CN113655462A - Laser radar receiving and transmitting light path horizontal contraposition system - Google Patents
Laser radar receiving and transmitting light path horizontal contraposition system Download PDFInfo
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- CN113655462A CN113655462A CN202110991300.0A CN202110991300A CN113655462A CN 113655462 A CN113655462 A CN 113655462A CN 202110991300 A CN202110991300 A CN 202110991300A CN 113655462 A CN113655462 A CN 113655462A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application relates to a laser radar transmitting-receiving light path horizontal opposition system, which comprises a transmitting device, a receiving device and a reflecting device, wherein the transmitting device is used for transmitting line laser with a preset divergence angle in a third direction, the receiving device is used for receiving diffuse reflection echoes generated on the surface of a measured object, and the reflecting device is used for reflecting the line laser to the surface of the measured object and the diffuse reflection echoes to the receiving device. This application has the effect of effectively reducing the radar height.
Description
Technical Field
The application relates to the technical field of radars, in particular to a laser radar transmitting and receiving light path horizontal opposition system.
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. As proposed in patent CN208506242U, a linear array detector is used as a receiving device, and a laser emission system generates a linear laser spot to match with a receiving field of view, so that a plurality of distance measurement points can be obtained quickly, and the measurement speed and the application range of the system are improved. In addition, because a single light beam is matched with the array device, the difficulty in installation and adjustment of the system is greatly reduced, and the overall cost of the laser radar product is favorably controlled.
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. 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 order to effectively reduce the height of the radar, the application provides a laser radar transmitting and receiving light path horizontal opposition system.
The application provides a horizontal opposition system of laser radar receiving and dispatching light path adopts following technical scheme:
a laser radar transmitting and receiving optical path horizontal opposed system comprises:
the device comprises a transmitting device, a receiving device and a reflecting device, wherein the transmitting device is used for transmitting line laser with a preset divergence angle in a third direction, the receiving device is used for receiving diffuse reflection echoes generated on the surface of a measured object, the reflecting device is used for reflecting the line laser to the surface of the measured object and reflecting the diffuse reflection echoes to the receiving device, and the receiving device is a linear array detector and at least comprises two reflecting surfaces with preset angles;
the reflection device can rotate in a plane where a first direction and a second direction are located by taking a third direction as an axis to scan a measured object, and the first direction, the second direction and the third direction are perpendicular to each other;
the line laser and the included angle of the first direction, the diffuse reflection echo reflected by the reflecting device, the included angle of the first direction and the preset angle satisfy the following relations:
wherein, α is a preset angle, and θ is an included angle between the linear array laser pulse and the first direction or an included angle between the diffuse reflection echo reflected by the reflection device and the first direction.
Through adopting above technical scheme, arrange emitter and receiving arrangement respectively in the both sides of reflect meter, emitter sends the line laser that has preset divergence angle in the third direction, hits the testee surface and takes place the diffuse reflection after the reflect meter reflection, reflects the diffuse reflection echo to receiving arrangement through reflect meter. The reflecting device can rotate in the plane where the first direction and the second direction are located by taking the third direction as an axis, so that the measured object can be scanned, and the height of the radar is effectively reduced. Because the transmitting device and the receiving device are positioned on two sides of the rotating mirror, the light blocking structure does not need to be additionally arranged, the reflecting device serves as a light sub-bin function, the linear array light spot is matched with the linear array detector, the installation and adjustment difficulty of the system is not increased while the height of the radar is obviously reduced, and the overall cost of a laser radar finished product is favorably controlled.
Preferably, the two reflecting surfaces are perpendicular to planes where the first direction and the second direction are located, the light outgoing direction of the emitting device faces one of the reflecting surfaces, and the light incoming direction of the receiving device faces the other one of the reflecting surfaces.
By adopting the technical scheme, the reflecting device at least comprises two reflecting surfaces with preset angles, wherein one reflecting surface faces to the light outgoing direction of the emitting device and is used for reflecting the pulse laser from the emitting device; the other reflecting surface faces the incident light direction of the receiving device and is used for reflecting the diffuse reflection echo from the surface of the measured object.
Preferably, the size of the preset angle can be changed to change the angle of view of the laser radar in the first direction.
Through adopting above technical scheme, through changing the angle of presetting on the reflect meter, just can change the angle of view of laser radar in the first direction to change laser radar's scanning range.
Preferably, the size of the included angle between the line laser and the first direction or the size of the included angle between the diffuse reflection echo and the first direction can be changed to change the angle of view of the laser radar in the first direction, wherein the included angle between the line laser and the first direction is equal to the included angle between the diffuse reflection echo and the first direction.
Through adopting above technical scheme, change the size of the contained angle between line laser and the first direction, the size of the contained angle between diffuse reflection echo and the first direction, can change lidar and be in angle of view on the first direction to change lidar's scanning range.
Preferably, the reflecting device is a rotating mirror.
By adopting the technical scheme, the reflecting device adopts the rotating mirror, and the laser radar can scan in the first direction by rotating the rotating mirror in the plane where the first direction and the second direction are located by taking the third direction as an axis.
Preferably, the reflecting device comprises a regular prism reflector and a driving structure, and the driving structure can drive the regular prism reflector to rotate in a plane where the first direction and the second direction are located by taking the third direction as an axis.
Through adopting above technical scheme, reflection device adopts regular prism speculum, and regular prism speculum rotates through drive structure. The pulse laser emitted by the emitting device moves on the surface of the measured object after being emitted by the rotating regular prism reflector, and the laser radar realizes the scanning in the first direction.
Preferably, the regular prism mirrors include at least a regular quadrangular prism mirror, a regular pentagonal prism mirror, and a regular hexagonal prism mirror.
Through adopting above technical scheme, select for use different regular prism speculum, can reduce motor speed under the same frame rate, extension motor life promotes laser radar operation's stability.
Preferably, the emitting device includes an edge-emitting laser and a beam shaping mirror, the fast axis of the edge-emitting laser is used for emitting laser, and the beam shaping mirror is used for collimating the laser to form the line laser.
By adopting the technical scheme, the fast axis which is easy to collimate is collimated by utilizing the characteristic of the light emitting surface of the edge emitting laser to form the line laser.
Preferably, the receiving device comprises a laser detector and a receiving lens, and the receiving lens is used for imaging the diffuse reflection echo on the surface of the laser detector.
By adopting the technical scheme, pulse laser generated by diffuse reflection penetrates through the receiving lens and is irradiated on the laser detector.
The laser radar transmitting and receiving light path horizontal opposition system provided by the embodiment of the application has at least the following beneficial effects:
the transmitting device sends out laser pulses, the laser pulses are reflected to the surface of a measured object through one reflecting surface of the reflecting device, the other reflecting surface of the reflecting device transmits diffuse reflection echoes of the surface of the measured object to the receiving device, and the transmitting and receiving are horizontally arranged in an opposite mode. The reflecting device can rotate, the scanning range of the laser radar is enlarged, and the height of the radar can be effectively reduced.
Drawings
Fig. 1 shows a schematic configuration diagram of a laser radar system in the related art.
Fig. 2 is a schematic structural diagram illustrating a system in which laser radar transmission/reception optical paths are horizontally opposed to each other according to an embodiment of the present application.
Fig. 3 shows schematic structural diagrams of three regular prism reflectors according to the embodiments of the present application.
Description of reference numerals: 10. a transmitting system; 11. a transmitting laser; 12. a shaping mirror; 20. a receiving system; 21. linear array APD; 22. a lens; 30. a mirror; 40. a transmitting device; 41. an edge-emitting laser; 42. a beam shaping mirror; 50. a receiving device; 51. a laser detector; 52. a receiving lens; 60. a reflecting device.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some implementations of the present disclosure, but not all implementations. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
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.
Fig. 1 shows a schematic configuration diagram of a laser radar system in the related art. Referring to fig. 1, the lidar system includes a transmitting system 10, a receiving system 20, and a mirror 30. Wherein, the transmitting system 10 comprises a transmitting laser 11 and a shaping mirror 12; the receiving system 20 includes a linear array APD 21 and a lens 22.
As can be seen from fig. 1, the transmitting system 10 and the receiving system 20 are stacked on the same side of the reflector 30, that is, the transmitting system 10 and the receiving system 20 of the lidar system are stacked on the same axis in the height direction of the lidar system, so that the light emitting angle of the transmitting laser 11 gradually increases with the increase of the vertical field angle of the lidar system, and the height of the lidar system also increases with the same optical path. If the divergence angle of the transmitting laser 11 is smaller than the vertical field angle of the laser radar system, the divergence angle of the transmitting laser 11 needs to be expanded, and the radar height is further increased.
However, with the development of automatic driving, the height requirement of the radar becomes more and more stringent, and the reduction of the height of the laser radar becomes an urgent need. Therefore, the embodiment of the application provides the laser radar, and the height of the laser radar can be effectively reduced.
Fig. 2 shows a schematic structural diagram of a lidar according to an embodiment of the present application. Referring to fig. 2, the lidar includes a transmitting device 40, a receiving device 50, and a reflecting device 60. The transmitting device 40 is configured to emit line laser having a preset divergence angle in a third direction, the receiving device 50 is configured to receive a diffuse reflection echo generated by a surface of a measured object, and the reflecting device 60 is configured to reflect the line laser emitted by the transmitting device 40 to the surface of the measured object and reflect the diffuse reflection echo generated by the surface of the measured object to the receiving device 50.
In the embodiment of the present application, the reflection device 60 can rotate around the third direction as an axis in a plane where the first direction and the second direction are located to scan the object to be measured, and the first direction, the second direction and the third direction are perpendicular to each other.
How the laser radar provided in the embodiment of the present application implements scanning on the measured object is described below by taking the first direction as the x-axis of the three-dimensional coordinate system, the second direction as the y-axis of the three-dimensional coordinate system, and the third direction as the z-axis of the three-dimensional coordinate system as an example. In this example, the object to be measured is vertically disposed in a plane formed by the x-axis and the z-axis.
As can be seen from the foregoing, the emitting device 40 is used for emitting line laser with a preset divergence angle in the third direction, that is, the emitting device 40 can emit line laser, that is, the line laser emitted by the emitting device 40 can scan the measured object in the z-axis direction.
The reflection device 60 can rotate around the third direction in the plane where the first direction and the second direction are located, that is, the reflection device 60 can rotate around the z axis in the plane formed by the x axis and the y axis, since the reflection device 60 can reflect the line laser emitted by the emitting device 40 to the surface of the object to be measured, the object to be measured can be scanned in the x axis direction during the rotation of the reflection device 60, and the reflection device 60 can also reflect the diffuse reflection echo generated by the surface of the object to be measured to the receiving device 50 during the rotation. Therefore, the object to be measured can be scanned by the rotation of the reflecting device 60.
In the embodiment of the present application, the transmitting device 40 and the receiving device 50 are oppositely disposed at both sides of the reflecting device 60, so that the radar height is reduced.
In some embodiments, the reflection device 60 has at least two reflection surfaces with a predetermined angle, and both reflection surfaces are perpendicular to the plane of the first direction and the second direction, in which case the light emitting direction of the emitting device 40 faces one of the reflection surfaces and the light incident direction of the receiving device 50 faces the other reflection surface.
The positional relationship among the transmitting device 40, the receiving device 50, and the reflecting device 60 will be described below with reference to specific examples.
Illustratively, the reflecting means may be a turning mirror. The rotating mirror is configured to deflect light by driving a polygon mirror with a driving source (e.g., a motor) that rotates. The vertex angle formed by two adjacent reflectors of the rotating mirror faces to a measured object, the transmitting device 40 is arranged on one side of one of the reflectors (namely, the light outgoing direction of the transmitting device 40 faces to one of the reflectors), and the receiving device 50 is arranged on one side of the other reflector (namely, the light incoming direction of the receiving device 50 faces to the other reflector).
Illustratively, the reflecting device comprises a regular prism reflector (shown in fig. 3) and a driving structure, wherein the driving structure can drive the regular prism reflector to rotate in a plane in which the first direction and the second direction are positioned by taking the third direction as an axis. When a regular prism mirror is used, the transmitting device 40 and the receiving device 50 are arranged in the same manner as when a rotating mirror is used, and will not be described in detail here. In this example, the regular prism mirrors include, but are not limited to, regular quadrangular prism mirrors, regular pentagonal prism mirrors, and regular hexagonal prism mirrors. The drive structure may be an electric motor.
When the reflecting device is a regular prism reflector and a driving structure, the following relations are satisfied between the included angle between the line laser and the first direction, the included angle between the diffuse reflection echo reflected by the reflecting device and the first direction, and the preset angle:
wherein, α is a preset angle, and θ is an included angle between the linear array laser pulse and the first direction or an included angle between the diffuse reflection echo reflected by the reflection device and the first direction.
It should be noted that the frame rate can be increased by using the regular prism reflector at the same rotating speed of the motor, the number of effective point clouds can be increased, and when the polygon prism reflector is adopted, the rotating speed of the motor can be reduced at the same frame rate, the service life of the motor can be prolonged, and the operation stability of the laser radar can be improved.
In some embodiments, when the field angle of the laser radar in the x-axis direction needs to be changed, the following two ways may be adopted.
The first method is as follows: the angle of view of the lidar in the x-axis direction is changed by changing the angle α between two reflecting surfaces of the plane in which the reflecting device 60 is perpendicular to the x-axis direction and the y-axis direction. Specifically, with reference to fig. 2, when the included angle between the two reflecting surfaces is increased, the incident point of the line laser emitted by the emitting device 40 on the reflecting surface moves toward the direction close to the emitting device 40, and similarly, the incident point of the diffuse reflection echo on the reflecting surface also moves toward the direction close to the receiving device 50, and the field angle of the lidar is increased; otherwise, the angle of view of the lidar is reduced.
The second method comprises the following steps: and changing the field angle of the laser radar in the x-axis direction by changing the size of an included angle theta between the line laser and the x-axis direction and the size of an included angle theta between the diffuse reflection echo and the x-axis direction. Specifically, with reference to fig. 2, when the angle θ between the line laser emitted by the emitting device 40 and the x-axis direction is decreased, the angle θ between the diffuse reflection echo and the x-axis direction is also decreased, the incident point of the line laser on the reflection surface moves in the opposite direction of the y-axis, and the incident point of the diffuse reflection echo on the reflection surface also moves in the opposite direction of the y-axis, at this time, the angle of field of the lidar is increased; otherwise, the angle of view of the lidar is reduced. It should be noted that, in the process of changing the included angle between the line laser and the x-axis direction and the included angle between the diffuse reflection echo and the x-axis direction, it is necessary to ensure that the included angle between the line laser and the x-axis direction and the included angle between the diffuse reflection echo and the x-axis direction are always the same.
In some embodiments, the emitting device 40 includes an edge-emitting laser 41 and a beam-shaping mirror 42, the fast axis of the edge-emitting laser 41 being used for emitting line laser light, and the beam-shaping mirror 42 being used for collimating the line laser light. The receiving device 50 comprises a laser detector 51 and a receiving lens 52, and the receiving lens 52 is used for imaging the diffuse reflection echo on the surface of the laser detector 51.
The fast axis and slow axis divergence angles of the edge emitting laser 41 are different, the fast axis divergence angle is larger than the slow axis divergence angle, and the fast axis light emitting length is smaller than the slow axis light emitting length, when the divergent light rays in the slow axis and fast axis directions are collimated, the fast axis is easier to be collimated, and the slow axis is relatively difficult to be collimated, so that the fast axis of the edge emitting laser 41 is adopted to emit pulse laser in the embodiment of the application, and the beam shaping mirror 42 is used for collimating to form line laser.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A laser radar transmit-receive optical path horizontal opposition system, characterized by comprising:
the device comprises a transmitting device, a receiving device and a reflecting device, wherein the transmitting device is used for transmitting line laser with a preset divergence angle in a third direction, the receiving device is used for receiving diffuse reflection echoes generated on the surface of a measured object, the reflecting device is used for reflecting the line laser to the surface of the measured object and reflecting the diffuse reflection echoes to the receiving device, and the receiving device is a linear array detector and at least comprises two reflecting surfaces with preset angles;
the reflection device can rotate in a plane where a first direction and a second direction are located by taking a third direction as an axis to scan a measured object, and the first direction, the second direction and the third direction are perpendicular to each other;
the line laser and the included angle of the first direction, the diffuse reflection echo reflected by the reflecting device, the included angle of the first direction and the preset angle satisfy the following relations:
wherein, α is a preset angle, and θ is an included angle between the linear array laser pulse and the first direction or an included angle between the diffuse reflection echo reflected by the reflection device and the first direction.
2. The lidar light-receiving path horizontally-opposed system according to claim 1, wherein the two reflecting surfaces are perpendicular to a plane in which the first direction and the second direction are located, the light-emitting direction of the transmitting device faces one of the reflecting surfaces, and the light-entering direction of the receiving device faces the other reflecting surface.
3. The lidar transceiver optical path horizontally opposed system of claim 2, wherein a magnitude of the predetermined angle is changeable to change a field angle of the lidar in the first direction.
4. The lidar receive-transmit optical path horizontally opposed system according to claim 2, wherein a size of an angle between the line laser and the first direction or a size of an angle between the diffuse reflection echo and the first direction can be changed to change an angle of view of the lidar in the first direction, wherein the angle between the line laser and the first direction and the angle between the diffuse reflection echo and the first direction are equal.
5. The lidar transceiver optical path horizontally opposed system of claim 2, wherein the reflecting means is a turning mirror.
6. The lidar receive-transmit optical path horizontal opposition system according to claim 2, wherein the reflection device comprises a regular prism reflector and a driving structure, and the driving structure can drive the regular prism reflector to rotate around a third direction as an axis in a plane where the first direction and the second direction are located.
7. The lidar transceiver optical path horizontally opposed system according to claim 6, wherein the regular prism mirrors include at least a regular quadrangular prism mirror, a regular pentagonal prism mirror, and a regular hexagonal prism mirror.
8. The lidar transceiver optical path horizontally opposed system according to any of claims 1 to 7, wherein the transmitting means comprises an edge emitting laser having a fast axis for emitting laser light and a beam shaping mirror for collimating the laser light to form the line laser light.
9. The lidar transmit-receive optical path horizontally opposed system according to any of claims 1 to 7, wherein the receiving device comprises a laser detector and a receiving lens, and the receiving lens is used for imaging the diffuse reflection echo on the surface of the laser detector.
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| CN202110991300.0A CN113655462A (en) | 2021-08-26 | 2021-08-26 | Laser radar receiving and transmitting light path horizontal contraposition system |
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| CN202110991300.0A CN113655462A (en) | 2021-08-26 | 2021-08-26 | Laser radar receiving and transmitting light path horizontal contraposition system |
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| WO2023202282A1 (en) * | 2022-04-20 | 2023-10-26 | 探维科技(北京)有限公司 | Lidar apparatus |
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Application publication date: 20211116 |