only moves the optical lens group, only moves the optical focal plane module, or both the optical lens group and the optical focal plane module move.
The optical module only moves the optical signal transmitting module, or only moves the optical signal receiving module, or both move.
The optical lens group comprises a transmitting lens group and a receiving lens group;
only the transmitting lens group moves, or only the receiving lens group moves, or both the transmitting lens group and the receiving lens group move.
The emitting mirror group and the receiving mirror group share part or all of the optical components.
The optical lens group and the optical focal plane module are arranged in the same optical path mode.
The optical lens group and the optical focal plane module move periodically and relatively.
The optical signal transmitting module comprises one or more transmitting units, wherein the transmitting units are arranged in a linear array or an area array mode;
the optical signal receiving module includes one or more receiving units.
The optical lens group moves relatively to the optical focal plane module in a first direction, a second direction or the first direction and the second direction.
The invention also discloses a laser radar applying the optical module.
The laser radar comprises a driving mechanism for driving the optical lens group and the optical focal plane module to move relatively; and/or the presence of a gas in the gas,
an external driving source outside the laser radar drives the optical lens group and the optical focal plane module to move relatively.
The laser radar also comprises an elastic connecting piece which is connected with the optical lens group, the optical signal transmitting module and/or the optical signal receiving module.
The optical module of the present invention provides a way to achieve field scanning. The independent scanner component is omitted, and the field scanning is realized by using the existing components in the optical module. Reduce cost and reduce size. Meanwhile, the resolution ratio is convenient to improve, and the scanning detection efficiency is improved.
Drawings
Fig. 1 and 2 show an optical module based on field scanning according to the present invention.
FIGS. 3A-3H are optical diagrams illustrating the optical scanning of the field of view of the optical module of the present invention.
FIGS. 4A-4H are optical diagrams illustrating the optical scanning of the field of view of the optical module of the present invention.
Fig. 5A-5B are schematic diagrams illustrating an arrangement of the transmitting units according to the present invention.
Fig. 6 is a schematic structural diagram of an optical module according to the present invention.
Fig. 7 is a schematic structural diagram of the laser radar of the present invention.
Detailed Description
The following describes an implementation process of the technical solution of the present invention with reference to specific embodiments, which are not intended to limit the present invention.
In order to realize field scanning by utilizing the existing components in the optical module, save independent scanner components, reduce cost and reduce size, the invention provides a brand-new field scanning implementation mode.
Fig. 1 shows an optical module based on field scanning according to the present invention.
The optical module 1 based on field scanning has an optical lens assembly 10 and an optical focal plane module 20. The optical lens group 10 is disposed corresponding to the optical focal plane module 20. The optical focal plane module 20 includes a transmitting module and/or a receiving module.
The optical lens assembly 10 and the optical focal plane module 20 move relatively to each other to realize field scanning, and particularly, the optoelectronic device of the optical focal plane module 20 is located in the plane of the focal plane of the optical lens assembly 10. And in any case, the optoelectronic device of the optical focal plane module 20 is located in the plane of the focal plane of the optical lens group 10.
The relative movement may be continuous, regular, or periodic, and the relative movement pattern may also be controlled according to a particular algorithm.
As shown in fig. 2, the optical lens assembly 10 includes a transmitting lens assembly 11 and/or a receiving lens assembly 12, and the optical focal plane module 20 includes a transmitting module 21 and/or a receiving module 22. The transmitting module 21 is an optical signal transmitting module, and the receiving module 22 is an optical signal receiving module. The photoelectric device of the optical signal transmitting module and/or the photoelectric device of the optical signal receiving module are/is positioned in the plane of the focal plane of the optical lens group.
The transmitting lens group 11 and the transmitting module 21 are disposed correspondingly and simultaneously, and the receiving lens group 12 and the receiving module 22 are disposed correspondingly and simultaneously. That is, when the emitting module 21 is disposed, the emitting lens set 11 is disposed correspondingly, and if the emitting module 21 is not disposed, and only the receiving module 22 is disposed, only the receiving lens set 12 is disposed.
The emitting mirror group 11, the receiving mirror group 12, the emitting module 21 and the receiving module 22 can be driven to move relatively, for example, in the Z direction.
In the first embodiment, in the first case, the emission module 21 remains stationary and the set of emission mirrors 11 is driven in motion in the Z direction. Taking three positions B, A, C arranged in sequence in the Z direction as an example, the transmission module 21 is explained to have the transmission unit 210. Fig. 3A-3D are optical diagrams illustrating the field scanning of the optical module of the present invention.
In fig. 3A, emission unit 210 is located on the focal plane of emission mirror set 11 (position a), and the optical signals emitted by emission unit 210 form parallel outgoing light through emission mirror set 11. When the lens assembly 11 moves upward to position B (FIG. 3B), the outgoing light moves upward, and when the lens assembly 11 moves downward to position C (FIG. 3C), the outgoing light moves downward.
As shown in FIG. 3D, when the emission mirror group 11 reciprocates cyclically between positions B, C, the outgoing light moves back and forth in three areas B ', A ', C ' to realize field scanning. At this time, no receiving related component can be arranged, and the optical module can be applied to the occasions for realizing field scanning and even active scanning. Wherein, the three areas B ', a ', C ' are distinguished only for the sake of clear example, continuous scanning can be substantially realized, i.e., B ', C ' and the areas therebetween can all be scanned. The cyclic reciprocating motion of the emission mirror group 11 between the B, C positions can realize continuous reciprocating scanning.
In the second case, in the first embodiment, the set of emission mirrors 11 remains stationary and the emission module 21 is driven in movement in the Z direction. Taking three positions of B1, a1, and C1 arranged in the Z direction as an example, the emitting module 21 has an emitting unit 210, and the emitting unit 210 is a laser, for example. Fig. 3E-3G show the optical path diagrams of the field scanning of the optical module of the present invention.
In fig. 3E, emission unit 210 is located at the focal plane of emission mirror set 11 (position a1), and the light signals emitted by emission unit 210 form parallel outgoing light through emission mirror set 11. When the emitting unit 210 moves down to the position C1 (fig. 3F), the outgoing light moves up, and when the emitting unit 210 moves up to the position B1 (fig. 3G), the outgoing light moves down.
As shown in FIG. 3H, when the emitting unit 210 reciprocates cyclically between the positions B1 and C1, the emergent light moves back and forth between the areas B1 'and C1' to realize the reciprocal field scanning. No reception-related component may be provided at this time.
In the first embodiment, in the third case, the emitting mirror group 11 or the emitting module 21 moves, while the receiving mirror group 12 and the receiving module 22 are stationary. The receiving mirror group 12 and the receiving module 22 are used for receiving the feedback signal of the signal sent by the transmitting module 21. The receiving module 22 has a receiving unit. The receiving module 22 ensures detection and reception of the scanning signal in a manner that one or more receiving units are correspondingly arranged on one transmitting unit 210. For the embodiments shown in fig. 3D and 3G, the receiving module 22 may be preset with three receiving units at corresponding positions to ensure that the feedback signals of the three scanning areas of the field scanning are received respectively. The three receiving units can also be replaced by a receiving unit with a larger receiving area.
In the second embodiment, the first case, which is the same as the embodiment shown in fig. 3A-3D but the optical path is reversed, the receiving module 22 is still, the receiving lens group 12 moves in the Z direction, for example, the receiving lens group 12 moves between E, D, F positions, the receiving module 22 has the receiving unit 220, and then the receiving unit 220 can receive the incident light from three areas E ', D ', and F ', as shown in fig. 4A-4D. The receiving unit 220 is, for example, A Photodetector (APD) or an image sensor. As the set of receiving mirrors 12 is cyclically reciprocated between positions E, D, F, the receiving unit 220 may perform field scanning on signals from E ', F' and the areas therebetween. No components associated with the transmission may be provided at this time.
In the second embodiment, in the same way as the embodiment shown in fig. 3E-3H but with the optical path reversed, the receiving lens group 12 remains still, the receiving unit 220 is driven to move in the Z direction, for example, the receiving unit 220 is driven to move between positions E1, D1 and F1, and then the receiving unit 220 can receive the incident light from three areas E1 ', D1 ' and F1 ', as shown in fig. 4E-4H. When the receiving unit 220 is cyclically reciprocated between the positions of E1, D1, F1, the receiving unit 220 may perform field scanning on signals from the positions of E1 ', F1' and the regions therebetween. No components associated with the transmission may be provided at this time.
In the second embodiment, in the third case, the receiving lens group 12 or the receiving module 22 moves, while the emitting lens group 11 and the emitting module 21 are stationary. In this case, taking the example that the transmitting module 21 has a plurality of transmitting units 210, for example, three transmitting units 210, three groups of scanning regions are generated correspondingly, and the receiving module 22 may be provided with one receiving unit 220, so as to scan the fields of view of the signals from the three scanning regions by moving the receiving mirror group 12 or the receiving unit 220.
In the third embodiment, in the first case, the emitting mirror group 11 and the receiving mirror group 12 move synchronously, and the emitting module 21 and the receiving module 22 remain stationary. Reference is made to fig. 3A-3D, 4A-4D. At this time, the area a 'coincides with the area D', the area B 'coincides with the area E', the area C 'coincides with the area F', and the environmental signal obtained by scanning by the transmitting module 21 is received by the receiving module 22, thereby completing the detection process. At this time, the number of the transmitting units 210 and the receiving units 220 may be equal. At this time, the emitting mirror group 11 and the receiving mirror group 12 may be implemented by sharing some or all of the optical components.
In the case of implementation by sharing the same optical component, the arrangement mode of the same optical path can be used. That is, as shown in fig. 6, a reflector 40 having a through hole 41 is disposed between the optical lens assembly 10 and the emitting unit 210, the light signal emitted from the emitting unit 210 passes through the through hole 41 and is emitted through the optical lens assembly 10, and the incident light is reflected by the reflector 40 after passing through the optical lens assembly 10 and is received by the receiving module 22 disposed at one side of the reflector 40. The mode realizes that the emission and the receiving are realized by using the same optical component, reduces the number of the arranged lens groups, enriches the arrangement modes of the optical lens group 10 and the optical focal plane module 20, and reduces the volume and the cost of the system.
In addition, for the condition of sharing part of optical components, as the transmitting lens group and the receiving lens group are only functionally divided and can be completely realized by adopting the same lens group, various lens group matching modes can be applied to save component configuration and reduce the size. For example, by adjusting the position and shape of the lens group, a part of the emission lens group can also be used for receiving the light path, thereby realizing the sharing of the lens group.
In the third embodiment, in the second case, the transmitting module 21 and the receiving module 22 move synchronously, and the transmitting lens group 11 and the receiving lens group 12 remain stationary. Reference is made to fig. 3E-3H, 4E-4H. At this time, the a1 'region coincides with the D1', the B1 'region coincides with the E1', and the C1 'region coincides with the F1', and the environmental signal scanned by the transmitting module 21 is received by the receiving module 22, thereby completing the detection process. At this time, the number of the transmitting units 210 and the receiving units 220 may be equal. In this case, the emitting mirror group 11 and the receiving mirror group 12 can be implemented by using the same optical component.
In the third embodiment, in the third case, the emitting module 21 and the receiving lens group 12 move, and the receiving module 22 and the emitting lens group 11 are stationary. Reference is made to fig. 3E-3H, 4A-4D. Specifically, the transmitting module 21 and the receiving lens group 12 move in opposite directions relative to their respective initial positions, which can also be regarded as opposite co-frequency movements. That is, when the emission unit 210 is located at position a1, the receiver 12 is located at position D, when the emission unit 210 is located at position B1, the receiver 12 is located at position F, and when the emission unit 210 is located at position C1, the receiver 12 is located at position E. When the emission unit 210 moves downward, the receiving lens group 12 moves upward, and when the emission unit 210 moves upward, the receiving lens group 12 moves downward. At this time, the a1 'region coincides with the D' region, the B1 'region coincides with the F' region, and the C1 'region coincides with the E' region, and the environmental signal obtained by the active scanning by the transmission module 21 is received by the reception module 22, thereby completing the field scanning. At this time, the number of the transmitting units 210 and the receiving units 220 may be equal.
In the third embodiment, in the fourth case, the receiving module 22 and the set of transmitting mirrors 11 move, and the transmitting module 21 and the set of receiving mirrors 12 are stationary. Reference is made to fig. 3A-3D, 4E-4H. Specifically, the receiving module 22 and the transmitting lens group 11 move in opposite directions relative to their respective initial positions, which can also be regarded as opposite co-frequency movements. That is, when the receiving unit 220 is located at position D1, the emission mirror assembly 11 is located at position A, when the receiving unit 220 is located at position E1, the emission mirror assembly 11 is located at position C, and when the receiving unit 220 is located at position F1, the emission mirror assembly 11 is located at position B. When the receiving unit 220 moves downward, the emitting mirror group 11 moves upward, and when the receiving unit 220 moves upward, the emitting mirror group 11 moves downward. At this time, the a 'region coincides with the D1', the B 'region coincides with the F1', and the C 'region coincides with the E1', and the environmental signal scanned by the transmitter module 21 is received by the receiver module 22, thereby completing the field scanning. At this time, the number of the transmitting units 210 and the receiving units 220 may be equal.
The above embodiments are all exemplified by the movement of the components in the Z direction, and in fact, the movement of the above embodiments may also be performed in the Y direction. The trajectory scheme of the motion can be designed according to the requirement of the scanning field of view as long as the motion is in the plane formed by the Z direction and the Y direction. For example, the motion may oscillate in the Z direction while moving in the Y direction. The plane formed by the Y direction and the Z direction is the plane of the focal plane of the optical lens group.
In order to further improve the scanning resolution, the number of the transmitting units 210 may be increased, for example, the transmitting units 210 are arranged in a one-dimensional linear array manner along the Z direction, so as to increase the scanning field of view, and the scanning field of view of different transmitting units 210 are partially overlapped, so as to reduce a blind area that is not scanned in the remote scanning process, and also generate detection data for the same point in the field of view for multiple times, so as to improve the scanning detection accuracy, as shown in fig. 5A. The plurality of emission units 210 may also be arranged in a two-dimensional array in a plane formed by the ZY direction, and the optimized scheme is to stagger each other in the Y direction, as shown in fig. 5B, when the scanning field in the Z direction is expanded. The corresponding number of lift receiving units 220.
The optical module 1 can be applied to a laser radar. The laser radar comprises a driving mechanism, such as a driving motor or other driving modes, for driving the optical lens group and the optical focal plane module to move relatively.
The optical lens assembly 10 can be disposed on a guide rail, the driving motor drives the optical lens assembly 10, and the moving distance of the optical lens assembly 10 is recorded by a moving counting device. The movement counting means is for example a code disc.
The optical focal plane module 20 may also be disposed on a guide rail, and the driving motor drives the optical focal plane module 20 to record the moving distance of the optical focal plane module 20 through a moving counting device.
The drive motor may also be replaced by an external drive source 60 from outside the lidar. The external drive source 60 and the drive mechanism may be present simultaneously.
At this time, the optical lens group, the optical signal transmitting module and/or the optical signal receiving module may be connected to the housing of the laser radar 2 through an elastic connecting member. As shown in fig. 7, an arrangement corresponding to the aforementioned third embodiment is provided.
The elastic connecting piece can be a spring, an elastic sheet and the like, and can suspend or fixedly connect the optical lens group and/or the optical focal plane module to a shell of the laser radar or a fixing structure of the laser radar. Adjacent to the elastic connection, a relative movement evaluation unit 51, for example a code disc or the like, is also provided to identify the currently implemented oscillation position.
The external drive source 60 may be a drive motor, or may be a drive source provided by vibration of a vehicle body or an aircraft by providing a laser radar to the vehicle body or the aircraft. Since the part is connected to the housing by the elastic connection and the part is directly connected to the housing, the elastic connection will oscillate upon receiving the power supplied by the external drive source, while the part directly connected to the housing will remain stationary.
The optical module of the present invention provides a way to achieve field scanning. The independent scanner component is omitted, and the field scanning is realized by using the existing components in the optical module. Reduce cost and reduce size. Meanwhile, the resolution ratio is convenient to improve, and the scanning detection efficiency is improved.
The above-mentioned embodiments are only exemplary for implementing the present invention, and are not intended to limit the scope of the present invention, and various obvious modifications and equivalents may be made by those skilled in the art within the scope of the present invention.
Claims (12)
1. An optical module based on field scanning, the optical module comprising:
an optical lens group;
an optical focal plane module comprising an optical signal emitting module and/or an optical signal receiving module;
the optical lens group and the optical focal plane module move relatively to realize field scanning, and the photoelectric device of the optical signal transmitting module and/or the photoelectric device of the optical signal receiving module are/is positioned in the plane of the focal plane of the optical lens group.
2. The optical module of claim 1 wherein only the optical lens group moves, only the optical focal plane module moves, or both the optical lens group and the optical focal plane module move.
3. The optical module of claim 2, wherein only the optical signal emitting module moves, or only the optical signal receiving module moves, or both the optical signal emitting module and the optical signal receiving module move.
4. The optical module of claim 1, 2 or 3 wherein the optical lens assembly comprises a transmitting lens assembly and a receiving lens assembly;
only the transmitting lens group moves, or only the receiving lens group moves, or both the transmitting lens group and the receiving lens group move.
5. The optical module of claim 4 wherein the set of emitter mirrors and the set of receiver mirrors are implemented by sharing some or all of the optical components.
6. The optical module of claim 5 wherein the optical lens assembly and the optical focal plane module are arranged in a common optical path.
7. The optical module of claim 1 wherein the optical lens assembly and the optical focal plane module move relative to each other periodically.
8. The optical module of claim 1, wherein the optical signal transmitting module comprises one or more transmitting units, the plurality of transmitting units being arranged in a linear array or an area array;
the optical signal receiving module includes one or more receiving units.
9. The optical module of claim 1, wherein the optical lens group moves relative to the optical focal plane module in a first direction, a second direction, or both the first direction and the second direction.
10. A lidar employing an optical module according to any of claims 1-9.
11. The lidar of claim 10, wherein the lidar includes a driving mechanism for driving the optical lens assembly and the optical focal plane module to move relative to each other; and/or the presence of a gas in the gas,
an external driving source outside the laser radar drives the optical lens group and the optical focal plane module to move relatively.
12. Lidar according to claim 10 or 11, further comprising a resilient coupling member coupled to the optical lens assembly, the optical signal transmitting module and/or the optical signal receiving module.
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| CN202010152560.4A CN113359106A (en) | 2020-03-06 | 2020-03-06 | Optical module and laser radar based on field of view scanning |
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| CN202010152560.4A CN113359106A (en) | 2020-03-06 | 2020-03-06 | Optical module and laser radar based on field of view scanning |
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