CN113589259A - Transmitting system and dimming method for reducing height of laser radar - Google Patents
Transmitting system and dimming method for reducing height of laser radar Download PDFInfo
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- CN113589259A CN113589259A CN202110958885.6A CN202110958885A CN113589259A CN 113589259 A CN113589259 A CN 113589259A CN 202110958885 A CN202110958885 A CN 202110958885A CN 113589259 A CN113589259 A CN 113589259A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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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
- G01S7/497—Means for monitoring or calibrating
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a transmitting system and a dimming method for reducing the height of a laser radar, wherein the transmitting system comprises lasers, four groups of lasers which are arranged in parallel at intervals are adopted; the number of the fast axis collimating mirrors is 4, the fast axis collimating mirrors are arranged in the light emergent direction of each group of the lasers, the bus direction of the fast axis collimating mirrors is parallel to the slow axis direction, and the fast axis collimating mirrors are configured to collimate the emergent light beams of the lasers; and the slow axis beam expander is arranged in the light emergent direction of the fast axis collimating lens, the bus of the slow axis beam expander is vertical to the linear laser direction, and the slow axis beam expander is configured to process the slow axis angle of the laser so as to enable the light beam to converge and expand firstly. The invention can cover a large vertical field angle of 30 degrees, the optical energy distribution in the field angle is uniform, the problems of strong distance measurement capability of the middle angle and weak distance measurement capability of the edge angle of a line laser are solved, and different vertical field angles can be matched by adjusting the slow axis beam expander.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a transmitting system and a dimming method for reducing the height of a laser radar.
Background
Three-dimensional environmental measurement and perception have important civil and military application values. In an ADAS (autonomous System for adaptive navigation) auxiliary driving and automatic driving system, spatial distance measurement and three-dimensional environment reconstruction are carried out on the surrounding environment of a vehicle, which are preconditions for realizing high-precision automatic driving control. Three-dimensional visual reconstruction of a millimeter wave radar and a camera is a common distance measurement technology, but in an automatic driving application scene, the transverse resolution of the millimeter wave radar is difficult to meet the requirement and is easily interfered by metal objects; the distance measurement precision of the three-dimensional visual reconstruction of the camera is low, and accurate distance measurement is difficult to achieve for a long-distance target. The laser radar actively emits pulse infrared laser beams, forms diffuse reflection echoes after irradiating a measured object, and collects the diffuse reflection echoes by a receiving system; by measuring the time difference between the transmitted pulse and the received echo, distance information of the object to be measured can be obtained. The laser radar has the advantages of high ranging precision and high transverse resolution, and has wide application prospect in the fields of assistant driving and automatic driving.
In the conventional laser radar common technical route, a transmitting-receiving system is mostly a single-point detector corresponding to a single-point light source, an area array detector corresponding to a single-point light source or an area array detector corresponding to a multipoint light source, and the problems of high cost, difficulty in assembly and adjustment and difficulty in realizing the mass production target are solved. At present, a beam-expanding cylindrical lens is added behind a laser, a bus is perpendicular to the direction of linear laser, and as shown in fig. 1, after light is emitted from an emitting system, the height required in the vertical direction gradually increases along with the increase of the optical path. Just as the patent of invention patent CN110161511A uses the linear array detector as the receiving device, the laser emission system produces the linear laser facula and matches with the receiving visual field, can obtain a plurality of distance measurement points fast, improves the measuring speed and the application scope of system.
However, the system of the linear array detector corresponding to the linear laser emission has the problem that the height is difficult to reduce, and the transmitting system and the receiving system are coaxially stacked. Along with the increase of the vertical field angle of the laser radar, the light-emitting angle of the laser is gradually increased, and the height of the radar is increased under the condition of the same optical path. If the divergence angle of the laser is smaller than the vertical field angle of the radar, the divergence angle of the laser is expanded, and the height of the radar is further increased, as shown in fig. 1. With the development of automatic driving, the height requirement of the radar is more and more strict, and the reduction of the height of the laser radar is an urgent need.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a transmission system capable of significantly reducing the height of a laser radar, and capable of reducing the height of a system in which transmission and reception are stacked in a vertical direction.
Another object of the present invention is to provide a dimming method for a transmitting system capable of reducing the height of a laser radar, which can simply and effectively collimate and completely coincide linear laser spots.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a transmitting system for reducing the height of a lidar, the transmitting system comprising:
the laser adopts four groups of lasers which are arranged in parallel at intervals;
the number of the fast axis collimating mirrors is 4, the fast axis collimating mirrors are arranged in the light emergent direction of each group of the lasers, the bus direction of the fast axis collimating mirrors is parallel to the slow axis direction, and the fast axis collimating mirrors are configured to collimate the emergent light beams of the lasers;
and the slow axis beam expander is arranged in the light emergent direction of the fast axis collimating lens, the bus of the slow axis beam expander is vertical to the linear laser direction, and the slow axis beam expander is configured to process the slow axis angle of the laser so as to enable the light beam to converge and expand firstly.
Furthermore, the materials of the fast axis collimating lens and the slow axis beam expanding lens are both H-K9L; the interval between the fast axis collimating lens and the slow axis beam expanding lens is 2.1 mm; the effective focal length of the fast axis collimating lens is 4.5mm, and the effective focal length of the slow axis beam expanding lens is 58.95 mm.
Furthermore, the fast axis collimating mirror adopts a plano-convex aspheric cylindrical mirror, the size is 6mm x 6mm, the center thickness is 2.708mm, and the fast axis collimating mirror is arranged at the center interval of 7mm in the vertical direction; the slow-axis beam expander adopts a spherical cylindrical mirror, the size of the spherical cylindrical mirror is 29mm by 8mm, and the center thickness of the spherical cylindrical mirror is 6 mm; the laser adopts edge-emitting lasers, the total length of the light emitting surface of each group of lasers is 3200 micrometers, and the width of each group of lasers is 600 micrometers.
In a second aspect, the present invention further provides a dimming method for a transmitting system for reducing the height of a laser radar, including:
fixing all the lasers on a laser plate, smearing heat-conducting glue on the back of the laser plate, and fixing the laser plate at a set position of an emission system;
the method comprises the steps of performing translation and/or rotation adjustment on the position of a fast axis collimating mirror of an emission system to enable light spots of all lasers to be completely overlapped and clearly visible at a preset position, and fixing the fast axis collimating mirror;
mounting a slow-axis beam expander at a preset position;
baking reinforcement and stress release are carried out, and the dimming process of the emission system is completed;
wherein, the light-emitting direction is defined as Z axis, the horizontal direction is X axis, and the vertical direction is Y axis.
Further, the process of fixing the fast axis collimator lens includes:
translating the fast axis collimating lens, if the light spots of the first group of lasers cannot be overlapped after being collimated by the first fast axis collimating lens, adjusting the first fast axis collimating lens to rotate and translate so as to enable the light spots to be overlapped and a clear target strip to be seen;
if the light spots with the shapes of halos appear on one side, the first fast axis collimating mirror is continuously adjusted to rotate, match and translate, so that the light spots are clear and symmetrical left and right, and no halos exist on the two sides;
if the middle target strip appears to be clear and symmetric 'halo' light spots are arranged around the light spots, the first fast axis collimating mirror is continuously adjusted to rotate, cooperate and translate, so that the light spots are clear and symmetrical left and right;
if the light spots are clear and symmetrical left and right, adjusting the upper edge of the first fast axis collimating mirror to exceed the positioning position by a set distance so that the light spots are clearly positioned at a preset position on the light screen, and fixing the first fast axis collimating mirror;
and adjusting and fixing the fast axis collimating mirrors corresponding to the other groups of lasers, and repeating the process to ensure that the light spots of the other groups of lasers are completely overlapped with the light spots of the first group of lasers after the corresponding fast axis collimating mirrors are collimated by the other groups of lasers.
Further, if there is a light spot with a 'halo' shape on one side, the first fast axis collimating mirror is continuously adjusted to rotate, cooperate and translate, so that the light spot is clear and symmetrical left and right, and the adjusting process without the 'halo' on both sides includes:
and a halo-shaped light spot appears on one side by adjusting the translation in the Z-axis direction, and the first fast-axis collimating mirror is adjusted to rotate around the Y-axis and matched with the translation of X, Y, Z, so that the light spots are clear and are symmetrical left and right.
Further, if the target strip is clear in the middle of the facula appears, there is the facula of symmetrical "halo" form all around, then continues to adjust first fast axis collimating mirror normal running fit translation, makes clear and bilateral symmetry's of facula accommodation process include:
if symmetric 'halo' (afterglow) -shaped light spots are arranged around the X-axis, the first fast axis collimating mirror is adjusted to rotate around the X-axis, and the light spots are clear and symmetrical left and right in cooperation with translation of X, Y, Z.
Further, the process of adjusting and fixing the fast axis collimating mirrors corresponding to the other groups of lasers and repeating the process to ensure that the light spots of the other groups of lasers are completely overlapped with the light spots of the first group of lasers after the corresponding fast axis collimating mirrors are collimated by the fast axis collimating mirrors comprises the following steps:
the position after the collimation of the first group of lasers is used as a standard, the other groups of lasers are deviated from one target strip leftwards compared with the first group of lasers before solidification, the state of 4 target strips is presented, the solidified target strips become 3 target strips through the expansion and contraction of the solidification, the analogy is repeated, the collimation adjustment operation process of the first fast axis collimating mirror is repeated for each target strip adjustment, and the light spots of the 4 lasers are completely overlapped.
Further, the process of adjusting the upper edge of the first fast axis collimating mirror to exceed the set distance of the positioning position comprises:
and adjusting the translation in the Y direction to enable the upper edge of the first fast axis collimating mirror to exceed the positioning position by less than 0.5 mm.
Further, a certain amount of ultraviolet glue is coated in advance at the mounting position of the fast axis collimating lens and the mounting position of the slow axis beam expanding lens, and the glue is cured by irradiating the glue applying position through an ultraviolet lamp so as to fix the fast axis collimating lens and the slow axis beam expanding lens.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention utilizes two groups of cylindrical mirror combination systems to shape light beams, realizes the effects of collimation in the horizontal direction (fast axis) and reduction of height in the vertical direction (slow axis), can cover different view field angles in the vertical direction, and can not increase the height of a transmitting system along with the increase of the vertical view field angle of a radar;
2. according to the invention, the height of the transmitting end is obviously reduced by optimizing the slow-axis beam expander, so that the overall volume of the radar is reduced;
3. the invention can realize the coverage of a vertical 30-degree field angle, the laser energy in the use area of each angle is relatively average, the light energy utilization rate exceeds 90 percent, so that the distance measuring capability of all angles is consistent, the problems of strong distance measuring capability of the middle angle and weak distance measuring capability of the edge angle of a line laser are solved, and different vertical field angles can be matched by adjusting the slow axis beam expander;
4. the dimming method of the invention can simply and effectively collimate and completely coincide the laser of a plurality of lines, thereby meeting the requirements of a laser radar system;
in conclusion, the invention can be widely applied to laser radars.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like reference numerals refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of a general method of line laser beam expansion of the prior art;
FIG. 2 is a schematic diagram of a reduced height emission system in accordance with an embodiment of the present invention;
FIG. 3 is a detailed design diagram of a reduced height emission system according to an embodiment of the present invention
FIG. 4 shows the lens arrangement and size of the emission system according to the embodiment of the present invention
FIG. 5 is a single 8-core laser light emitting face of an embodiment of the present invention
FIG. 6 is an energy distribution plot for different vertical field angles for an embodiment of the present invention
FIG. 7 is a schematic view of a fast axis collimator installation according to an embodiment of the present invention;
FIG. 8 is an overall effect tooling diagram of an embodiment of the present invention;
FIG. 9 is a schematic diagram of the light spot effect during the adjustment process according to the embodiment of the invention;
FIG. 10 is a schematic diagram of the light spot effect during the adjustment process according to the embodiment of the invention;
FIG. 11 is a schematic diagram of the light spot effect during the adjustment process according to the embodiment of the invention;
FIG. 12 is a diagram illustrating an effect of limiting the mounting position of the collimating lens according to the embodiment of the present invention;
FIG. 13 is a schematic diagram of the pre-curing effect of a laser spot according to an embodiment of the present invention;
FIG. 14 is a schematic illustration of the effect of a laser spot after curing in accordance with an embodiment of the present invention;
fig. 15 is a schematic diagram illustrating an installation effect of a beam expanding column lens according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The invention provides a transmitting system and a dimming method for reducing the height of a laser radar, wherein the transmitting system comprises: the laser adopts four groups of lasers which are arranged in parallel at intervals; the number of the fast axis collimating mirrors is 4, the fast axis collimating mirrors are arranged in the light outgoing direction of each group of lasers, the bus direction of the fast axis collimating mirrors is parallel to the slow axis direction, and the fast axis collimating mirrors are configured to collimate the light beams emitted by the lasers; and the slow axis beam expander is arranged in the light emergent direction of the fast axis collimating lens, the bus of the slow axis beam expander is vertical to the linear laser direction, and the slow axis beam expander is configured to process the slow axis angle of the laser so as to enable the light beam to converge and expand firstly. The invention can realize the coverage of a vertical 30-degree field angle, the laser energy in the use area of each angle is relatively average, the light energy utilization rate exceeds 90 percent, the distance measuring capability of all angles is consistent, the problems of strong distance measuring capability of the middle angle and weak distance measuring capability of the edge angle of a line laser are solved, and different vertical field angles can be matched by adjusting the slow axis beam expander.
Example one
As shown in fig. 2 and fig. 3, the transmitting system for reducing the height of the laser radar provided in this embodiment includes a plurality of sets of lasers 1, and a beam shaping component 2 is disposed in the light emitting direction of the lasers 1, so that the light beam is converged and then diffused in the transmitting system, and then is emitted through a window 3.
The beam shaping component 2 can adopt a fast axis collimator 21 and a beam expanding column lens 22, four groups of 8-core lasers 1 are arranged in parallel at intervals in the embodiment, a fast axis collimator 21 is arranged in the light emitting direction of each group of lasers 1, and the bus direction of the fast axis collimator 21 is parallel to the slow axis direction. The slow axis beam expander 22 is arranged in the light outgoing direction of the fast axis collimating lens 21, the slow axis beam expander 22 is configured to process the slow axis angle of the laser 1 to enable the light beam to converge and expand firstly, the laser 1 is collimated by the fast axis and then expands the light beam by the slow axis, and the bus is perpendicular to the line laser direction, so that the light beam converges and expands firstly in the laser radar.
In some preferred embodiments of the present invention, the fast axis collimator lens 21 and the slow axis beam expander lens 22 are made of H-K9L.
In some preferred embodiments of the present invention, the effective focal length of the fast axis collimator lens 21 is 4.5mm, and the effective focal length of the slow axis beam expander lens 22 is 58.95 mm.
In some preferred embodiments of the present invention, as shown in fig. 4, the fast axis collimating mirror 21 can be a plano-convex aspheric cylindrical mirror with a size of 6mm × 6mm and a center thickness of 2.708mm, and is arranged with a center interval of 7mm in the vertical direction. The slow axis beam expander 22 may be a spherical cylindrical mirror with dimensions of 29mm by 8mm and a center thickness of 6 mm. The interval between the fast axis collimating lens 21 and the slow axis beam expanding lens 22 is 2.1 mm.
In some preferred embodiments of the present invention, as shown in fig. 5, 4 groups of 8-core lasers are selected for the laser 1, the total length of the light emitting surface of each group of 8-core lasers is 3200 μm, and the width of each group of 8-core lasers is 600 μm, and preferably, each laser is an edge emitting laser.
By designing the parameters as above, each group of 8-core lasers of the present embodiment can be respectively emitted to different positions in space, and cover a vertical field angle of 30 °, and the laser energy in the used area is relatively average.
The single group of lasers can be collimated into line light spots through the plano-convex aspheric cylindrical mirror, and the principle is as follows: in the fast axis direction, the parallel light is collimated into parallel light through the plano-convex aspheric cylindrical mirror, and the divergence angle in the slow axis direction is not processed, so that the laser 1 forms line laser after being collimated by the fast axis. The fast axis collimating lens 21 collimates the fast axis divergence angle of the laser 1, and at the moment, the slow axis beam expanding lens 22 is equivalent to a parallel flat plate and does not influence the fast axis divergence angle; when the slow axis beam expander 22 expands the slow axis of the laser, the fast axis collimator 21 is equivalent to a parallel flat plate, and the slow axis divergence angle is not affected.
In summary, after the emission system of the present embodiment is used to process the light beam, energy distribution in different vertical field angles is as shown in fig. 6, the abscissa is the vertical direction angle, the ordinate is the laser energy, each group of 8-core lasers covers a field of view of 7.5 °, and energy utilization reaches 90% or more; the 4 groups of 8-core lasers together complete a 30 ° coverage of the vertical field angle. The transmitting system of the invention ensures that the energy distribution in each angle is relatively uniform, thus the distance measuring capability is consistent, and the problems of strong distance measuring capability of the middle angle and weak distance measuring capability of the edge angle of the line laser are solved.
Example two
It should be noted that, a person skilled in the art needs to use a rotating platform, a moving platform, an optical device installation tool assembly, and the like when adjusting an optical path, and all the tools that are not described in detail are conventional tools in the art, and details are not described herein, as shown in fig. 8, the light emitting direction is defined as a Z axis, the horizontal direction is an X axis, and the vertical direction is a Y axis in this embodiment.
For the emitting system of the first embodiment, the present embodiment provides a dimming method matched with the emitting system, so that each group of 8-core lasers 1 is collimated into parallel light after passing through the fast axis collimator 21, and the four groups of 8-core lasers 1 are overlapped in the horizontal direction, and each group of lasers covers a corresponding vertical field angle through the slow axis beam expander 22, which includes the specific processes:
s1, fixing the position of the laser
All lasers 1 are fixed on a laser plate, the laser plate fixed with the lasers 1 is attached to a preset position of a core structure of the emission system, and the lasers 1 can emit light by driving the laser plate through an existing circuit.
In some implementations, the back of the laser plate can be uniformly coated with heat-conducting glue to enhance heat dissipation so as to reduce the influence of temperature on the laser, and the laser plate is fixed at a set position of the emission system and is fastened by screws.
S2, coating a certain amount of uv glue in advance at the mounting position of the fast axis collimator lens 21 and the mounting position of the slow axis beam expander lens 22 for adhering the fast axis collimator lens 21 and the slow axis beam expander lens 22, as shown by the arrows shown in fig. 7, preferably, the uv glue may be coated to a thickness of 0.1mm, which is taken as an example and not limited thereto.
S3, as shown in fig. 8, the existing mounting platform is used to adjust the collimation of the fast axis collimating mirror 21 of the emission system, and the specific process is as follows:
s31, if the mounting platform translates, the light spots of the first group of lasers 1 after being collimated by the corresponding fast axis collimating mirror 21 are as shown in FIG. 9, the light spots of the first group of 8 lasers cannot be overlapped, and the corresponding fast axis collimating mirror 21 is adjusted to rotate, cooperate and translate, so that the light spots are overlapped and clear target strips are seen.
Specifically, if the first group of 8 laser 1 light spots can not be overlapped by adjusting the fast axis collimating mirror to translate along the Z axis direction, the fast axis collimating mirror 21 is adjusted to rotate around the Z axis, and X, Y, Z translation is matched, so that the light spots are overlapped and a clear target strip can be seen.
S32, if the light spot has a halo (afterglow) -shaped light spot on one side as shown in FIG. 10, the fast axis collimating mirror 21 is continuously adjusted to rotate and match the translation of X, Y, Z, so that the light spot is clear and symmetrical left and right, and both sides of the light spot have no halo.
Specifically, by adjusting the translation of the mounting platform in the Z-axis direction, one side of the mounting platform has a "halo" (afterglow) -shaped light spot, and then adjusting the fast-axis collimating mirror 21 to rotate around the Y-axis, and matching with the translation of X, Y, Z, the light spot is clear and symmetrical left and right.
S33, if the light spots are clear as the middle target strip shown in FIG. 11 and symmetric 'halo' (afterglow) -shaped light spots are arranged around the middle target strip, adjusting the fast axis collimating mirror to rotate around the X axis and coordinate with the translation of X, Y, Z, so that the light spots are clear and symmetrical left and right.
Specifically, the light spots are clear as the middle target strip shown in fig. 11, and symmetric "halo" (afterglow) -shaped light spots are arranged around the middle target strip, so that the fast axis collimating mirror is adjusted to rotate around the X axis, and the light spots are clear and symmetrical left and right in cooperation with translation of X, Y, Z.
S34, in order to make the fast axis collimator 21 at the preset position without affecting the adjustment of other fast axis collimator, the upper edge of the fast axis collimator 21 is adjusted to exceed the positioning position by a set distance in this embodiment.
Specifically, the Y-direction translation is adjusted so that the upper edge of the fast axis collimator lens 21 exceeds the positioning position by less than 0.5mm, as shown in fig. 12.
And S35, adjusting the movement of the mounting platform to enable the light spot to be located at a preset position on the light screen, irradiating the glue applying part by using an ultraviolet lamp for about 10 seconds, solidifying the glue to enable the first fast axis collimating mirror 21 to be fixed, and then taking down the mounting platform.
Specifically, the X-direction translation of the mounting platform is adjusted to enable the light spot to be located at a preset position on the light screen.
S36, after the first fast axis collimating mirror 21 is fixed, the fixing of other fast axis collimating mirrors 21 is repeated from S31 to S35 until all the fast axis collimating mirrors 21 are fixed.
Specifically, after being collimated, the first fast axis collimating mirror 21 takes the position of the first group of 8-core lasers as a standard, and the other groups of lasers are adjusted to coincide with the first group of lasers 1; considering the curing expansion of glue, the overlapping position of the other groups of lasers and the first group of lasers before curing is shown in figure 13, namely A2A 3A 4 deviates a target strip leftwards, so that the first group of lasers deviates a target strip rightwards and presents the state of 4 target strips, so that the 4 groups of target strips after ultraviolet glue curing are completely overlapped as shown in figure 14, the first group of lasers deviate a target strip rightwards and are realized by adjusting the translation of the mounting platform, the target strips become 3 after curing through the expansion of curing, and the like, the adjustment of each target strip is repeated with the operations of S31-S35, and the light spots of the 4 groups of lasers are completely overlapped after passing through the corresponding fast axis collimating mirror.
S4, as shown in fig. 15, the slow axis beam expander 22 is directly attached to a predetermined position using ultraviolet glue.
Because machining and installation errors have been fully considered in the design, the slow axis beam expander 22 does not need to be adjusted to meet design requirements.
S5, baking reinforcement and stress release, for example, baking time is 50min, and temperature is 80 ℃, namely finishing the dimming process of the emission system.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the above-described arrangements in the embodiments or equivalents may be substituted for some of the features of the embodiments without departing from the spirit or scope of the present invention.
Claims (10)
1. A transmitting system for reducing the height of a lidar, the transmitting system comprising:
the laser adopts four groups of lasers which are arranged in parallel at intervals;
the number of the fast axis collimating mirrors is 4, the fast axis collimating mirrors are arranged in the light emergent direction of each group of the lasers, the bus direction of the fast axis collimating mirrors is parallel to the slow axis direction, and the fast axis collimating mirrors are configured to collimate the emergent light beams of the lasers;
and the slow axis beam expander is arranged in the light emergent direction of the fast axis collimating lens, the bus of the slow axis beam expander is vertical to the linear laser direction, and the slow axis beam expander is configured to process the slow axis angle of the laser so as to enable the light beam to converge and expand firstly.
2. The transmitting system for reducing the height of the laser radar as recited in claim 1, wherein the materials of the fast-axis collimating mirror and the slow-axis beam expanding mirror are H-K9L; the interval between the fast axis collimating lens and the slow axis beam expanding lens is 2.1 mm; the effective focal length of the fast axis collimating lens is 4.5mm, and the effective focal length of the slow axis beam expanding lens is 58.95 mm.
3. The transmitting system for reducing the height of the laser radar as claimed in claim 1, wherein the fast axis collimating mirror is a plano-convex aspheric cylindrical mirror with the size of 6mm x 6mm and the central thickness of 2.708mm, and is arranged at the central interval of 7mm in the vertical direction; the slow-axis beam expander adopts a spherical cylindrical mirror, the size of the spherical cylindrical mirror is 29mm by 8mm, and the center thickness of the spherical cylindrical mirror is 6 mm; the laser adopts edge-emitting lasers, the total length of the light emitting surface of each group of lasers is 3200 micrometers, and the width of each group of lasers is 600 micrometers.
4. A dimming method of a transmitting system for reducing the height of a laser radar is characterized by comprising the following steps:
fixing all the lasers on a laser plate, smearing heat-conducting glue on the back of the laser plate, and fixing the laser plate at a set position of an emission system;
the method comprises the following steps of (1) carrying out translation and/or rotation adjustment on the position of a fast axis collimating mirror of an emission system to enable light spots of all lasers to be completely overlapped and clearly visible at a preset position, and fixing the fast axis collimating mirror;
mounting a slow-axis beam expander at a preset position;
baking reinforcement and stress release are carried out, and the dimming process of the emission system is completed;
wherein, the light-emitting direction is defined as Z axis, the horizontal direction is X axis, and the vertical direction is Y axis.
5. The dimming method of claim 4, wherein the process of fixing the fast axis collimator lens comprises:
translating the fast axis collimating lens, if the light spots of the first group of lasers cannot be overlapped after being collimated by the first fast axis collimating lens, adjusting the first fast axis collimating lens to rotate and translate so as to enable the light spots to be overlapped and a clear target strip to be seen;
if the light spots with the shapes of halos appear on one side, the first fast axis collimating mirror is continuously adjusted to rotate, match and translate, so that the light spots are clear and symmetrical left and right, and no halos exist on the two sides;
if the middle target strip appears to be clear and symmetric 'halo' light spots are arranged around the light spots, the first fast axis collimating mirror is continuously adjusted to rotate, cooperate and translate, so that the light spots are clear and symmetrical left and right;
if the light spots are clear and symmetrical left and right, adjusting the upper edge of the first fast axis collimating mirror to exceed the positioning position by a set distance so that the light spots are clearly positioned at a preset position on the light screen, and fixing the first fast axis collimating mirror;
and adjusting and fixing the fast axis collimating mirrors corresponding to the other groups of lasers, and repeating the process to ensure that the light spots of the other groups of lasers are completely overlapped with the light spots of the first group of lasers after the corresponding fast axis collimating mirrors are collimated by the other groups of lasers.
6. A dimming method according to claim 5, wherein if a light spot with a halo shape on one side appears, the adjustment process of continuously adjusting the first fast axis collimating mirror to rotate, cooperate and translate so as to make the light spot clear and symmetrical left and right without the halo on both sides comprises:
and a halo-shaped light spot appears on one side by adjusting the translation in the Z-axis direction, and the first fast-axis collimating mirror is adjusted to rotate around the Y-axis and matched with the translation of X, Y, Z, so that the light spots are clear and are symmetrical left and right.
7. A dimming method according to claim 5, wherein if the light spot has a clear central target and symmetric 'halo' shaped light spots around the central target, the first fast axis collimating mirror is continuously adjusted to rotate, cooperate and translate, so that the adjustment process of the clear and bilaterally symmetric light spot comprises:
if symmetric 'halo' (afterglow) -shaped light spots are arranged around the X-axis, the first fast axis collimating mirror is adjusted to rotate around the X-axis, and the light spots are clear and symmetrical left and right in cooperation with translation of X, Y, Z.
8. A dimming method as claimed in claim 5, wherein the fast axis collimator lens adjustment corresponding to the other group of lasers is fixed and repeated, and the process of ensuring that the light spots of the other group of lasers are completely overlapped with the light spots of the first group of lasers after the corresponding fast axis collimator lens is collimated by the fast axis collimator lens comprises:
the position after the collimation of the first group of lasers is used as a standard, the other groups of lasers are deviated from one target strip leftwards compared with the first group of lasers before solidification, the state of 4 target strips is presented, the solidified target strips become 3 target strips through the expansion and contraction of the solidification, the analogy is repeated, the collimation adjustment operation process of the first fast axis collimating mirror is repeated for each target strip adjustment, and the light spots of the 4 lasers are completely overlapped.
9. A dimming method as claimed in claim 5, wherein adjusting the upper edge of the first fast axis collimator lens to a set distance beyond the location position comprises:
and adjusting the translation in the Y direction to enable the upper edge of the first fast axis collimating mirror to exceed the positioning position by less than 0.5 mm.
10. A dimming method as claimed in any one of claims 4 to 9, wherein a predetermined amount of UV glue is applied to the mounting position of the fast axis collimator lens and the mounting position of the slow axis beam expander lens in advance, and the glue is cured by irradiating the glue application portion with a UV lamp to fix the fast axis collimator lens and the slow axis beam expander lens.
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