CN113721256A - Angle splicing laser radar system - Google Patents
Angle splicing laser radar system Download PDFInfo
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- CN113721256A CN113721256A CN202111119097.4A CN202111119097A CN113721256A CN 113721256 A CN113721256 A CN 113721256A CN 202111119097 A CN202111119097 A CN 202111119097A CN 113721256 A CN113721256 A CN 113721256A
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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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- 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
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to an angle splicing laser radar system which comprises at least two groups of transceiving modules and a single-axis galvanometer; every group the laser that transceiver module sent incides with the different angle of presetting the unipolar mirror that shakes, laser warp the unipolar mirror reflection that shakes scans the target, by the laser warp of target diffuse reflection the unipolar mirror reflection that shakes returns transceiver module, wherein: the scanning angle ranges covered by the adjacent transceiver modules are mutually connected or partially overlapped. By splicing the plurality of receiving and transmitting modules, a larger scanning range of the laser radar system can be realized; by controlling the angle of incidence of each group of transceiver modules on the single-axis galvanometer, the horizontal angle resolution or the vertical angle resolution or both the horizontal and vertical angle resolutions of the scanning angle overlapping area are increased or the detection distance is increased.
Description
Technical Field
The invention relates to the technical field of measuring equipment, in particular to an angle splicing laser radar system.
Background
The three-dimensional environment measurement and perception have important civil and military application values, and in an ADAS (advanced Driver Assistance System) auxiliary driving and automatic driving system, the spatial distance measurement and three-dimensional environment reconstruction are carried out on the surrounding environment of a vehicle, so that the method is a precondition 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 perception 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. However, most of the existing laser radars have 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 multi-point light source, and have the problems of high cost, difficulty in assembly and adjustment and difficulty in realizing mass production.
The invention patent CN110161511A discloses a linear array detector as a receiving device, but the size of a rotating mirror used in a system of a linear array detector corresponding to linear laser emission is large at present, and the rotating mirror has the problem of poor stability in the 360-degree rotation process, and the rotating mirror has no single-axis galvanometer, has mature process and high stability, but the rotating angle of the single-axis galvanometer is only about 20 degrees, that is, the rotating mirror can only scan about 40 degrees, and cannot meet the requirements of many application scene scanning ranges.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an angle-splicing lidar system, which can make the covered scanning angle ranges mutually connected or partially overlapped, thereby increasing the scanning angle range.
In order to achieve the purpose, the invention adopts the following technical scheme:
an angle splicing laser radar system comprises at least two groups of transceiving modules and a single-axis galvanometer;
the transceiver module interval sets up, every group the laser that transceiver module sent incides with different angle of predetermineeing the unipolar mirror that shakes, laser warp the unipolar mirror reflection that shakes scans the target, by the laser warp of target diffuse reflection the unipolar mirror reflection that shakes returns transceiver module, wherein: the scanning angle ranges covered by the adjacent transceiver modules are mutually connected or partially overlapped.
Preferably, the scanning angle θ covered by each transceiver module is α, the included angle of the incident light of the two adjacent transceiver modules spliced together is θ, and the included angle of the incident angles of the two transceiver modules in the overlapped region is θ - α.
Preferably, the number of the transceiver modules is four, the scanning angle ranges covered by the first transceiver module and the second transceiver module are mutually connected, the scanning angle ranges covered by the third transceiver module and the fourth transceiver module are mutually connected, the scanning angle ranges covered by the second transceiver module and the third transceiver module are partially overlapped, an incident light included angle between the first transceiver module and the second transceiver module and an incident light included angle between the third transceiver module and the fourth transceiver module are theta-alpha, and an incident light included angle between the second transceiver module and the third transceiver module is theta-alpha.
Preferably, the incident light included angle between the first transceiver module and the second transceiver module and the incident light included angle between the third transceiver module and the fourth transceiver module are 35 °, the incident light included angle θ - α between the second transceiver module and the third transceiver module is 15 °, and α is 20 °; the included angle between the incident lights of the third transceiver module and the fourth transceiver module is 35 degrees, so that the scanning angle range covered by the four transceiver modules is 120 degrees.
Preferably, the single-axis galvanometer comprises two limit movement positions, a first limit movement position and a second limit movement position, and the rotation range of the single-axis galvanometer is between the first limit movement position and the second limit movement position.
Preferably, each transceiver module is in the rotation range of unipolar galvanometer all covers the scanning angle scope of settlement, and adjacent transceiver module is in the rotation range of unipolar galvanometer all covers the scanning angle scope of settlement and has linking up each other or coincide, has realized adjacent the concatenation of transceiver module scanning angle scope.
Preferably, the transceiver module comprises a semiconductor laser, a fast axis collimating mirror and a receiving device;
the semiconductor laser emits laser;
the fast axis collimating mirror collimates the fast axis of the laser pair to form a linear laser beam;
the receiving device receives the diffusely reflected laser light reflected by the target.
Preferably, the receiving device is a linear array APD detector, and an array direction of the linear array detector is parallel to a linear direction of the linear laser beam.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. according to the angle splicing laser radar system provided by the invention, laser emitted by each group of transceiver modules is incident to the single-shaft vibrating mirror at different preset angles, and scanning angle ranges covered by adjacent transceiver modules are mutually connected or partially overlapped, so that a larger scanning range of the laser radar system is realized;
2. according to the angle splicing laser radar system provided by the invention, the angle of incidence of each group of transceiver modules on a single-axis galvanometer is controlled, so that the horizontal angle resolution or the vertical angle resolution or both the horizontal and vertical angle resolutions or the detection distance in a scanning angle overlapping area is increased;
3. the scanning angle range of the area part of the invention obtains the measuring point cloud, and the resolution ratio of the angle range of the overlapping area is twice of that of the non-overlapping area through uniform interpolation;
in conclusion, the invention can be widely applied to laser radars.
Drawings
Fig. 1 is a schematic light path diagram of an angle-tiled lidar system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a splicing optical path of a scanning angle range of a transceiver module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the horizontal angular resolution increase over the scan angle range according to the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the vertical angular resolution increase over the scan angle range according to the embodiment of the present invention;
fig. 5 is a schematic diagram showing the relative positions of the receiving device array directions of the two transceiver modules according to the embodiment of the present invention;
FIG. 6 is a schematic illustration of the simultaneous increase in horizontal and vertical angular resolution of the scan angle range of this embodiment of the present invention;
FIG. 7 is a schematic diagram of the increase of the detection distance in the scanning angle range according to the embodiment of the present invention;
FIG. 8 is a diagram illustrating fast axis alignment of a semiconductor laser according to the embodiment of the present invention;
FIG. 9 is a slow axis misalignment diagram of a semiconductor laser according to this embodiment of the invention;
fig. 10 is a schematic diagram of the linear array detector according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the system or component in question must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "assembled", "disposed" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
According to the angle splicing laser radar system provided by the invention, the single-shaft galvanometer and the plurality of transceiver modules are used, laser emitted by the transceiver modules is incident on the single-shaft galvanometer at different angles, so that the splicing of scanning angles is realized, the horizontal field angle of 120 degrees can be reached, and higher horizontal resolution or higher vertical angle resolution or longer detection distance in an overlapping area can be realized.
Hereinafter, the angle-stitched lidar system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the angle-spliced lidar system provided in this embodiment includes a transceiver module and a single-axis galvanometer 1, where the transceiver module includes a first transceiver module 2, a second transceiver module 3, a third transceiver module 4 and a fourth transceiver module 5, a scanning angle range of each transceiver module is 35 °, the scanning angle range is an included angle of emergent light of laser light emitted by the transceiver module after being reflected by the single-axis galvanometer 1 in a rotation range, the rotation range of the single-axis galvanometer 1 is 17.5 °, an angle of an angle scanning range overlapping region of the second transceiver module 3 and the third transceiver module 4 is 20 °, angle scanning ranges of the first transceiver module 2 and the second transceiver module 3 are connected with each other, and angle scanning ranges of the third transceiver module 4 and the fourth transceiver module 5 are connected with each other; the scanning angle range of the spliced and combined first transceiver module 2, the second transceiver module 3, the third transceiver module 4 and the fourth transceiver module 5 is 120 degrees. The laser emitted by each group of transceiver modules is incident at different preset angles, the laser is reflected by a single-axis galvanometer 1 to scan a target, the laser is subjected to diffuse reflection on the target, the diffusely-reflected laser is reflected by the single-axis galvanometer 1 and returns to the transceiver modules, the transceiver modules obtain measuring points, and the set of the measuring points is point cloud; the scanning angle ranges of the adjacent transceiver modules are mutually connected or partially overlapped.
The installation angle of each transceiving module is the same as the incident light angle of the transceiving module, the single-shaft galvanometer 1 comprises a single-shaft galvanometer control module, and the single-shaft galvanometer control module controls the movement of the single-shaft galvanometer 1; because the angles of the emitted light of each transceiver module incident on the single-axis galvanometer 1 are different, the detected spatial angles are different, and the mutual interference is determined not to exist; the overlapping regions can avoid interference by time sharing or encoding the emitted light.
In the above embodiment, each transceiver module covers the set scanning angle range within the rotation range of the single-axis galvanometer 2, and the adjacent transceiver modules cover the set scanning angle range within the rotation range of the single-axis galvanometer 2 and are connected or overlapped with each other, so that the adjacent transceiver modules are spliced within the scanning angle range.
In the above embodiment, the number of the transceiver modules is four, the scanning angle ranges covered by the first transceiver module 2 and the second transceiver module 3 are connected to each other, the scanning angle ranges covered by the third transceiver module 4 and the fourth transceiver module 5 are connected to each other, the scanning angle ranges covered by the second transceiver module 3 and the third transceiver module 4 are partially overlapped, an incident light included angle between the first transceiver module and the second transceiver module and an incident light included angle between the third transceiver module and the fourth transceiver module are θ, and an incident light included angle between the second transceiver module and the third transceiver module are θ - α.
The incident light included angle between the first transceiver module 2 and the second transceiver module 3 and the incident light included angle between the third transceiver module 4 and the fourth transceiver module 5 are 35 degrees, the incident light included angle theta-alpha between the second transceiver module and the third transceiver module is 15 degrees, and alpha is 20 degrees; the included angle between the incident lights of the third transceiver module and the fourth transceiver module is 35 degrees, so that the scanning angle range covered by the four transceiver modules is 120 degrees.
As shown in FIG. 2, the single-axis galvanometer 1 comprises two limit motion positions, namely a first limit motion position a and a second limit motion position b, and the rotation range of the single-axis galvanometer is between the first limit motion position and the second limit motion position, the specific splicing method of the scanning angle range of each transceiver module is that the single-axis galvanometer 1 rotates to the limit angle of the position a, the emergent light of the laser emitted by the first transceiver module 2 reflected by the single-axis galvanometer 1 is 2a, and the emergent light of the laser emitted by the second transceiver module 3 reflected by the single-axis galvanometer 1 is 3 a; the unipolar shakes mirror 1 and rotates the limit angle of b position, and the emergent light that the laser that first transceiver module 2 sent shakes mirror 1 reflection through the unipolar is 2b, and the emergent light that the laser that sends of second transceiver module 3 shakes mirror 1 reflection through the unipolar is 3b, and emergent light 2b and emergent light 3a coincide this moment have realized the concatenation of first transceiver module 2 and 3 scanning angle scopes of second transceiver module.
In the above embodiment, as shown in fig. 3, preferably, when the scanning angle range of the lidar system is 120 °, the angle range of the overlapping area of the angle scanning ranges of the second transceiver module 3 and the third transceiver module 4 is 20 °, the angle range of the non-overlapping area is 100 °, and the horizontal angle resolution angle of the angle range of the non-overlapping area is Φ, by controlling the horizontal angle of the second transmitter module and the horizontal angle of the third transmitter module incident on the uniaxial galvanometer, laser light emitted by the second transceiver module 3 and the third transceiver module 4 is diffusely reflected on the target, the diffusely reflected laser light is reflected by the uniaxial galvanometer 1 and returns to the second transceiver module 3 and the third transceiver module 4, and the second transceiver module 3 and the third transceiver module 4 obtain the measurement point cloud in the horizontal direction, so that the point cloud in the horizontal direction of the angle range of the non-overlapping area is uniformly inserted, and a point cloud line is inserted at 1/2 of two point cloud lines in the overlapping area, namely the two point cloud lines corresponding to the non-overlapping area angular range, so that the horizontal angular resolution of the overlapping area angular range is phi/2, namely the horizontal angular resolution of the overlapping area is twice of that of the non-overlapping area scanning angular range.
In the above embodiment, as shown in fig. 4 and fig. 5, preferably, when the vertical angle resolution of the non-overlapping area angular range is δ, the vertical angle of incidence of the second transmitting module and the third transmitting module on the uniaxial galvanometer is controlled, that is, the relative positions of the receiving devices of the two transceiver modules in the array direction are controlled, so that the effect of inserting one unit in adjacent units of the linear array APD is obtained in space, and the point cloud is uniformly inserted in the vertical direction, so that the vertical angle resolution of the overlapping area angular range is δ/2, that is, the vertical angle resolution of the overlapping area is twice of the vertical angle resolution of the non-overlapping area scanning angular range.
In the above embodiment, as shown in fig. 6, preferably, the horizontal and vertical angles of the horizontal and vertical scanning angle ranges of the non-overlapping region are increased simultaneously by controlling the horizontal and vertical angles of the second and third emission modules incident on the single-axis galvanometer so that the point clouds are uniformly interpolated in the horizontal and vertical directions.
In the above embodiment, as shown in fig. 7, preferably, the detection distance of the non-overlapping region angular range is L, and the horizontal and vertical angles of the incident light of the second and third emission modules on the uniaxial galvanometer are precisely controlled so that the energies are superposed in a completely overlapped manner, so that the detection distance of the overlapping region angular range is L
As shown in fig. 8 and fig. 9, in the above embodiment, preferably, the transceiver module includes a semiconductor laser 6, a fast axis collimator 7 and a receiver 8, where the semiconductor laser emits laser light, the fast axis collimator collimates the fast axis with the laser light, and the slow axis is not processed to form a linear laser beam; and the receiving device receives the diffuse reflection laser reflected by the target.
In the above embodiment, as shown in fig. 10, preferably, the receiving device is a linear APD (avalanche photodiode) detector, an array direction of the linear APD detector is parallel to a linear direction of the linear laser beam, and the linear laser beam can cover the linear APD detector.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; 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: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. An angle splicing laser radar system is characterized by comprising at least two groups of transceiving modules and a single-axis galvanometer;
transceiver module interval sets up, every group the laser that transceiver module sent incides with different angle of predetermineeing the unipolar mirror that shakes, laser warp the unipolar mirror reflection that shakes scans the target, by the laser warp of target diffuse reflection the unipolar mirror that shakes reflects back transceiver module, wherein:
the scanning angle ranges covered by the adjacent transceiver modules are mutually connected or partially overlapped.
2. The angle-stitched lidar system of claim 1, wherein each of the transceiver modules covers a scanning angle θ, and the scanning angle at the overlapping portion is α, so that the incident ray angle between two adjacent transceiver modules is θ, and the incident angle between two transceiver modules in the overlapping region is θ - α.
3. The angle-tiled lidar system of claim 2, wherein the transceiver modules are four; the scanning angle ranges covered by the first transceiver module and the second transceiver module are mutually connected, the scanning angle ranges covered by the third transceiver module and the fourth transceiver module are mutually connected, and the scanning angle ranges covered by the second transceiver module and the third transceiver module are partially overlapped;
the incident light included angle between the first transceiver module and the second transceiver module and between the third transceiver module and the fourth transceiver module is theta, and the incident light included angle between the second transceiver module and the third transceiver module is theta-alpha.
4. The angle-stitched lidar system of claim 3, wherein the incident light angles of the first transceiver module and the second transceiver module and the third transceiver module and the fourth transceiver module are 35 °, the incident light angle θ - α of the second transceiver module and the third transceiver module is 15 °, α is 20 °, and the incident light angle of the third transceiver module and the fourth transceiver module is 35 °, such that the scanning angle range covered by the four transceiver modules is 120 °.
5. The angle-stitched lidar system of claim 1, wherein the single-axis galvanometer includes two extreme positions of motion: the single-shaft galvanometer has a first limit motion position and a second limit motion position, and the rotation range of the single-shaft galvanometer is between the first limit motion position and the second limit motion position.
6. The angle-stitched lidar system of claim 5,
each transceiver module is in all cover the scanning angle scope of setting for in the rotation range of unipolar mirror that shakes, adjacent transceiver module is in all cover the scanning angle scope of setting for in the rotation range of unipolar mirror that shakes and have linking up each other or coincidence, realized adjacent the concatenation of transceiver module scanning angle scope.
7. The angle-stitched lidar system of claim 1, wherein the transceiver module comprises a semiconductor laser, a fast-axis collimating mirror, and a receiving device;
the semiconductor laser emits laser;
the fast axis collimating mirror collimates the fast axis of the laser pair to form a linear laser beam;
the receiving device receives the diffusely reflected laser light reflected by the target.
8. The angle-tiled lidar system of claim 7, wherein the receiving device is a linear array APD detector having an array direction parallel to the linear direction of the linear laser beam.
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| CN115792930A (en) * | 2023-02-06 | 2023-03-14 | 长沙思木锐信息技术有限公司 | Laser radar capable of orthogonal receiving and transmitting and scanning method and system thereof |
| WO2023201742A1 (en) * | 2022-04-22 | 2023-10-26 | 华为技术有限公司 | Scanning method, detection device, and terminal |
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