CN116299342A - Laser radar system - Google Patents
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- CN116299342A CN116299342A CN202310403227.XA CN202310403227A CN116299342A CN 116299342 A CN116299342 A CN 116299342A CN 202310403227 A CN202310403227 A CN 202310403227A CN 116299342 A CN116299342 A CN 116299342A
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- 230000003287 optical effect Effects 0.000 claims abstract description 129
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000009826 distribution Methods 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000000926 separation method Methods 0.000 description 4
- 238000000098 azimuthal photoelectron diffraction Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- 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
A lidar system, comprising: a plurality of laser transceiver modules, the laser transceiver modules comprising: a transmitting module; a detection module; a transmission module, the transmission module comprising: a reflective element; the laser receiving and transmitting modules are suitable for rotating around the same rotating shaft, and different laser receiving and transmitting modules respectively emit laser beams towards different horizontal directions; and in each laser transceiver module, along the radial direction of the rotating shaft, the transmitting module and the detecting module are positioned on one side of the reflecting element away from the rotating shaft. The distributed light path layout of the laser radar system is beneficial to meeting the requirement of human eye safety, and the folded light path design is beneficial to reasonably utilizing the space arrangement transmitting module and the detecting module; in addition, the laser radar system has compact structure, small volume, easy realization of the adjustment of the whole light path, small optical realization difficulty and low cost.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a laser radar system.
Background
The laser radar is used as an active detection sensor for measuring the distance information of a target by emitting a laser beam through an emission light path and receiving an echo signal of the target through a light path detection, wherein an optical system plays an important role in light beam emission and convergence reception in the detection process of the laser radar.
According to the different layout modes of the transmitting light path and the receiving light path, the laser radar can be divided into a non-coaxial system and a coaxial system, the transmitting light path and the receiving light path of the non-coaxial system are mutually independent and are usually realized by adopting different lens groups to respectively bear the transmitting and receiving functions of laser, the transmitting light path and the receiving light path of the coaxial system share the same optical axis, a receiving and transmitting lens group is usually shared, and the separation and the combination of the transmitting light beam and the receiving light beam are realized through light splitting elements (such as a spectroscope, a small hole reflector and the like).
The non-coaxial system needs to be provided with two independent transmitting and receiving modules, so that the laser radar is large in size and not compact in structure; in addition, the non-coaxial system has the problems of complex installation and adjustment and high cost. However, in the traditional spectroscopic coaxial scheme, stray light at the spectroscopic element is difficult to avoid, so that a large near-field blind area exists in the laser radar.
In addition, in the field of automatic driving, the laser radar is used as a laser light source system, and in order to avoid injury to human body, the emergent laser power of the laser radar is required to meet the requirement of human eye safety. However, as a distance measuring sensor, a laser radar often needs enough laser emission power to achieve sufficient distance measurement performance.
The above problems all put higher demands on the structural design of the lidar system.
Disclosure of Invention
In order to optimize the structural design of the laser radar and improve the comprehensive performance of the laser radar, the embodiment of the invention provides a laser radar system, which comprises: a plurality of laser transceiver modules, the laser transceiver modules comprising: an emission module adapted to emit a laser beam; the detection module is suitable for detecting echo signals formed by reflecting the laser beams by barriers in a three-dimensional space; a transmission module adapted to transmit the laser beam to a three-dimensional space and to receive and transmit the echo signal, the transmission module comprising: a reflecting element adapted to reflect the laser beam to the three-dimensional space and the echo signal to the detection module, the laser beam and the echo signal being reflected by the same reflecting element; the laser receiving and transmitting modules are suitable for rotating around the same rotating shaft, and different laser receiving and transmitting modules respectively emit laser beams towards different horizontal directions; and in each laser transceiver module, along the radial direction of the rotating shaft, the transmitting module and the detecting module are positioned on one side of the reflecting element away from the rotating shaft.
Optionally, the transmitting module of each laser transceiver module includes one or more columns of lasers, each column of lasers includes a plurality of lasers arranged at intervals along a vertical direction of the three-dimensional space, and the plurality of lasers are configured such that each laser transceiver module has a preset vertical field angle range.
Optionally, at least two of the laser transceiver modules have different preset vertical field angle ranges, and the preset vertical field angle ranges of the at least two laser transceiver modules have overlapping areas.
Optionally, in the overlapping area, the scan lines of the at least two laser transceiver modules have different vertical distribution parameters to achieve encryption of the scan lines in the overlapping area.
Optionally, the respective lasers of the at least two laser transceiver modules are respectively located at different heights in the vertical direction;
or, the respective optical systems of the at least two laser transceiver modules respectively have different inclination angles, and the optical systems comprise the reflecting element.
Optionally, the plurality of laser transceiver modules have the same preset vertical field angle range.
Optionally, the method further comprises: and the isolation device is arranged between the transmitting module and the detecting module.
Optionally, along the radial direction of the rotating shaft, the transmitting module and the detecting module are disposed on the same side of the transmitting module, and a preset distance is provided between the transmitting module and the detecting module.
Optionally, the transmission module further includes: a first optical component, which is suitable for collimating the laser beam emitted by the emission module and converging echo signals formed by reflecting the laser beam by the obstacle in the three-dimensional space received by the transmission module; and an optical deflection device adapted to change a transmission direction of the laser beam collimated by the first optical assembly, the aperture of the optical deflection device being smaller than the aperture of the first optical assembly.
Optionally, the light deflection means is adapted to change the transmission direction of the laser beam collimated by the first optical assembly by refraction.
Optionally, the light deflecting means is at a predetermined distance from the first optical component.
Optionally, the aperture of the light deflecting means is smaller than the aperture of the first optical component.
Optionally, the light deflection device and the first optical component are coaxial, and the emission module and the detection module are axisymmetrically arranged relative to the optical axis.
Optionally, the transmission module further includes: and the second optical assembly is arranged between the emission module and the first optical assembly and is suitable for compressing the fast axis divergence angle of the laser beam emitted by the emission module.
Optionally, the emission module and the detection module are disposed in a same plane parallel to a main plane of the first optical assembly.
Optionally, the reflecting element and the first optical component form a preset included angle, so that optical systems of different laser transceiver modules have different inclination angles.
Compared with the prior art, the technical scheme of the invention has the following advantages:
in the technical scheme of the invention, a plurality of laser transceiver modules are distributed along the circumferential direction of the rotating shaft, and in each laser transceiver module, the transmitting module and the detecting module are positioned at one side of the reflecting element far away from the rotating shaft along the radial direction of the rotating shaft. The laser radar system comprises a rotating shaft, a plurality of laser transceiver modules, a laser radar system and a laser radar system, wherein the laser transceiver modules are arranged along the circumferential direction of the rotating shaft, and different laser transceiver modules emit laser beams towards different horizontal directions respectively; in addition, in each laser transceiver module, along the radial direction of the rotating shaft, the transmitting module and the detecting module are located on one side, far away from the rotating shaft, of the reflecting element so as to fold the light path, prolong the focal length and ensure the distance measuring capability, that is, the technical scheme can realize the balance between the eye safety and the distance measuring capability, and the design of the folded light path (namely, the deflection angle emergence of the laser beam) is beneficial to reasonably utilizing the space arrangement transmitting module and the detecting module. In addition, a plurality of laser transceiver modules are followed the circumference distribution of pivot can effectively reduce the laser radar system is followed the axial size of pivot, laser radar system compact structure, small, the dress that realizes whole light path more easily transfers, and the optics realizes that the degree of difficulty is little, with low costs.
In an alternative scheme of the invention, at least two laser transceiver modules have different preset vertical field angle ranges, and the preset vertical field angle ranges of the at least two laser transceiver modules have overlapping areas; and in the overlapping area, the scanning lines of the at least two laser transceiver modules have different vertical distribution parameters so as to realize encryption of the scanning lines in the overlapping area. The control method can be effectively simplified by realizing the encryption of the scanning lines through the arrangement of the plurality of laser transceiver modules, and the encryption layout of the scanning lines of the plurality of laser transceiver modules along the vertical view field improves the resolution of the laser radar system.
The transmitting optical path and the receiving optical path of the laser transceiver module share one transmission module, and a coaxial scheme is provided. However, different from the traditional coaxial system for splitting light by adopting a beam splitter or a small-hole reflector and other light splitting elements, the laser receiving and transmitting module provided by the embodiment of the invention adopts the light deflection device to make the laser beam emit out at a deflection angle, so that the emitted laser beam and the received echo signal are separated, and the coaxial receiving and transmitting with a large optical caliber are realized; the laser transceiver module has compact structure and small volume; the position relation of the transmitting module and the detecting module is fixed, the assembly and adjustment of the whole light path are easy to realize, the optical realization difficulty is low, and the cost is low.
Drawings
Fig. 1 is a block diagram of a laser transceiver module 10 according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a laser transceiver module 20 according to another embodiment of the present invention;
FIG. 3 is a top view of a lidar system 30 according to an embodiment of the present invention;
FIG. 4 is a schematic view of the vertical field angle distribution of the three laser transceiver modules A1, A2, and A3 of the lidar system 30 according to an embodiment of the present invention;
FIG. 5 is a schematic view of the vertical distribution of scan lines of three laser transceiver modules A1, A2, and A3 of the lidar system 30 of the embodiment of the invention shown in FIG. 4;
fig. 6 is a schematic view of vertical field angle distribution of three laser transceiver modules A1, A2, and A3 of the lidar system 30 according to another embodiment of the present invention.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below. In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other.
Referring to fig. 1, fig. 1 is a block diagram illustrating a structure of a laser transceiver module 10 according to an embodiment of the present invention.
In some embodiments, the laser transceiver module 10 may include a transmitting module 11, a transmitting module 12, and a detecting module 13. The transmitting module 11 is adapted to transmit a laser beam, the transmitting module 12 is adapted to transmit the laser beam to a three-dimensional space, and to receive and transmit an echo signal formed by reflection of the laser beam by an obstacle 18 of the three-dimensional space, and the detecting module 13 is adapted to detect the echo signal of the laser beam transmitted by the transmitting module 12. It should be noted that, the arrows in fig. 1 represent the transmission direction of light, and different types of lines (such as a dash-dot line or a dashed line) represent different optical path branches.
The transmitting module 11 and the detecting module 13 are disposed on the same side of the transmitting module 12, and a preset distance is provided between the transmitting module 11 and the detecting module 13. The transmission module 12 includes: a first optical assembly 121 and a light deflecting device 122; the first optical component 121 is adapted to collimate the laser beam emitted by the emission module 11 and to converge echo signals formed by reflecting the laser beam by an obstacle 18 in three-dimensional space received by the transmission module 12; the light deflection means 122 is adapted to change the transmission direction of the laser beam collimated by the first optical assembly 121.
In some embodiments, the light deflection device 122 is adapted to change the transmission direction of the laser beam collimated by the first optical assembly 121 by refraction, so that the collimated laser beam exits to the three-dimensional space at a certain deflection angle. Wherein the aperture of the light deflecting means 122 is smaller than the aperture of the first optical assembly 121.
As shown in fig. 1, in the emission light path, the laser beam emitted by the emission module 11 sequentially passes through the first optical component 121 and the light deflection device 122 to be emitted to a three-dimensional space; in the receiving optical path, the echo signal formed by the three-dimensional barrier 18 reflecting the laser beam may be divided into two paths after being incident on the transmission module 12: a part of the echo signal (shown by a dashed arrow) directly enters the first optical component 121, and the part of the echo signal is converged by the first optical component 121 and then enters the detection module 13 with a different position from the transmitting module 11 due to the deflection of the angle, so that the receiving and transmitting separation is realized. Another portion of the echo signal (indicated by the dot-dash arrow) is incident on the optical deflecting device 122 and then returns along the original path (i.e. sequentially passes through the optical deflecting device 122 and the first optical component 121) to the emitting module 11, where the portion of the echo signal cannot be incident on the detecting module 13, but the portion of the echo signal does not affect the emitting module 11 to emit the laser beam.
In some embodiments, the aperture of the light deflecting means 122 may be much smaller than the aperture of the first optical assembly 121, i.e. the light deflecting means 122 is only used to block a part of the area of the laser beam exit surface of the first optical assembly 121. Accordingly, in the receiving optical path, only a small part of the echo signals formed by the diffuse reflection of the laser beam by the obstacle 18 are incident on the optical deflecting device 122 and return to the transmitting module 11 along the original path, and the rest of the echo signals are directly incident on the area of the first optical component 121, which is not blocked by the optical deflecting device 122, and are further received by the detecting module 13.
In some embodiments, the lidar 10 may further comprise a control module (not shown) and a processing module (not shown), the control module being adapted to control the transmitting module 11 to transmit a laser beam, to control the detecting module 13 to receive an echo signal corresponding to the laser beam, and/or to control the processing module to perform a corresponding data processing. In some embodiments, the processing module may be integrated in the detection module 13 or provided separately from the detection module 13. The control module may be integrated into the processing module or may be provided separately from the processing module.
In this embodiment, the transmitting module 11 and the transmitting module 12 are disposed in a transmitting optical path, and the transmitting module 12 and the detecting module 13 are disposed in a receiving optical path, where the transmitting optical path and the receiving optical path share the transmitting module 12, that is, the transmitting module 12 performs the function of transmitting and receiving laser signals at the same time, and a coaxial scheme is provided. However, unlike the traditional coaxial scheme of splitting light by using a beam splitter or a small-hole reflector, the laser transceiver module of the embodiment adopts the optical deflector 122 to deflect the emitted laser beam to emit at an angle, so as to separate the emitted laser beam from the received echo signal, which is beneficial to realizing coaxial transceiver with large optical aperture; the laser transceiver module based on the coaxial scheme has compact structure and small volume; because the position relation between the transmitting module 11 and the detecting module 13 is fixed, the assembly and adjustment of the whole light path are easy to realize, the difficulty of optical realization is low, and the cost is low.
In order to facilitate the implementation of the present invention by those skilled in the art, the embodiment of the present invention further provides a laser transceiver module.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a laser transceiver module 20 according to another embodiment of the present invention.
In some embodiments, the laser transceiver module 20 may include a transmitting module 21, a transmitting module 22, and a detecting module 23. The transmitting module 21 is adapted to transmit a laser beam, the transmitting module 22 is adapted to transmit the laser beam transmitted by the transmitting module 21 to a three-dimensional space, and to receive and transmit an echo signal formed by reflecting the laser beam by an obstacle in the three-dimensional space, and the detecting module 23 is adapted to detect the echo signal of the laser beam transmitted by the transmitting module.
The transmitting module 21 and the detecting module 23 are disposed on the same side of the transmitting module 22, and a preset distance is provided between the transmitting module 21 and the detecting module 23.
In some embodiments, the emitting module 21 may comprise a laser array adapted to emit a plurality of laser pulses at a preset timing, and the detecting module 23 may comprise a detector array adapted to receive echo signals corresponding to the plurality of laser pulses.
In some embodiments, the transmission module 22 may include a first optical component 221 and an optical deflector 222. The first optical component 221 is adapted to collimate the laser beam emitted by the emission module 21, and to converge an echo signal formed by reflecting the laser beam by an obstacle in three-dimensional space received by the transmission module 22, where the echo signal received by the first optical component 221 includes two parts, one part is that the echo signal from the three-dimensional space is directly incident on the first optical component 221, and the other part is that the echo signal from the three-dimensional space is incident on the optical deflector 222 before being incident on the first optical component 221. The light deflecting means 222 is adapted to change the transmission direction of the laser beam collimated by the first optical assembly 221.
In some embodiments, the light deflection device 222 is adapted to change the transmission direction of the laser beam collimated by the first optical assembly 221 by refraction, so that the collimated laser beam exits to the three-dimensional space at a certain deflection angle.
In some embodiments, the first optical assembly 221 may include a lens group and the light deflecting device 222 may include a prism. In particular, the light deflecting means 222 may include a wedge prism, the tip of which may be directed in any direction of the three-dimensional space. In practical applications, the required deflection angle of the laser beam may be determined according to the scan field of view, and then a suitable prism may be selected and the spatial orientation of the prism may be set, and the positions of the emitting module 21 and the detecting module 23 relative to the light deflection device 222 may be adjusted accordingly.
In some embodiments, the transmission module 22 further includes a second optical component (not shown) disposed between the emission module 21 and the first optical component 221, and adapted to compress a fast axis divergence angle of the laser beam emitted by the emission module 21, so that the laser beam is collimated by the fast axis and is incident on an area of the first optical component 221, which is blocked by the light deflection device 222, as much as possible, so that the laser beam is emitted to the three-dimensional space sequentially through the first optical component 221 and the light deflection device 222, and only a very small portion of laser energy is emitted to the three-dimensional space only through the first optical component 221 and not through the light deflection device 222. Note that, this portion of the laser energy that is not directly emitted to the three-dimensional space through the optical deflector 222 is ineffective emission energy, and the echo signal thereof cannot be received by the detection module 23.
In some embodiments, the second optical component may be any lens that compresses the light spot, such as a cylindrical lens.
In some embodiments, the light deflecting means 222 may have a predetermined distance from the first optical component 221, and the aperture of the light deflecting means 222 is smaller than the aperture of the first optical component 221. For example, the aperture of the optical deflector 222 is far smaller than that of the first optical component 221, in the transmitting light path, the optical deflector 222 is only used for shielding a small area of the outgoing surface of the laser beam of the first optical component 221, then in the receiving light path, only a small part of the echo signals formed by diffuse reflection of the laser beam by the three-dimensional obstacle are incident on the optical deflector 222 and return to the transmitting module 21 along the original path, and the rest of the echo signals are directly incident on the area of the first optical component 221 which is not shielded by the optical deflector 222, and the part of the echo signals are not returned along the original path after being converged by the first optical component 221 due to the deflection of angles, but are incident on the detecting module 23 with a different position from the transmitting module 21, so as to realize the transceiving separation. In case that the laser beam emitted by the emitting module 21 is emitted to the three-dimensional space through the first optical component 221 without angular deflection, the echo signal returns to the emitting module 21 along the original path, and thus, the present embodiment achieves separation of the emitted laser beam and the received echo signal by means of the optical deflection device 222.
In some embodiments, the laser transceiver module 20 further includes an isolation device (not shown) disposed between the transmitter module 21 and the detector module 23 to reduce interference of the transmitter module 21 with the detector module 23.
In some embodiments, the light deflecting means 222 and the first optical assembly 221 may be coaxially disposed, and the emitting module 21 and the detecting module 23 may be symmetrically disposed with respect to the axis.
In other embodiments, the light deflecting means 222 may also be arranged offset from the optical axis of the first optical assembly 221. The emission module 21 and the detection module 23 may be located on the same side of the optical axis of the first optical component 221, or may be located on two sides of the optical axis of the first optical component 221, and the positional relationship between the emission module 21 and the detection module 23 may be determined according to the angle of the laser beam exiting into the three-dimensional space, and factors such as the system distance design.
In some embodiments, the emission module 21 and the detection module 23 may be disposed in the same plane parallel to the main plane of the first optical assembly 221.
The transmitting optical path and the receiving optical path of the laser transceiver module 20 of the present embodiment share one transmission module 22, providing a coaxial scheme, however, different from the conventional coaxial scheme of splitting light by using a beam splitter or a small hole reflector, the present embodiment uses the optical deflector 222 to deflect the transmitted laser beam to exit at an angle, so as to separate the transmitted laser beam from the received echo signal, which is beneficial to implementing coaxial transceiver with large optical caliber; the laser transceiver module 20 based on the coaxial scheme has compact structure and small volume; the position relation between the transmitting module 21 and the detecting module 23 is fixed, so that the assembly and adjustment of the whole light path are easy to realize, the difficulty in optical realization is low, and the cost is low.
The embodiment of the invention also provides a laser radar system. Referring to fig. 3, fig. 3 is a top view of a lidar system 30 according to an embodiment of the present invention.
In some embodiments, the lidar system 30 may include a plurality of laser transceiver modules of the previous embodiments of the invention adapted to rotate about the same axis of rotation 35. Fig. 3 illustrates the structure and function of the lidar system 30 in detail by taking the example including three laser transceiver modules A1, A2 and A3, but the embodiment of the present invention is not limited thereto.
In some embodiments, each laser transceiver module may include a transmitter module 31, a transmitter module 32, and a detector module (not shown). Wherein the emitting module 31 and the detecting module may be arranged in a longitudinal direction (i.e., a direction parallel to the rotation axis 35), and the emitting module 31 may be disposed above the detecting module. The transmission module 32 may include a first optical assembly 321 and an optical deflection device 322. The structure and function of the laser transceiver module may refer to the embodiments shown in fig. 1 to 2, and will not be described herein.
In some embodiments, the transmission module 32 of each laser transceiver module may further include a reflection element 323, where the reflection element 323 is disposed at a preset angle with respect to the first optical component 321, and the reflection element 323 is adapted to reflect the laser beam transmitted by the first optical component 321 and the optical deflection device 322 to the three-dimensional space, and reflect an echo signal formed by reflecting the laser beam in the three-dimensional space to the optical deflection device 322 and the first optical component 321. In some embodiments, the reflecting element 323 may be a plane mirror, and the predetermined included angle may be an acute angle.
In some embodiments, the lidar system 30 may further comprise: a rotor (not shown) and a stator (not shown).
In some embodiments, the lidar system 30 may also include a reticle 36.
In some embodiments, the transmitting module 31 of each laser transceiver module may include one or more columns of lasers, each column of lasers including a plurality of lasers arranged at intervals along a vertical direction of the three-dimensional space, the plurality of lasers being arranged such that each laser transceiver module has a preset vertical field angle range.
In some embodiments, the detection module may include an array of detectors, each detector including a photosensor. The photosensor is adapted to convert an optical signal received by the photosensor into an electrical signal. In particular, the photosensors may be PIN photosensors, avalanche photodiodes (Avalanche Photo Diode, APDs), or Geiger-mode Avalanche Photodiode, GM-APDs) or the like.
In some embodiments, the lidar system 30 may further include a control module (not shown) adapted to control the three laser transceiver modules A1, A2 and A3 to emit laser pulses and to control the three laser transceiver modules A1, A2 and A3 to receive echo signals corresponding to the respective emitted laser pulses, and a processing module (not shown) adapted to process the electrical signals detected by the detection module and to obtain information of the obstacle detected by the lidar system 30 through a program such as calculation. The information of the obstacle may be its position, shape, or speed, etc.
In some embodiments, at least two of the plurality of laser transceiver modules included in the lidar system 30 may have different preset vertical field of view angles ranges, and the preset vertical field of view angles ranges of the at least two laser transceiver modules have overlapping areas.
In some embodiments, in the overlapping area, the scan lines of the at least two laser transceiver modules may have different vertical distribution parameters to achieve encryption of the scan lines in the overlapping area. The vertical distribution parameters include the angle of the scan line to the horizontal plane of the lidar system 30. There are two factors that generally affect the vertical distribution parameters of the scan lines: the height of the laser in the vertical direction and the tilt angle of the optical system. Therefore, in some embodiments, the respective lasers of the at least two laser transceiver modules may be set to be respectively at different heights in the vertical direction, or the respective optical systems of the at least two laser transceiver modules may be adjusted to have different inclination angles (for example, pitch angles of the optical systems) respectively, so that the scan lines of the at least two laser transceiver modules have different distributions in the vertical direction, thereby implementing encryption of the scan lines in the overlapping fields of view. At this time, the vertical angular resolution of the lidar system 30 is smaller than that of each laser transceiver module.
In other embodiments, the scan lines of the at least two laser transceiver modules may have identical vertical distribution parameters in the overlapping region, that is, the angles between the scan lines of the at least two laser transceiver modules and the horizontal plane of the lidar system 30 are all the same in the overlapping region, so that no encryption of the scan lines exists in the overlapping region, and then the vertical angular resolution of the lidar system 30 is equal to the vertical angular resolution of each laser transceiver module.
Referring to fig. 4, fig. 4 is a schematic view of vertical angle distribution of three laser transceiver modules A1, A2, and A3 of the lidar system 30 according to an embodiment of the present invention. In some embodiments, the three laser transceiver modules A1, A2, and A3 may have different vertical field of view ranges, such as-10 ° to 10 °,0 ° to 25 °, and-5 ° to 15 °, respectively, wherein the vertical field of view ranges of any two adjacent laser transceiver modules may have overlapping areas such that the lidar system 30 has a continuous vertical field of view between-10 ° to 25 °, increasing the vertical field of view of the lidar system 30.
Referring to fig. 5 in combination, fig. 5 is a schematic diagram showing the vertical distribution of the scan lines of the three laser transceiver modules A1, A2 and A3 of the lidar system 30 according to the embodiment of fig. 4, wherein the solid line represents the scan line of the laser transceiver module A1, the dash-dot line represents the scan line of the laser transceiver module A2, and the dashed line represents the scan line of the laser transceiver module A3. It should be noted that, since the three laser transceiver modules A1, A2 and A3 emit laser beams toward different horizontal directions, respectively, the scanning lines of the three laser transceiver modules A1, A2 and A3 are not in the same vertical plane at the same time, and here, for convenience of explanation of encryption relations of the scanning lines of the three laser transceiver modules A1, A2 and A3, the scanning lines of the three laser transceiver modules A1, A2 and A3 corresponding to the same region of the target space at different times are put together, but in essence, the three laser transceiver modules A1, A2 and A3 have a phase difference in scanning timing.
In some embodiments, the vertical fields of view of any two of the three laser transceiver modules A1, A2 and A3 have overlapping areas, in which the scan lines of any two laser transceiver modules may have different vertical distribution parameters, where the vertical distribution parameters may include an angle between the scan line and the horizontal plane of the laser radar system 30, as shown in fig. 5, in the vertical field of view between 0 ° and θ2, there are at least three scan lines of the three laser transceiver modules A1, A2 and A3, where the angles between the three scan lines and the horizontal plane are θ1, θ2 and θ3, respectively, so that compared to using any single transceiver module of the three laser transceiver modules A1, A2 and A3, the scan lines of the laser radar system 30 in the vertical direction in the same target space are encrypted, and the vertical resolution thereof is greatly reduced.
In some embodiments, the lasers of the three laser transceiving modules A1, A2 and A3 are respectively located at different positions in a vertical direction perpendicular to a horizontal plane of the lidar system 30, or the optical systems (including the first optical assembly 321, the light deflecting device 322 or the reflecting element 323) of the three laser transceiving modules A1, A2 and A3 respectively have different inclination angles, so that encryption of scan lines of the three laser transceiving modules A1, A2 and A3 within their overlapping fields of view is achieved. In some embodiments, the tilt angle of the optical system may be a pitch angle of an optical element included in the optical system relative to the horizontal plane.
In some embodiments, the laser radar system 30 may include a plurality of laser transceiver modules having the same predetermined vertical field of view angle range. Referring to fig. 6, fig. 6 is a schematic view of vertical angles of view distribution of three laser transceiver modules A1, A2 and A3 of the lidar system 30 according to another embodiment of the present invention. In some embodiments, the three laser transceiver modules A1, A2, and A3 may have exactly the same vertical field angle range, for example, all-10 ° to 25 °, and the vertical field angle range of the lidar system 30 is also-10 ° to 25 °.
In some embodiments, the scan lines of the three laser transceiver modules A1, A2, and A3 may have different vertical distribution parameters within the same vertical field of view angle range to achieve encryption of the scan lines within the vertical field of view. For example, each laser transceiver module may include a first laser located at a topmost end in a vertical direction perpendicular to a horizontal plane of the lidar system 30, a second laser located at a bottommost end in the vertical direction, and a plurality of third lasers located between the first and second lasers in the vertical direction. Wherein, the first lasers of the three laser transceiving modules A1, A2 and A3 may have the same height in the vertical direction, and the second lasers of the three laser transceiving modules A1, A2 and A3 may have the same height in the vertical direction, so that the three laser transceiving modules A1, A2 and A3 have the same vertical field angle range; and, the third lasers of the three laser transceiver modules A1, A2 and A3 have different heights in the vertical direction, so that the laser beams emitted by the third lasers of the three laser transceiver modules A1, A2 and A3, namely, the scanning lines, have different vertical distributions, thereby realizing the encryption of the scanning lines of the three laser transceiver modules A1, A2 and A3 within the same vertical field angle range. In this embodiment, the vertical angular resolution of the lidar system 30 is smaller than the vertical angular resolution of each laser transceiver module.
In other embodiments, the scan lines of the three laser transceiver modules A1, A2 and A3 may have exactly the same distribution in a vertical direction perpendicular to the horizontal plane of the laser radar system 30, i.e. the angles between the scan lines of the three laser transceiver modules A1, A2 and A3 and the horizontal plane are all the same, so that no encryption of the scan lines exists within the same vertical field angle range, and the vertical angle resolution of the laser radar system 30 is equal to the vertical angle resolution of each laser transceiver module.
The embodiment of the invention also provides a vehicle, which comprises a vehicle body and the laser radar system of the previous embodiment of the invention, wherein the laser radar system can be arranged on the top of the vehicle body and is used for detecting information of obstacles around the vehicle. In some embodiments, the information of the obstacle may include a distance, an azimuth, a shape, a speed, or the like of the obstacle.
In summary, the plurality of laser transceiver modules are distributed along the circumferential direction of the rotating shaft, and in each of the laser transceiver modules, the emitting module and the detecting module are located at a side of the reflecting element away from the rotating shaft along the radial direction of the rotating shaft. The laser radar system comprises a rotating shaft, a plurality of laser transceiver modules, a laser radar system and a laser radar system, wherein the laser transceiver modules are arranged along the circumferential direction of the rotating shaft, and different laser transceiver modules emit laser beams towards different horizontal directions respectively; in addition, in each laser transceiver module, along the radial direction of the rotating shaft, the transmitting module and the detecting module are located on one side, far away from the rotating shaft, of the reflecting element so as to fold the light path, prolong the focal length and ensure the distance measuring capability, that is, the technical scheme can realize the balance between the eye safety and the distance measuring capability, and the design of the folded light path (namely, the deflection angle emergence of the laser beam) is beneficial to reasonably utilizing the space arrangement transmitting module and the detecting module. In addition, a plurality of laser transceiver modules are followed the circumference distribution of pivot can effectively reduce the laser radar system is followed the axial size of pivot, laser radar system compact structure, small, the dress that realizes whole light path more easily transfers, and the optics realizes that the degree of difficulty is little, with low costs.
In an alternative scheme of the invention, at least two laser transceiver modules have different preset vertical field angle ranges, and the preset vertical field angle ranges of the at least two laser transceiver modules have overlapping areas; and in the overlapping area, the scanning lines of the at least two laser transceiver modules have different vertical distribution parameters so as to realize encryption of the scanning lines in the overlapping area. The control method can be effectively simplified by realizing the encryption of the scanning lines through the arrangement of the plurality of laser transceiver modules, and the encryption layout of the scanning lines of the plurality of laser transceiver modules along the vertical view field improves the resolution of the laser radar system.
The transmitting optical path and the receiving optical path of the laser transceiver module share one transmission module, and a coaxial scheme is provided. However, different from the traditional coaxial system for splitting light by adopting a beam splitter or a small-hole reflector and other light splitting elements, the laser receiving and transmitting module provided by the embodiment of the invention adopts the light deflection device to make the laser beam emit out at a deflection angle, so that the emitted laser beam and the received echo signal are separated, and the coaxial receiving and transmitting with a large optical caliber are realized; the laser transceiver module has compact structure and small volume; the position relation of the transmitting module and the detecting module is fixed, the assembly and adjustment of the whole light path are easy to realize, the optical realization difficulty is low, and the cost is low.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (16)
1. A lidar system, comprising:
a plurality of laser transceiver modules, the laser transceiver modules comprising: an emission module adapted to emit a laser beam; the detection module is suitable for detecting echo signals formed by reflecting the laser beams by barriers in a three-dimensional space; a transmission module adapted to transmit the laser beam to a three-dimensional space and to receive and transmit the echo signal, the transmission module comprising: a reflecting element adapted to reflect the laser beam to the three-dimensional space and the echo signal to the detection module, the laser beam and the echo signal being reflected by the same reflecting element;
the laser receiving and transmitting modules are suitable for rotating around the same rotating shaft, and different laser receiving and transmitting modules respectively emit laser beams towards different horizontal directions; and in each laser transceiver module, along the radial direction of the rotating shaft, the transmitting module and the detecting module are positioned on one side of the reflecting element away from the rotating shaft.
2. The lidar system of claim 1, wherein the transmit module of each laser transceiver module comprises one or more columns of lasers, each column of lasers comprising a plurality of lasers arranged at intervals along a vertical direction of the three-dimensional space, the plurality of lasers being arranged such that each laser transceiver module has a predetermined vertical field angle range.
3. The lidar system of claim 2, wherein at least two of the laser transceiver modules have different predetermined vertical field angle ranges, and wherein the predetermined vertical field angle ranges of the at least two laser transceiver modules have overlapping regions.
4. The lidar system of claim 3, wherein the scan lines of the at least two laser transceiver modules have different vertical distribution parameters within the overlap region to achieve encryption of the scan lines within the overlap region.
5. The lidar system of claim 4, wherein the lasers of each of the at least two laser transceiver modules are at different heights in the vertical direction;
or, the respective optical systems of the at least two laser transceiver modules respectively have different inclination angles, and the optical systems comprise the reflecting element.
6. The lidar system of claim 2, wherein the plurality of laser transceiver modules have the same predetermined vertical field angle range.
7. The lidar system of claim 1, further comprising: and the isolation device is arranged between the transmitting module and the detecting module.
8. The lidar system of claim 1, wherein the transmitting module and the detecting module are disposed on the same side of the transmitting module along a radial direction of the rotation shaft, and a predetermined distance is provided between the transmitting module and the detecting module.
9. The lidar system of claim 1 or 8, wherein the transmission module further comprises: a first optical component, which is suitable for collimating the laser beam emitted by the emission module and converging echo signals formed by reflecting the laser beam by the obstacle in the three-dimensional space received by the transmission module; and an optical deflection device adapted to change a transmission direction of the laser beam collimated by the first optical assembly, the aperture of the optical deflection device being smaller than the aperture of the first optical assembly.
10. The lidar system of claim 9, wherein the light-deflection device is adapted to change the direction of transmission of the laser beam collimated by the first optical assembly by refraction.
11. The lidar system of claim 9, wherein the light-deflecting device is a predetermined distance from the first optical component.
12. The lidar system of claim 9, wherein an aperture of the light-deflection device is smaller than an aperture of the first optical component.
13. The lidar system of claim 9, wherein the light deflection device and the first optical assembly are coaxial, and wherein the emission module and the detection module are disposed axisymmetrically with respect to the optical axis.
14. The lidar system of claim 9, wherein the transmission module further comprises: and the second optical assembly is arranged between the emission module and the first optical assembly and is suitable for compressing the fast axis divergence angle of the laser beam emitted by the emission module.
15. The lidar system of claim 9, wherein the transmit module and the detect module are disposed in a same plane that is parallel to a principal plane of the first optical assembly.
16. The lidar system of claim 9, wherein the reflective element and the first optical component are disposed at a predetermined angle such that the optical systems of different laser transceiver modules have different tilt angles.
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| CN201910182514.6A CN109814087A (en) | 2019-03-11 | 2019-03-11 | Laser transmitting-receiving module and laser radar system |
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| CN117518130A (en) * | 2023-10-20 | 2024-02-06 | 探维科技(苏州)有限公司 | Optical detection device and laser radar optical system |
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| CN109814087A (en) * | 2019-03-11 | 2019-05-28 | 上海禾赛光电科技有限公司 | Laser transmitting-receiving module and laser radar system |
| CN112444791B (en) * | 2019-08-29 | 2023-09-15 | 深圳市速腾聚创科技有限公司 | Laser radar for reducing close range blind area |
| JP7312979B2 (en) * | 2020-01-03 | 2023-07-24 | 深セン市速騰聚創科技有限公司 | Laser transceiver module and its optical adjustment method, laser radar and automatic driving device |
| CN113075643B (en) * | 2020-01-06 | 2023-05-05 | 苏州一径科技有限公司 | Laser radar system and manufacturing method thereof |
| CN113167897A (en) * | 2020-04-03 | 2021-07-23 | 深圳市速腾聚创科技有限公司 | Laser receiving and transmitting system, laser radar and automatic driving equipment |
| WO2021223183A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳市速腾聚创科技有限公司 | Laser transceiving assembly, laser radar, and automatic driving device |
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| CN117518130A (en) * | 2023-10-20 | 2024-02-06 | 探维科技(苏州)有限公司 | Optical detection device and laser radar optical system |
| CN117518130B (en) * | 2023-10-20 | 2024-06-04 | 探维科技(苏州)有限公司 | Optical detection device and laser radar optical system |
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| WO2020182024A1 (en) | 2020-09-17 |
| CN109814087A (en) | 2019-05-28 |
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