CN116559824A - Laser detection device and control method thereof - Google Patents

Laser detection device and control method thereof Download PDF

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Publication number
CN116559824A
CN116559824A CN202210112097.XA CN202210112097A CN116559824A CN 116559824 A CN116559824 A CN 116559824A CN 202210112097 A CN202210112097 A CN 202210112097A CN 116559824 A CN116559824 A CN 116559824A
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CN
China
Prior art keywords
detection device
emitted
linear light
light spots
components
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Application number
CN202210112097.XA
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Chinese (zh)
Inventor
刘兴胜
李勇
卓紫银
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Focuslight Technologies Inc
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Focuslight Technologies Inc
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Publication date
Application filed by Focuslight Technologies Inc filed Critical Focuslight Technologies Inc
Priority to CN202210112097.XA priority Critical patent/CN116559824A/en
Priority to PCT/CN2022/142884 priority patent/WO2023142851A1/en
Publication of CN116559824A publication Critical patent/CN116559824A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • 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)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A laser detection device and a control method thereof relate to the technical field of optics. At least two emission components of the laser detection device are configured to emit ray spots respectively in the same direction; a scanning assembly including at least one reflective surface configured to be driven to rotationally scan in a vertical or horizontal direction and reflect the line light spots emitted by the emission assembly when the line light spots emitted by the emission assembly are in the horizontal or vertical direction, such that the line light spots emitted by the at least two emission assemblies form a tiled field of view in the horizontal or vertical direction of the far field and are projected onto a target object; and the receiving components are matched with the number of the transmitting components and are configured to receive the reflected signals reflected by the target object. The method has the advantages of low manufacturing cost, simple assembly and adjustment and convenience in mass production.

Description

Laser detection device and control method thereof
Technical Field
The present application relates to the field of optical technologies, and in particular, to a laser detection apparatus and a control method thereof.
Background
Laser radar (Lidar) technology is an optical measurement technology that measures parameters such as the distance of a target by irradiating a beam of light, typically a pulsed laser, to the target. For example, lidar measures the distance of a target from a light source by measuring the Time difference between emitted light and received light, also known as the Time of flight (Time of flight) of the light.
The existing laser radar generally adopts a scanning mode of point scanning and point collecting, the detectors are required to be arranged in one-to-one correspondence with the laser transmitters, if high-precision vertical resolution is required to be realized, the number of the laser transmitters and the detectors of the receiving module and the transmitting module is required to be increased, but the number of the laser transmitters and the detectors is increased, and the cost and the volume of the laser radar are required to be increased. The existing laser radar also directly adopts a scanning mode of line scanning and line collecting, but because the power of a single laser is limited, a plurality of lasers are usually required to form a plurality of line light spots, and then multiple laser beams are combined to form the line light spots meeting the requirements of the laser radar on the field of view and the power, the multiple laser beams are combined to generally increase the optical complexity, and meanwhile, the manufacturing cost and the adjustment difficulty are increased, so that the mass production is not facilitated.
Disclosure of Invention
The invention aims to provide a laser detection device and a control method thereof. According to the laser detection device and the control method thereof, the at least two emission components emit the linear light spots in the same direction, the scanning component is driven to rotate and scan and reflect the linear light spots according to the direction of the linear light spots, the splicing view field of the linear light spots in a far field is realized and the linear light spots are projected on a target object, and the receiving component receives the reflected signals reflected by the target object, so that the detection of the target object is realized. According to the laser detection device and the control method thereof, at least two groups of independent emitting assemblies and receiving assemblies are combined with the scanning assembly, so that the linear light spots emitted by the at least two emitting assemblies form spliced fields of view in different directions of a far field and are projected on a target object, scanning of line scanning and line collecting is realized, and the defects of a plurality of point scanning and point collecting optical components, high cost and large volume are overcome; on the other hand, the defects of high manufacturing cost and high adjustment difficulty caused by adopting complex optical design in the existing line scanning line collecting and scanning mode are overcome, and the mass production is convenient. When the application occasions need larger power support, only the transmitting component and the receiving component are needed to be added, and the scheme upgrading is realized quickly.
Embodiments of the present application are implemented as follows:
in one aspect of the present application, a laser detection device is provided, including at least two emission components configured to emit radiation spots respectively in the same direction; the scanning assembly comprises at least one reflecting surface and is configured to be driven to rotationally scan in the vertical direction and reflect the linear light spots emitted by the emitting assemblies when the linear light spots emitted by the emitting assemblies are in the horizontal direction, so that the linear light spots emitted by the at least two emitting assemblies form a spliced field of view in the horizontal direction of a far field and are projected on a target object; or when the linear light spots emitted by the emission components are in the vertical direction, the linear light spots emitted by the emission components are driven to rotate and scan in the horizontal direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the vertical direction of a far field and are projected on a target object; and the receiving components are matched with the number of the transmitting components and are configured to receive the reflected signals reflected by the target object.
According to the laser detection device provided by the embodiment of the application, the scanning assembly is combined by the at least two groups of independent emitting assemblies and the receiving assemblies, so that the line light spots emitted by the at least two emitting assemblies can form spliced fields of view in different directions of a far field and are projected on a target object, scanning of line scanning and line collecting is realized, and the defects of a plurality of point scanning and point collecting optical components, high cost and large volume are overcome; on the other hand, the defects of high manufacturing cost and high adjustment difficulty caused by adopting complex optical design in the existing line scanning line collecting and scanning mode are overcome, and the mass production is convenient. When the application occasions need larger power support, only the transmitting component and the receiving component are needed to be added, and the scheme upgrading is realized quickly.
In one possible implementation, the angle of the vertical direction of the stitched field of view is configured to be 25 ° to 30 °, and the angle of the horizontal direction of the stitched field of view is configured to be 120 °. The spliced view field is a target view field of the laser detection device, and the angle range of the spliced view field is set according to the requirement.
In one possible implementation, at least one parameter of wavelength, power and spot size of the line spot emitted by the at least two sets of emission components is different. The spliced view field is formed by scanning and reflecting the linear light spots emitted by the emitting components through the scanning components, so that the number of the emitting components and the wavelength, the power and the light spot parameters (such as angular space distribution) of the linear light spots emitted by the emitting components can be configured according to the needs, the spliced view field is convenient and flexible, and the complexity of a system is not increased.
In one possible implementation, the line light spots emitted by the at least two groups of emission components are spliced in the same direction to form the line light spots with preset power density distribution. The spliced view field is formed by scanning and reflecting the linear light spots emitted by the emitting assemblies through the scanning assemblies, so that the number of the emitting assemblies and the wavelength, power and light spot parameters (such as angular space distribution and power density distribution) of the linear light spots emitted by the emitting assemblies can be configured according to the requirements, the linear light spots emitted by at least two groups of emitting assemblies are spliced in the same direction to form the linear light spots with preset power density distribution, and the system is convenient and flexible and does not increase the complexity of the system.
In one possible implementation, the emission component includes a laser and an optical shaping module including an axisymmetric aspheric FAC configured to collimate a light beam emitted by the laser in a fast axis direction and compress a divergence angle of the light beam emitted by the laser in a slow axis direction, the laser being disposed at a back focal point position of the axisymmetric aspheric FAC.
In one possible implementation, the optical shaping module includes a homogenizing element configured to homogenize the beam emitted by the laser in a slow axis direction.
In one possible implementation, the optical shaping module comprises a wedge element configured to change the beam emitted by the laser in a transmissive manner, the direction of change being towards the receiving assembly.
In one possible implementation, the receiving component comprises a CCD, and a plurality of spherical or aspherical mirrors configured to shape the reflected signal onto the CCD.
In one possible implementation, the transmitting and receiving assemblies of each set are disposed in close proximity. The size of the scanning assembly can be reduced, the scanning field of view is expanded, and meanwhile, the size of the scanning assembly is as small as possible, so that the load of the motor driving the scanning assembly is reduced, and the scanning frequency is improved.
In one possible implementation, the scanning assembly is configured as one of a rotating mirror, an array mirror, and a MEMS.
In a second aspect of the present application, a method for controlling the laser detection device is provided, where the method includes:
controlling at least two emission components to emit ray spots respectively in the same direction;
when the linear light spots emitted by the emission components are in the horizontal direction, the scanning components are controlled to be driven to rotationally scan in the vertical direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the horizontal direction of a far field and are projected on a target object;
when the linear light spots emitted by the emission components are in the vertical direction, the scanning components are controlled to be driven to rotate and scan in the horizontal direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the vertical direction of a far field and are projected on a target object;
and controlling receiving assemblies matched with the number of the transmitting assemblies to respectively receive the reflected signals reflected by the target object.
In a third aspect of the present application, a chip is provided, comprising at least one processor and a communication interface, the processor being configured to perform the above-described method.
In a fourth aspect of the present application, there is provided a computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the above-described method.
In a fifth aspect of the present application, there is provided a lidar system comprising the laser detection device described above.
In a sixth aspect of the present application, a terminal at least including the laser detection device described above, or the laser radar system described above is provided.
The beneficial effects of this application include: according to the laser detection device and the control method thereof, at least two groups of independent emitting assemblies and receiving assemblies are combined with the scanning assembly, so that the linear light spots emitted by the at least two emitting assemblies form spliced fields of view in different directions of a far field and are projected on a target object, scanning of line scanning and line collecting is realized, and the defects of a plurality of point scanning and point collecting optical components, high cost and large volume are overcome; on the other hand, the defects of high manufacturing cost and high adjustment difficulty caused by adopting complex optical design in the existing line scanning line collecting and scanning mode are overcome, and the mass production is convenient. When the application occasions need larger power support, only the transmitting component and the receiving component are needed to be added, and the scheme upgrading is realized quickly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of one embodiment of a laser detection device provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of one embodiment of a transmitting assembly according to the embodiments of the present application;
FIG. 3 is a schematic diagram of one embodiment of a receiving assembly according to an embodiment of the present application;
FIG. 4 is a schematic view of a first embodiment of a tiled field of view provided in an embodiment of the present application;
FIG. 5 is a schematic view of a second embodiment of a stitched field of view provided in an embodiment of the present application;
FIG. 6 is a schematic view of a third embodiment of a stitched field of view provided in an embodiment of the present application;
FIG. 7 is a diagram of a fourth embodiment of a stitched field of view provided by embodiments of the present application;
FIG. 8 is a schematic view of a fifth embodiment of a stitched field of view provided by an embodiment of the present application;
FIG. 9 is a diagram of a sixth stitched field of view embodiment provided by embodiments of the present application;
FIG. 10 is a schematic view of a seventh embodiment of a stitched field of view provided in an embodiment of the present application;
FIG. 11 is a schematic view of an eighth embodiment of a stitched field of view provided by an embodiment of the present application;
fig. 12 is a flowchart of one embodiment of a control method of a laser detection device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships that are conventionally put in use of the inventive product, are merely for convenience of description of the present application and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Referring to fig. 1, fig. 1 is a schematic structural diagram of one embodiment of a laser detection device according to an embodiment of the present application. The laser detection device provided by the embodiment of the application comprises at least two emission components, such as the emission component 11 and the emission component 12 in fig. 1, wherein the emission component 11 and the emission component 12 are configured to respectively emit radiation spots in the same direction; a scanning assembly 20, the scanning assembly 20 comprising at least one reflecting surface (not shown in the figure) configured to be driven to rotationally scan in a vertical direction and reflect the line light spots emitted by the emission assemblies when the line light spots emitted by the at least two emission assemblies (e.g., emission assembly 11 and emission assembly 12) are in a horizontal direction, such that the line light spots emitted by the at least two emission assemblies form a tiled field of view in a horizontal direction of a far field and are projected onto a target object 40; or when the linear light spots emitted by the at least two emission components are in the vertical direction, the linear light spots emitted by the emission components are driven to rotate and scan in the horizontal direction and reflect, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the vertical direction of the far field and are projected on the target object 40; and the receiving components are matched with the number of the transmitting components and are configured to receive the reflected signals reflected by the target object. The same direction is understood to mean the same horizontal direction or the same vertical direction, the horizontal and vertical directions being opposite, for example, the same direction may also be a direction at an angle to the horizontal direction. The angular direction of the line spot emission depends on the assembly angle of the light source of the emission assembly. The configuration of at least two emission components enables the laser detection device provided by the embodiment of the application to meet the requirements of view field and power in practical application. Compared with the prior art, the linear light spot emitted by the emitting component is the linear light spot directly formed by the light beam emitted by the laser after collimation, homogenization and shaping, beam combination is not needed, the defects of high manufacturing cost and high adjustment difficulty caused by the fact that the prior art adopts the optical design of spatial beam combination complexity are overcome, and mass production is convenient.
Referring to fig. 2, in one possible implementation, the emission assembly 11 includes a laser 111 and an optical shaping module 112, and the optical shaping module 112 includes an axisymmetric aspheric FAC, a homogenizing element, and a wedge element. The axisymmetric aspherical FAC is configured to collimate a light beam emitted from the laser 111 in a fast axis direction and compress a divergence angle of the light beam emitted from the laser 111 in a slow axis direction, and the laser 111 is disposed at a back focus position of the axisymmetric aspherical FAC. The homogenizing element is configured to homogenize the light beam emitted by the laser 111 in the slow axis direction. The wedge element is configured to change the beam emitted by the laser 111 in a transmissive manner, the direction of the change being towards the receiving assembly, such that the beam is twisted in the receiving direction, which may reduce the length of the scanning assembly 20, thereby reducing the load of the drive motor and increasing the scanning frequency.
Alternatively, the laser 111 may be a semiconductor laser and an array thereof, a VCSEL laser, and a combination of one or more of fiber lasers, without limitation. It will be appreciated that when the choice of laser 111 is different, the setting of the optical shaping module 112 is also different and can be configured as desired by those skilled in the art.
A scanning assembly 20, the scanning assembly 20 comprising at least one reflective surface, the scanning assembly 20 being configured to be driven to rotationally scan in a horizontal or vertical direction and reflect the line spots emitted by the emission assemblies when the line spots emitted by the emission assemblies are in a vertical or horizontal direction, such that the line spots emitted by the at least two emission assemblies form a tiled field of view in a vertical or horizontal direction in the far field and are projected onto a target object.
Optionally, the scanning assembly 20 is configured as one of a rotating mirror, an array mirror, and a MEMS. The scanning assembly 20 may be configured as two reflecting surfaces or four reflecting surfaces as required, and the more reflecting surfaces, the higher the scanning frequency, but the more complex the system, so the number of the emitting surfaces of the scanning assembly may be configured as required.
Specifically, the spliced field of view is a target field of view of the laser detection device, and the angle range of the spliced field of view is set according to requirements. In lidar applications, the angle of the vertical direction of the stitched field of view is configured to be 25 ° to 30 °, and the angle of the horizontal direction of the stitched field of view is configured to be 120 °. In other applications, it will be appreciated that the spliced field of view is formed by scanning and reflecting the linear light spots emitted by the emitting components by the scanning components, so that the number of the emitting components and the wavelength, power and light spot parameters (such as angular space distribution) of the linear light spots emitted by the emitting components can be configured as required, and the spliced field of view is convenient and flexible and does not increase the complexity of the system.
Specifically, in one possible implementation, the scanning component 20 is configured to, when the line light spot emitted by the emission component is in a vertical direction, be driven to rotationally scan in a horizontal direction and reflect the line light spot emitted by the emission component, so that the line light spots emitted by the at least two emission components form a tiled field of view in a vertical direction of a far field and are projected on a target object. As shown in fig. 1 and fig. 4, the scanning component 20 is configured to, when the line light spots emitted by the emitting component 11 and the emitting component 12 are in a vertical direction, and referring to fig. 4, assume that the line light spot emitted by the emitting component 11 is the line light spot 1, the line light spot emitted by the emitting component 12 is the line light spot 2, the wavelength, the power and the spot parameters (such as angular spatial distribution) of the line light spot 1 and the line light spot 2 are all the same, the line light spot 1 and the line light spot 2 are in the same direction (vertical direction), the scanning component 2 is driven to rotate in a horizontal direction (scanning direction in fig. 4) to scan and reflect the line light spot emitted by the emitting component, so that the line light spots emitted by the at least two emitting components form a spliced field of view in the vertical direction in the far field and are projected on the target object. Specifically, in fig. 4, as the scanning assembly 20 is driven to rotate and reflect the linear light spot 1 and the linear light spot 2, the linear light spot 1 and the linear light spot 2 form a 120-degree x 12.5-degree field of view 1 and a 120-degree x 12.5-degree field of view 2, respectively, and a spliced field of view (120-degree x 25-degree) is formed by splicing the field of view 1 and the field of view 2 in the vertical direction.
In other embodiments, to achieve the angular spatial distribution requirement in practical applications, referring to fig. 5, the line light spot 1 and the line light spot 2 may be partially overlapped, so that the scanning component 2 is driven to rotationally scan in a horizontal direction (the scanning direction in fig. 5) and reflect the line light spots emitted by the emitting components, so that the line light spots emitted by the at least two emitting components form a spliced field of view in a vertical direction in a far field and are projected on a target object. Specifically, in fig. 5, as the scanning assembly 20 is driven to rotate in the horizontal direction and reflect the linear light spot 1 and the linear light spot 2, the linear light spot 1 and the linear light spot 2 form a 120-degree x 18-degree field of view 1 and a 120-degree x 20-degree field of view 2 respectively, and the fields of view 1 and the fields of view 2 are overlapped in the vertical direction and then spliced to form a spliced field of view (120-degree x 25-degree).
In one possible implementation, at least one parameter of wavelength, power and spot size of the line spot emitted by the two sets of emission components is different. Referring to fig. 6, in one possible implementation, to avoid ghost images, the line spot 1 and the line spot 2 are separated in the horizontal direction. In one of the possible implementations, still referring to fig. 6, the angular space sizes of the linear light spot 1 and the linear light spot 2 are different. In one of the possible implementations, the power densities of the linear light spot 1 and the linear light spot 2 may also be different.
Referring to fig. 7, in one possible implementation, the laser detection device includes three emission components, where the three emission components emit a line light spot 1, a line light spot 2, and a line light spot 3, respectively, and the line light spot 1, the line light spot 2, and the line light spot 3 are in the same direction (vertical direction), and the scanning component 2 is driven to rotationally scan in a horizontal direction (scanning direction in fig. 7) and reflect the line light spot emitted by the emission components, so that the line light spot emitted by the three emission components forms a spliced field of view (a field of view spliced by the field of view 1, the field of view 2, and the field of view 3 in fig. 7) in a horizontal direction of a far field and is projected on a target object. Similarly, according to practical application requirements, at least one parameter of wavelength, power and light spot of the line light spot emitted by the three groups of emitting components may be the same or different.
In one possible implementation, when the line light spots emitted by the emitting component 11 and the emitting component 12 are in the horizontal direction, as shown in connection with fig. 1 and fig. 8, assuming that the line light spot emitted by the emitting component 11 is the line light spot 1, the line light spot emitted by the emitting component 12 is the line light spot 2, the wavelength, the power and the spot parameters (such as angular spatial distribution) of the line light spot 1 and the line light spot 2 are the same, the line light spot 1 and the line light spot 2 are in the same direction (horizontal direction), and the scanning component 2 is driven to rotationally scan in the vertical direction (scanning direction in fig. 8) and reflect the line light spot emitted by the emitting component, so that the line light spots emitted by the at least two emitting components form a spliced field of view in the horizontal direction of the far field and are projected on the target object.
In other embodiments, to achieve the angular spatial distribution requirement in practical applications, referring to fig. 9, the linear light spot 1 and the linear light spot 2 may be partially overlapped, so that the scanning component 2 is driven to rotationally scan in a vertical direction (the scanning direction in fig. 9) and reflect the linear light spots emitted by the emitting components, so that the linear light spots emitted by the two emitting components form a spliced field of view in a vertical direction in a far field and are projected on a target object. Specifically, in fig. 9, as the scanning assembly 20 is driven to rotate in the vertical direction and reflect the linear light spot 1 and the linear light spot 2, the linear light spot 1 and the linear light spot 2 form a 60-degree x 25-degree field of view 1 and a 60-degree x 25-degree field of view 2, respectively, and the fields of view 1 and the fields of view 2 are overlapped in the vertical direction and then spliced to form a spliced field of view (120-degree x 25-degree).
In one possible implementation, at least one parameter of wavelength, power and spot size of the line spot emitted by the two sets of emission components is different. Referring to fig. 10, in one possible implementation, the linear optical spot 1 and the linear optical spot 2 are separated in a vertical direction. In one possible implementation, still referring to fig. 10, the angular space sizes of the line spots 1 and 2 may be different. In one of the possible implementations, the power densities of the linear light spot 1 and the linear light spot 2 may also be different.
Referring to fig. 11, in one possible implementation, the laser detection device includes three emission components, where the emission components emit a line light spot 1, a line light spot 2, and a line light spot 3, respectively, and the line light spot 1, the line light spot 2, and the line light spot 3 are in the same direction (horizontal direction), and the scanning component 2 is driven to rotationally scan in a vertical direction (scanning direction in fig. 8) and reflect the line light spots emitted by the emission components, so that the line light spots emitted by the at least two emission components form a spliced field of view (a field of view spliced by the field of view 1, the field of view 2, and the field of view 3 in fig. 8) in a horizontal direction of a far field and are projected on a target object.
Embodiments of the stitched fields of view in still other applications are not described in detail herein.
In one possible implementation, at least each group of transmitting assemblies and receiving assemblies are closely arranged in parallel to realize large-angle surface scanning, so that the size of the scanning assemblies can be reduced, the scanning field of view is expanded, and meanwhile, the size of the scanning assemblies is as small as possible, so that the load of the motor-driven scanning assemblies is reduced, and the scanning frequency is increased.
The laser detection device provided by the embodiment of the application further comprises receiving components matched with the number of the emitting components and configured to receive the reflected signals reflected by the target object. Referring to fig. 1, in the embodiment of the present application, a receiving component 31 and a receiving component 32 are provided, which match the number of transmitting components.
Optionally, the receiving component includes a CCD 311, and a receiving lens set 312, where the receiving lens set 312 is a plurality of spherical or aspherical mirrors configured to shape the reflected signal onto the CCD.
According to the laser detection device provided by the embodiment of the application, the scanning assembly is combined by the at least two groups of independent emitting assemblies and the receiving assemblies, so that the line light spots emitted by the at least two emitting assemblies can form spliced fields of view in different directions of a far field and are projected on a target object, scanning of line scanning and line collecting is realized, and the defects of a plurality of point scanning and point collecting optical components, high cost and large volume are overcome; on the other hand, the defects of high manufacturing cost and high adjustment difficulty caused by adopting complex optical design in the existing line scanning line collecting and scanning mode are overcome, and the mass production is convenient. When the application occasions need larger power support, only the transmitting component and the receiving component are needed to be added, and the scheme upgrading is realized quickly.
Referring to fig. 12, an embodiment of the present application further provides a control method of the laser detection device, where the method includes the following steps:
step S10: controlling at least two emission components to emit ray spots respectively in the same direction;
step S20: when the linear light spots emitted by the emission components are in the horizontal direction, the scanning components are controlled to be driven to rotationally scan in the vertical direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the horizontal direction of a far field and are projected on a target object;
step S30: when the linear light spots emitted by the emission components are in the vertical direction, the scanning components are controlled to be driven to rotate and scan in the horizontal direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the vertical direction of a far field and are projected on a target object;
step S40: and controlling receiving assemblies matched with the number of the transmitting assemblies to respectively receive the reflected signals reflected by the target object.
The control method of the laser detection device controls according to the actual configuration of the laser detection device. The technical features and technical effects of the related embodiments are referred to the above-mentioned embodiments of the laser detection device, and are not described herein in detail.
According to the control method of the laser detection device, at least two groups of independent emitting assemblies and receiving assemblies are controlled to be combined with the scanning assembly, so that the line light spots emitted by the at least two emitting assemblies can form spliced fields of view in different directions of a far field and are projected on a target object, scanning of line scanning and line collecting is achieved, and the defects of multiple point scanning and point collecting optical components, high cost and large size are overcome; on the other hand, the defects of high manufacturing cost and high adjustment difficulty caused by adopting complex optical design in the existing line scanning line collecting and scanning mode are overcome, and the mass production is convenient. When the application occasions need larger power support, only the transmitting component and the receiving component are needed to be added, and the scheme upgrading is realized quickly.
The embodiment of the application also provides a chip comprising at least one processor and a communication interface, wherein the processor is used for executing the method shown in fig. 12.
The chip includes at least one processor, memory, and a communication interface. The processor, the memory and the communication interface are in communication connection, and communication can be realized through other means such as wireless transmission. The communication interface is used for receiving signals of the synchronous component and/or sending control signals to the sending component to adjust the emission parameters and/or sending control signals to the receiving component to adjust the parameters of the pixel array of the receiving detector; the memory stores executable program code, and the processor may invoke the program code stored in the memory to execute the control method of the laser detection device in the foregoing method embodiment.
It should be understood that the chip according to the embodiment of the present application may perform the method shown in fig. 12 in the embodiment of the present application, and the detailed description of the implementation of the method is referred to above, which is not repeated herein for brevity.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the above-described method.
The present application also provides a computer program or computer program product comprising instructions which, when executed, cause a computer to perform the above-described method.
The embodiment of the application also provides a laser radar system comprising the laser detection device, and the laser detection device is used for detecting the target object. The technical features and technical effects of the related embodiments are referred to the above-mentioned embodiments of the laser detection device, and are not described herein in detail.
The application also provides a terminal comprising the laser detection device or the laser radar system. The terminal includes, but is not limited to, intelligent transportation devices, such as vehicles, unmanned aerial vehicles, robots, etc., that are deployed with the above-described detection device or lidar system; mapping equipment provided with the detection device or the laser radar system; a traffic infrastructure in which the above-described probe device or lidar system is deployed, and the like.
The foregoing is merely an alternative embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described in detail.

Claims (15)

1. A laser detection device is characterized by comprising,
at least two emission components configured to emit the radiation spots in the same direction, respectively;
the scanning assembly comprises at least one reflecting surface and is configured to be driven to rotationally scan in the vertical direction and reflect the linear light spots emitted by the emitting assemblies when the linear light spots emitted by the emitting assemblies are in the horizontal direction, so that the linear light spots emitted by the at least two emitting assemblies form a spliced field of view in the horizontal direction of a far field and are projected on a target object; or when the linear light spots emitted by the emission components are in the vertical direction, the linear light spots emitted by the emission components are driven to rotate and scan in the horizontal direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the vertical direction of a far field and are projected on a target object;
and the receiving components are matched with the number of the transmitting components and are configured to receive the reflected signals reflected by the target object.
2. The laser detection device according to claim 1, wherein an angle of a vertical direction of the spliced field of view is configured to be 25 ° to 30 °, and an angle of a horizontal direction of the spliced field of view is configured to be 120 °.
3. The laser detection device of claim 1, wherein at least one parameter of wavelength, power and spot size of the line spots emitted by the at least two sets of emission components is different.
4. The laser detection device of claim 1, wherein the line spots emitted by the at least two groups of emission components are spliced in the same direction to form a line spot with a preset power density distribution.
5. The laser detection device of any one of claims 1 to 4, wherein the emission assembly comprises a laser and an optical shaping module, the optical shaping module comprising an axisymmetric aspheric FAC configured to collimate a light beam emitted by the laser in a fast axis direction and compress a divergence angle of the light beam emitted by the laser in a slow axis direction, the laser being disposed at a back focal position of the axisymmetric aspheric FAC.
6. The laser detection device of claim 5, wherein the optical shaping module comprises a homogenizing element configured to homogenize the beam emitted by the laser in a slow axis direction.
7. The laser detection device of claim 6, wherein the optical shaping module comprises a wedge element configured to change the beam emitted by the laser in a transmissive manner, the change being in direction towards the receiving assembly.
8. The laser detection device of any one of claims 1 to 4, wherein the receiving assembly comprises a CCD, and a plurality of spherical or aspherical mirrors configured to shape the reflected signal onto the CCD.
9. The laser detection device as claimed in any one of claims 1 to 4, wherein each set of the transmitting and receiving assemblies is disposed in close proximity.
10. The laser detection device of any one of claims 1 to 4, wherein the scanning assembly is configured as one of a rotating mirror, an array mirror, and a MEMS.
11. A control method of a laser detection device according to any one of claims 1 to 10, characterized in that the method comprises:
controlling at least two emission components to emit ray spots respectively in the same direction;
when the linear light spots emitted by the emission components are in the horizontal direction, the scanning components are controlled to be driven to rotationally scan in the vertical direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the horizontal direction of a far field and are projected on a target object;
when the linear light spots emitted by the emission components are in the vertical direction, the scanning components are controlled to be driven to rotate and scan in the horizontal direction and reflect the linear light spots emitted by the emission components, so that the linear light spots emitted by the at least two emission components form a spliced field of view in the vertical direction of a far field and are projected on a target object;
and controlling receiving assemblies matched with the number of the transmitting assemblies to respectively receive the reflected signals reflected by the target object.
12. A chip comprising at least one processor and a communication interface, the processor configured to perform the method of claim 11.
13. A computer readable storage medium, on which a computer program is stored, characterized in that the computer is caused to perform the method of claim 11 when the computer program is executed in the computer.
14. A lidar system comprising a laser detection device according to any of claims 1 to 10.
15. A terminal comprising at least a laser detection device according to any one of claims 1 to 10, or a lidar system according to claim 14.
CN202210112097.XA 2022-01-29 2022-01-29 Laser detection device and control method thereof Pending CN116559824A (en)

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CN1651972A (en) * 2005-02-07 2005-08-10 中国科学院光电技术研究所 Method for implementing semiconductor laser lightbeam shaping by off-axis all internal reflecting prism array
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JP2021162475A (en) * 2020-03-31 2021-10-11 パイオニア株式会社 Scanner, scanning method, and scanning program
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