CN115877361B - Laser radar capable of rapidly detecting surface dirt and implementation method thereof - Google Patents
Laser radar capable of rapidly detecting surface dirt and implementation method thereof Download PDFInfo
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- CN115877361B CN115877361B CN202310043330.8A CN202310043330A CN115877361B CN 115877361 B CN115877361 B CN 115877361B CN 202310043330 A CN202310043330 A CN 202310043330A CN 115877361 B CN115877361 B CN 115877361B
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Abstract
The invention relates to the technical field of laser radars, and provides a laser radar with a function of rapidly detecting surface dirt and an implementation method thereof. The system comprises a laser 1, MEMS chips 2, off-axis parabolic reflectors 3, a multi-core optical fiber array 4, filter plates 5 and detector arrays 6 which are matched with the number of the multi-cores, wherein the multi-core optical fiber array 4 deflects at a preset space angle, so that laser radar signals emitted from each fiber core can integrally complete a space area covered by the laser radar; the filter sheet 5 is arranged between the off-axis parabolic reflector 3 and the multi-core optical fiber array 4, and is used for transmitting laser radar signals from the off-axis parabolic reflector 3 to the multi-core optical fiber array 4 and reflecting the laser radar signals from the multi-core optical fiber array 4 to the off-axis parabolic reflector 3. The laser radar reflection signals are integrally collected through the multi-core optical fiber array, and the same number of detectors as the fiber cores are matched, so that the dirt detection of the resolution of the fiber cores in the order of magnitude is realized.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar with a function of rapidly detecting surface dirt and an implementation method thereof.
Background
For vehicle-mounted laser radars, the problem of commonality faced by the vehicle-mounted laser radars is that the influence of external environment on dirt on the surfaces of the laser radars, the influence of corresponding dirt not only can cause the change of the original effective detection distance, but also can seriously cause that corresponding data cannot be effectively analyzed in one detection period, and even erroneous judgment results are brought.
In practice, in order to improve the accuracy of the detection of the vehicle-mounted radar, the vehicle-mounted laser radar is mostly arranged on the vehicle body shell, i.e. is exposed in the external environment, so that the prior art lacks a precise recognition and transition improvement means no matter the probability dirt influence is brought in a specific environment or the deposition dirt influence is not produced due to long-term cleaning.
In view of this, overcoming the drawbacks of the prior art is a problem to be solved in the art.
Disclosure of Invention
The technical problem to be solved by the invention is to improve the accuracy of detection of the vehicle-mounted radar, and the vehicle-mounted laser radar is arranged on a vehicle body shell, namely is exposed in the external environment, so that the prior art lacks an accurate recognition and transition improvement means no matter the vehicle-mounted laser radar is subjected to probabilistic dirt influence brought by a specific environment or deposition dirt influence caused by long-term no cleaning.
The invention adopts the following technical scheme:
in a first aspect, the present invention provides a laser radar with rapid detection of surface dirt, which includes a laser 1, a MEMS chip 2, an off-axis parabolic mirror 3, a multi-core optical fiber array 4, a filter 5, and a detector array 6 adapted to the number of multi-cores, specifically:
the MEMS chip 2 comprises a rotatable mirror surface, which mechanically rotates the mirror surface, so as to change the laser radar signal from the laser 1 by rotation, and reflect the laser radar signal to a designated point of the off-axis parabolic mirror 3;
the off-axis parabolic reflector 3 comprises a parabolic surface for collimating the divergent light beam reflected by the MEMS chip 2 into the optical fiber at the corresponding position in the multi-core optical fiber array 4;
the multi-core optical fiber array 4 deflects at a preset spatial angle, so that the laser radar signals emitted from each fiber core can integrally complete a spatial area to be covered by the laser radar;
the filter 5 is arranged between the off-axis parabolic reflector 3 and the multi-core optical fiber array 4, and is used for transmitting laser radar signals from the off-axis parabolic reflector 3 to the multi-core optical fiber array 4 and reflecting the laser radar signals from the multi-core optical fiber array 4 to the off-axis parabolic reflector 3;
the detector array 6 is disposed on a laser radar reflected signal light path emitted through the filter 5.
Preferably, an imaging lens 7 is further arranged between the laser 1 and the MEMS chip 2, and is used for focusing the laser radar signal emitted by the laser 1 onto the reflecting mirror surface of the MEMS chip 2; wherein the focal point of the off-axis parabolic mirror 3 coincides with the center point of the mirror surface of the MEMS chip 2, so as to convert the laser radar signal received from the MEMS chip 2 into parallel light and transmit the parallel light to the multi-core optical fiber array 4.
Preferably, the laser radar signal light-entering side of each optical fiber in the multi-core optical fiber array 4 is provided with a lens array 8, and the lens array 8 is used for focusing the parallel light reflected by the off-axis parabolic reflector 3 onto the light-entering surface of the corresponding optical fiber core in the multi-core optical fiber array 4.
Preferably, the laser radar signal light emitting surface of each optical fiber in the multi-core optical fiber array 4 is provided with a lens 41 for emitting the laser radar signal transmitted by the optical fiber at a preset divergence angle.
Preferably, the multi-core fiber array 4 is specifically a structure comprising 9 cores and arranged in a 3-3-3 array.
In a second aspect, the present invention further provides a method for implementing a lidar with rapid detection of surface soil, where the lidar with rapid detection of surface soil in the first aspect is used, and the method includes:
the laser radar signals from the laser 1 are emitted through the designated fiber cores in the multi-core fiber array 4 sequentially by controlling the emitting mirror surface on the MEMS chip 2, and the corresponding laser radar reflected signals are received to complete the laser radar detection process;
wherein, the laser radar reflected signals are captured by each fiber core in the multi-core fiber array 4 and transmitted to the detectors matched with each other in the detector array 6; and determining the position of the current surface with dirt interference by analyzing the signal intensity difference detected by each detector, wherein the position of the dirt interference is determined by the mapping position of the corresponding fiber core on the end face of the laser radar.
Preferably, after determining the location of the fiber core disturbed by the contaminants, the method further comprises:
if the number of the corresponding affected fiber cores accounting for the total fiber cores of the multi-core fiber array 4 is smaller than a preset threshold value, controlling the transmitting mirror surface on the MEMS chip 2 in the subsequent laser radar detection period to skip the corresponding affected fiber cores;
in addition, the detectors matched with the affected fiber cores in the detector array 6 are marked, in the subsequent analysis process, the corresponding marked detectors enter a self-defined analysis period, when the corresponding analysis period is reached, the corresponding fiber cores are determined to be cleaned at the laser radar end face by comparing the light intensity difference detected by the corresponding marked detectors and the peripheral detectors to be smaller than a preset parameter value, and the normal light emission of the laser radar signals of the corresponding fiber cores and the normal operation of the matched detectors are restored; and if the analysis period is out, the data analysis operation is not performed on the corresponding marked detector.
Preferably, if the number of the corresponding affected cores in the total cores of the multi-core optical fiber array 4 is greater than or equal to a preset threshold, or the number of adjacent cores exceeds a second preset value, a forced cleaning alarm is sent.
Preferably, the affected core specifically includes:
signal strength matching is performed on the detection results of each detector in the detector array 6, and if the signal strengths detected by at least two corresponding detectors remain similar and the signal strengths detected by other detectors are significantly reduced, the fiber core associated with one or more detectors with significantly reduced detection signal strengths is identified as the affected fiber core.
Preferably, the method further comprises:
and recording a historical detection signal intensity change floating interval of each detector, and sending out a forced cleaning alarm if the detection signal intensity of all continuous detectors is lower than the floating interval.
In a third aspect, the present invention further provides a device with surface soil rapid detection, for implementing the laser radar implementation method with surface soil rapid detection in the second aspect, where the device includes:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor for performing the lidar implementation method with rapid detection of surface contamination of the second aspect.
In a fourth aspect, the present invention also provides a non-volatile computer storage medium storing computer-executable instructions for execution by one or more processors to perform the lidar implementation method with rapid detection of surface contamination of the second aspect.
The invention provides a laser radar device, which not only can meet the detection coverage range of a corresponding laser radar, but also can select a laser radar signal by utilizing a multi-core optical fiber under the control of an MEMS chip, and integrally acquire laser radar reflection signals through a multi-core optical fiber array, and is matched with the same number of detectors of fiber cores, so that the dirt detection of the resolution of the fiber cores in order of magnitude is realized.
In the preferred embodiment of the invention, the improvement of the compromise detection process before the necessary cleaning is performed is realized, namely the unnecessary energy loss is reduced, and the detection precision and the effectiveness are improved based on the detection dirt result.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments of the present invention will be briefly described below. It is evident that the drawings described below are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a laser radar device with rapid detection of surface dirt according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a multi-core optical fiber array structure in a laser radar apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an improved lidar device with rapid detection of surface contaminants according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an improved lidar device with rapid detection of surface contaminants according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an improved multi-core fiber array structure in a lidar device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an end face structure of a multi-core fiber array according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a method for implementing a lidar with rapid detection of surface contaminants according to an embodiment of the present invention;
FIG. 8 is a schematic flow chart of a method for implementing a laser radar with rapid detection of surface dirt after determining a position of a fiber core interfered by the dirt according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of another method for determining a logical branch of a laser radar with rapid detection of surface dirt according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a lidar implementation device with rapid detection of surface dirt according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1:
the embodiment 1 of the invention provides a laser radar with rapid detection of surface dirt, as shown in fig. 1, which comprises a laser 1, an MEMS chip 2, an off-axis parabolic reflector 3, a multi-core optical fiber array 4, a filter chip 5, and a detector array 6 which is matched with the number of the multi-cores, in particular:
the MEMS chip 2 comprises a rotatable mirror surface, which mechanically rotates, thereby changing the lidar signal from the laser 1 by rotation and reflecting the lidar signal to a specified point of the off-axis parabolic mirror 3.
The off-axis parabolic mirror 3 comprises a parabolic surface for collimating the divergent light beam reflected by the MEMS chip 2 into the optical fiber at a corresponding position in the multi-core optical fiber array 4.
The multi-core fiber array 4 is deflected at a predetermined spatial angle (e.g., 5-10 °) so that the lidar signal emitted from each core can complete the spatial area to be covered by the lidar as a whole. Referring to the schematic diagram shown in FIG. 2, as will be understood in connection with the corresponding numbering in FIG. 1, where the cores 4-1 and 4-2 are Z-axially extending optical fibers and are positively biased toward the Y-axis; the fiber core 4-3 is an optical fiber extending along the Z axial direction, and is suitable for the space right in front of the laser radar signal detection without deflection in other directions; the fiber cores 4-4 and 4-5 are optical fibers extending along the Z axis and deflecting towards the Y axis in the negative direction, if the multi-core optical fiber array 4 is arranged on the roof of a vehicle by taking the current XOZ plane as the horizontal plane and the end face shown in fig. 2 is beyond the direction of the vehicle head, the fiber cores 4-4 and 4-5 in the figure are more suitable for generating road surface conditions in the range of approaching vehicles.
It should be noted that, in the embodiment of the present invention, the essential functions of the corresponding multi-core optical fiber array 4 include transmitting and emitting the laser radar signal; the other function is to be used for capturing the laser radar emission signal reflected from the detected object, so that the conventional fiber core size thought cannot be used for applying the implementation scheme of the invention, and in the implementation mode of the embodiment of the invention, the fiber core has the functions of transmitting the optical signal and capturing the optical signal, so that the fiber core can be manufactured to meet the diameter coarseness in a practical scene, the parameter value is determined by the number of the fiber cores to be laid out and the end surface area, the number of the fiber cores is related to the dirt detection precision, and the size of the fiber cores is determined by the designed size of the laser radar. Thus, fig. 2 is merely a schematic diagram adaptively representing the corresponding skew angle relationship, and should not be taken as an entity diagram of the direct product structure.
The filter 5 is arranged between the off-axis parabolic reflector 3 and the multi-core optical fiber array 4, and is used for transmitting laser radar signals from the off-axis parabolic reflector 3 to the multi-core optical fiber array 4 and reflecting the laser radar signals from the multi-core optical fiber array 4 to the off-axis parabolic reflector 3.
The detector array 6 is disposed on a laser radar reflected signal light path emitted through the filter 5.
The embodiment of the invention provides a laser radar device, which not only can meet the detection coverage range of a corresponding laser radar, but also can select a laser radar signal by utilizing a multi-core optical fiber under the control of an MEMS (micro-electromechanical system) chip, and integrally acquire laser radar reflection signals through a multi-core optical fiber array, and is matched with the same number of detectors of fiber cores, so that the dirt detection of the fiber core order resolution is realized.
As shown in fig. 3, as one of the preferred implementations of the embodiments of the present invention, considering that the signal emitted by the laser 1 is more in a divergent state (of course, the solution of integrating the collimating lens by the laser itself is not excluded in the alternative implementations of the embodiments of the present invention), an imaging lens 7 is further provided between the laser 1 and the MEMS chip 2, for focusing the laser radar signal emitted by the laser 1 onto the reflecting mirror surface of the MEMS chip 2; wherein the focal point of the off-axis parabolic mirror 3 coincides with the center point of the mirror surface of the MEMS chip 2, so as to convert the laser radar signal received from the MEMS chip 2 into parallel light and transmit the parallel light to the multi-core optical fiber array 4.
In this preferred embodiment, the imaging lens 7 is mostly an asymmetric lens, as shown in fig. 3, the focal point of the lens surface on the left side of the imaging lens 7 is the light exit of the laser 1, and the focal point of the lens surface on the right side of the corresponding imaging lens 7 is at the center of the emission mirror surface of the MEMS chip 2. This has the advantage that the effect of the laser 1 impinging on its mirror is kept strongly uniform, regardless of how the mirror of the MEMS chip 2 rotates around the center.
As shown in fig. 4, the embodiment of the invention further provides an improvement scheme for improving the stability of the optical path and avoiding the loss caused by the scattered light of the optical signal. The laser radar signal light inlet side of each optical fiber in the multi-core optical fiber array 4 is provided with a lens array 8, and the lens array 8 is used for focusing the parallel light reflected by the off-axis parabolic reflector 3 onto the light inlet surface of the corresponding optical fiber core in the multi-core optical fiber array 4. The improvement scheme shown in fig. 4 can be realized on the basis of the technical scheme shown in fig. 3, and also can be realized by singly combining the structural scheme shown in fig. 1, wherein a combined drawing is not attached, and a scheme obtained by carrying out relevance combination according to reasonable operation by a person skilled in the art belongs to the technical scheme protection scope of the invention.
As shown in fig. 5, another improvement point provided by the embodiment of the present invention is that the corresponding improvement technical points may be respectively combined with the technical solutions already provided above, and the combined structure diagram is not presented here, but is presented in a schematic diagram of the multicore fiber 4 that is common in the relevant fig. 1, 3 and 4. As shown in fig. 5, the laser radar signal light emitting surface of each optical fiber in the multi-core optical fiber array 4 is provided with a lens 41 for emitting the laser radar signal transmitted by the optical fiber at a preset divergence angle.
As shown in fig. 6, an alternative solution provided in the embodiment of the present invention is that the multi-core optical fiber array 4 specifically includes 9 cores and is arranged in a 3-3-3 array structure. In the specific implementation process, a 2-2 array, a 4-4-4-4 array or a 1 center 5 surrounding array pattern and the like can be selected similarly, and the 3-3-3 is obtained after the laser radar detection efficiency and radar detection coverage are considered, the requirement of the dirt recognition precision is considered, and the robustness still available after part of dirt is blocked.
Example 2:
a method for realizing a laser radar with surface dirt rapid detection, using the laser radar with surface dirt rapid detection as described in the embodiment 1, as shown in fig. 7, the method comprises:
in step 201, the laser radar signal from the laser 1 is emitted through the designated fiber cores in the multi-core fiber array 4 sequentially by controlling the emitting mirror surface on the MEMS chip 2, and the corresponding laser radar reflected signal is received to complete the laser radar detection process.
In step 202, lidar reflected signals are captured by each core in the multi-core fiber array 4 and passed to a respective matched detector in the detector array 6.
In step 203, the position of the dirt interference on the current surface is determined by analyzing the signal intensity difference detected by each detector, wherein the position of the dirt interference is determined by the mapping position of the corresponding fiber core on the end face of the laser radar.
The embodiment of the invention provides a laser radar device, which not only can meet the detection coverage range of a corresponding laser radar, but also can select a laser radar signal by utilizing a multi-core optical fiber under the control of an MEMS (micro-electromechanical system) chip, and integrally acquire laser radar reflection signals through a multi-core optical fiber array, and is matched with the same number of detectors of fiber cores, so that the dirt detection of the fiber core order resolution is realized.
By combining the embodiment of the invention, the improvement of the compromise detection process before necessary cleaning is realized based on the detection dirt result, namely, the unnecessary energy loss is reduced, and the detection precision and the effectiveness are improved. Thus, after determining where the dirt-disturbed core is located, as shown in FIG. 8, the method further comprises:
in step 301, if the number of the corresponding affected cores in the total number of cores of the multi-core optical fiber array 4 is smaller than the preset threshold, the emission mirror on the MEMS chip 2 is controlled to skip the corresponding affected cores in the subsequent lidar detection period.
The preset threshold value is changed according to the different number of the set fiber cores and different layout modes, and the purpose of setting the parameter value is to consider that once the fiber core end face affected by the polluted matters reaches the preset threshold value, the laser radar signal emitted by the residual fiber cores cannot effectively cover the responsible detection range. Here, the larger the number of cores in the multi-core fiber array 4, the different positions of the cores will be shown by the corresponding preset values, and the dynamic change will be the case, because the more the affected core distribution is dispersed, the less the effect on the normal detection of the laser radar will be compared with the affected core distribution concentrated, on the same number of affected cores. This is also because once the affected cores are relatively dispersed, appropriate detection compensation can be made by their neighboring cores.
In step 302, detectors in the detector array 6 that are adapted to the affected core are labeled.
In step 303, in the subsequent parsing process, the corresponding labeled probe enters a custom parsing period, and when the corresponding parsing period is reached, by comparing the light intensity difference detected by the corresponding labeled probe and the peripheral probe to be smaller than a preset parameter value, it is determined that the corresponding fiber core map has been cleaned at the laser radar end face, and normal light emission of the laser radar signal of the corresponding fiber core is restored, and normal operation of the matched probe is restored.
The preset parameter value is set according to the actual test process, namely, the test is carried out under the condition of no dirt, and the test carried out after different dirt objects are brought into the test is also carried out, so that the test is comprehensively generated. The boundary values in the two test processes are actually taken, which can be obtained by calculation by a person skilled in the art through experience, so that the embodiment of the invention is not described in excessive detail.
And if the analysis period is out, the data analysis operation is not performed on the corresponding marked detector. For example, taking the layout of fig. 6 as an example, once the energy data detected by the core 4-1 to the matched detector is compared and confirmed to be greater than or equal to the preset parameter value compared with the signal intensity difference detected by the detectors matched to other cores (such as 4-2 and 4-3), the subsequent transmission process of the corresponding core 4-1 will be skipped when the MEMS chip 2 controls the laser radar signal transmission, and in a preferred scheme, the output power of the laser when the transmission process of the two adjacent cores (4-2 and 4-4) is completed can be further improved, so that the influence on the laser radar work is compensated to a certain extent by the detection period of the two adjacent cores.
In the implementation process of step 301, there is another decision logic branch, as shown in fig. 9, where the method further includes:
in step 304, if the number of the cores that are affected and occupy the total core of the multi-core optical fiber array 4 is greater than or equal to the preset threshold, or the number of the cores that are adjacent exceeds the second preset value, a forced cleaning alarm is sent.
The affected core comprises in particular: signal strength matching is performed on the detection results of each detector in the detector array 6, and if the signal strengths detected by at least two corresponding detectors remain similar and the signal strengths detected by other detectors are significantly reduced, the fiber core associated with one or more detectors with significantly reduced detection signal strengths is identified as the affected fiber core.
And recording a historical detection signal intensity change floating interval of each detector, and sending out a forced cleaning alarm if the detection signal intensity of all continuous detectors is lower than the floating interval.
Example 3:
fig. 10 is a schematic diagram of the architecture of a lidar implementation device with rapid detection of surface contamination according to an embodiment of the present invention. The laser radar realizing apparatus with the rapid detection of surface dirt of the present embodiment includes one or more processors 21 and a memory 22. In fig. 10, a processor 21 is taken as an example.
The processor 21 and the memory 22 may be connected by a bus or otherwise, which is illustrated in fig. 10 as a bus connection.
The memory 22 serves as a non-volatile computer-readable storage medium for storing a non-volatile software program and a non-volatile computer-executable program, such as the lidar implementation method with rapid detection of surface contamination in embodiment 1. The processor 21 executes a lidar implementation with rapid detection of surface contamination by running non-volatile software programs and instructions stored in the memory 22.
The memory 22 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 22 may optionally include memory located remotely from processor 21, which may be connected to processor 21 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 22, which when executed by the one or more processors 21, perform the lidar implementation method with rapid detection of surface contamination in embodiment 1 described above, e.g., perform the various steps shown in fig. 7-9 described above.
It should be noted that, because the content of information interaction and execution process between modules and units in the above-mentioned device and system is based on the same concept as the processing method embodiment of the present invention, specific content may be referred to the description in the method embodiment of the present invention, and will not be repeated here.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the embodiments may be implemented by a program that instructs associated hardware, the program may be stored on a computer readable storage medium, the storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The utility model provides a laser radar with surface filth short-term test, its characterized in that includes laser instrument (1), MEMS chip (2), off-axis parabolic reflector (3), multicore fiber array (4), filter plate (5) to and detector array (6) with multicore quantity looks adaptation, specifically:
the MEMS chip (2) comprises a rotatable reflecting mirror surface, so that the reflecting mirror surface mechanically rotates, and a laser radar signal from a laser (1) is changed through rotation and reflected to a designated point of the off-axis parabolic reflecting mirror (3);
the off-axis parabolic reflector (3) comprises a parabolic surface and is used for collimating divergent light beams reflected by the MEMS chip (2) into optical fibers at corresponding positions in the multi-core optical fiber array (4);
the multi-core optical fiber array (4) deflects at a preset space angle, so that laser radar signals emitted from each fiber core can integrally complete a space area to be covered by the laser radar;
the filter piece (5) is arranged between the off-axis parabolic reflector (3) and the multi-core optical fiber array (4), and is used for transmitting laser radar signals from the off-axis parabolic reflector (3) to the multi-core optical fiber array (4) and reflecting the laser radar signals from the multi-core optical fiber array (4) to the off-axis parabolic reflector (3);
the detector array (6) is arranged on a laser radar reflected signal light path emitted by the filter (5); wherein the detector array (6) comprises detectors matched with the optical fibers;
after determining the position of the fiber core disturbed by the dirt, the method further comprises the following steps:
if the total fiber core number of the corresponding affected fiber cores accounting for the multi-core fiber array (4) is smaller than a preset threshold value, controlling a transmitting mirror surface on the MEMS chip (2) in a subsequent laser radar detection period to skip the corresponding affected fiber cores;
in the subsequent analysis process, the corresponding marked detector enters a self-defined analysis period, when the corresponding analysis period is reached, the normal light emission of the laser radar signal of the corresponding fiber core is recovered by comparing the light intensity difference detected by the corresponding marked detector and the peripheral detectors to be smaller than a preset parameter value, and the corresponding fiber core mapping is determined to be cleaned at the laser radar end face; and if the analysis period is out, the data analysis operation is not performed on the corresponding marked detector.
2. The lidar with rapid detection of surface contamination according to claim 1, characterized in that an imaging lens (7) is further arranged between the laser (1) and the MEMS chip (2) for focusing the lidar signal emitted by the laser (1) onto the mirror surface of the MEMS chip (2); the focal point of the off-axis parabolic reflector (3) coincides with the center point of the reflecting mirror surface of the MEMS chip (2), so that laser radar signals received from the MEMS chip (2) are converted into parallel light and transmitted to the multi-core optical fiber array (4).
3. The lidar with rapid detection of surface contamination according to claim 2, wherein the lidar signal light entry side of each fiber in the multi-core fiber array (4) is provided with a lens array (8), and the lens array (8) is used for focusing the parallel light reflected by the off-axis parabolic mirror (3) onto the light entry surface of the corresponding fiber in the multi-core fiber array (4).
4. The lidar with rapid detection of surface contamination according to claim 1, wherein the laser radar signal light exit surface of each fiber in the multi-core fiber array (4) is provided with a lens (41) for emitting the laser radar signal transmitted by the fiber at a predetermined divergence angle.
5. Lidar with rapid detection of surface contamination according to any of claims 1 to 4, characterized in that the multi-core fiber array (4) is in particular a structure comprising 9 cores and arranged in a 3-3-3 array.
6. A method for realizing a laser radar with rapid detection of surface dirt, characterized in that the laser radar with rapid detection of surface dirt according to any one of claims 1-5 is used, the method comprising:
the laser radar signal from the laser (1) is emitted through the designated fiber cores in the multi-core fiber array (4) sequentially by controlling the emitting mirror surface on the MEMS chip (2), and the corresponding laser radar reflected signal is received to complete the laser radar detection process;
the laser radar reflected signals are captured by each fiber core in the multi-core fiber array (4) and transmitted to detectors matched with each other in the detector array (6); and determining the position of the dirt interference on the current surface by analyzing the signal intensity difference detected by each detector, wherein the position of the dirt interference is determined by the mapping position of the corresponding fiber core on the end face of the laser radar.
7. The method according to claim 6, wherein if the number of the cores of the multi-core fiber array (4) that are affected by the laser radar is equal to or greater than a predetermined threshold, a forced cleaning alarm is issued.
8. The method for implementing a lidar with rapid detection of surface contaminants according to claim 7, characterized in that the affected fiber core specifically comprises:
and (3) carrying out signal intensity matching on detection results of the detectors in the detector array (6), and if the signal intensities detected by the corresponding at least two detectors are kept similar and the signal intensities detected by the other detectors are obviously reduced, identifying the fiber core associated with the detector with the obviously reduced detection signal intensity as the affected fiber core.
9. The method for implementing a lidar with rapid detection of surface contamination of claim 7, further comprising:
and recording a historical detection signal intensity change floating interval of each detector, and sending out a forced cleaning alarm if the detection signal intensity of all continuous detectors is lower than the floating interval.
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