CN114096870A - 用于激光雷达的接收系统、激光雷达和抑制鬼线的方法 - Google Patents

用于激光雷达的接收系统、激光雷达和抑制鬼线的方法 Download PDF

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Publication number
CN114096870A
CN114096870A CN201980097646.7A CN201980097646A CN114096870A CN 114096870 A CN114096870 A CN 114096870A CN 201980097646 A CN201980097646 A CN 201980097646A CN 114096870 A CN114096870 A CN 114096870A
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China
Prior art keywords
ghost
detector
light
light beam
receiving
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Pending
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CN201980097646.7A
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English (en)
Inventor
杨金涛
向少卿
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Hesai Technology Co Ltd
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Hesai Technology Co Ltd
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Publication of CN114096870A publication Critical patent/CN114096870A/zh
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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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • 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
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/4813—Housing arrangements

Abstract

提供了一种可用于激光雷达的接收系统(40)，包括：接收透镜(41)，接收透镜(41)配置成可从外部接收光束；反射镜结构，设置在接收透镜(41)的光路下游，接收来自接收透镜(41)的光束并通过反射改变所述光束的传播方向；探测器(43)，设置在反射镜结构的下游，以接收来自所述反射镜的光束；和鬼线消除装置，设置在所述反射镜结构和探测器(43)之间，以阻挡会在激光雷达的点云中造成鬼线的光束入射到所述探测器(43)。激光雷达接收系统(40)通过使用鬼线消除装置，例如特定的光阑(44)和/或隔光片(74)，解决了近距离高反射率障碍物在激光雷达点云中产生鬼线，带来的激光雷达误识别的问题，提高了激光雷达的探测准确度。

Description

PCT国内申请，说明书已公开。

Claims (12)

  1. PCT国内申请，权利要求书已公开。
CN201980097646.7A 2019-08-30 2019-08-30 用于激光雷达的接收系统、激光雷达和抑制鬼线的方法 Pending CN114096870A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/103724 WO2021035689A1 (zh) 2019-08-30 2019-08-30 用于激光雷达的接收系统、激光雷达和抑制鬼线的方法

Publications (1)

Publication Number Publication Date
CN114096870A true CN114096870A (zh) 2022-02-25

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US (1) US20220120869A1 (zh)
CN (1) CN114096870A (zh)
WO (1) WO2021035689A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113567954B (zh) * 2021-03-29 2023-01-06 华为技术有限公司 一种激光发射方法、装置、探测装置及移动平台

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007333592A (ja) * 2006-06-15 2007-12-27 Denso Corp 距離測定装置
CN101963869B (zh) * 2009-07-24 2012-12-19 一品光学工业股份有限公司 微机电扫描的坐标侦测方法及其触控荧幕
CN103018735B (zh) * 2012-12-13 2014-10-15 中国科学院上海光学精密机械研究所 合成孔径激光成像雷达大视场外差探测装置
CN103954955A (zh) * 2014-04-25 2014-07-30 南京先进激光技术研究院 合成孔径激光成像雷达收发同轴光学天线
CN108594263A (zh) * 2018-01-30 2018-09-28 北醒（北京）光子科技有限公司 一种激光雷达及无人驾驶系统
CN208421218U (zh) * 2018-06-08 2019-01-22 上海禾赛光电科技有限公司 一种用于激光雷达的接收系统
CN109814082B (zh) * 2019-01-21 2021-10-22 上海禾赛科技有限公司 光接收模块、及激光雷达系统

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US20220120869A1 (en) 2022-04-21
WO2021035689A1 (zh) 2021-03-04

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