CN117310654A - Laser emitting device and laser radar - Google Patents
Laser emitting device and laser radar Download PDFInfo
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- CN117310654A CN117310654A CN202311292167.5A CN202311292167A CN117310654A CN 117310654 A CN117310654 A CN 117310654A CN 202311292167 A CN202311292167 A CN 202311292167A CN 117310654 A CN117310654 A CN 117310654A
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- 230000003287 optical effect Effects 0.000 claims abstract description 218
- 238000001514 detection method Methods 0.000 claims description 38
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- 238000005259 measurement Methods 0.000 description 5
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Classifications
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
Abstract
A laser emitting apparatus and a laser radar, the laser emitting apparatus comprising: the laser emission device comprises a laser emission array, a first laser emission unit group and a first emission optical adjustment unit group; the laser emission array comprises a first laser emission unit group; the first laser emission unit group comprises a plurality of first laser emission units, and the first laser emission units are used for emitting laser beams; the first emission optical adjustment unit group comprises a plurality of first emission optical adjustment units; the first emission optical adjusting units in the first emission optical adjusting unit group are arranged in one-to-one correspondence with the first laser emitting units in the first laser emitting unit group, and are used for adjusting the emitting direction of the laser signals emitted by the first laser emitting units in the first laser emitting unit group. The invention improves the measuring efficiency of the laser radar to the close-range object.
Description
The present application is a divisional application of the chinese application with application number 202080005404.3, the foregoing being incorporated by reference in the present application.
Technical Field
The embodiment of the invention relates to the technical field of laser radars, in particular to a laser emitting device and a laser radar.
Background
With the development of technology, the laser radar is widely used in the fields of intelligent equipment such as automatic driving, intelligent robot navigation and unmanned aerial vehicle, and is applied to scenes such as environment detection and space modeling. The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target object by emitting laser beams, and the working principle of the laser radar is that the laser radar system is characterized in that detection laser beams are emitted to the target object, then received reflected laser signals reflected from the target object are compared with emission signals, and after processing, related information of the target object, such as parameters of target distance, azimuth, altitude, speed, gesture, shape and the like, is obtained.
The inventor of the application finds out an off-axis laser radar in a research process, and in order to obtain the distance measurement capability of a long distance, the problem that the overlapping degree of a transmitting view field and a receiving view field is low exists in a short distance, so that an object in the short distance cannot be effectively detected.
Disclosure of Invention
The embodiment of the invention aims to provide a laser emitting device, a laser radar and intelligent sensing equipment, which solve the problem that a short-distance object cannot be effectively detected in the prior art.
The embodiment of the invention provides a laser emitting device, which comprises: the laser emission device comprises a laser emission array, a first laser emission unit group and a first emission optical adjustment unit group;
The laser emission array comprises a first laser emission unit group;
the first laser emission unit group comprises a plurality of first laser emission units;
the first emission optical adjustment unit group comprises a plurality of first emission optical adjustment units;
the first emission optical adjusting units in the first emission optical adjusting unit group are correspondingly arranged with the first laser emitting units in the first laser emitting unit group, and are used for adjusting the emitting direction of the laser signals emitted by the first laser emitting units in the first laser emitting unit group, so that the laser beams emitted by the first laser emitting units are aligned with the detection view field at a short distance.
Further, the device further comprises: a second laser emission unit group and a second emission optical adjustment unit group;
the second laser emission unit group comprises at least one second laser emission unit;
the second emission optical adjustment unit group comprises at least one second emission optical adjustment unit;
and the second emission optical adjusting units in the second emission optical adjusting unit group are correspondingly arranged with the second laser emitting units in the second laser emitting unit group and are used for carrying out collimation treatment on laser signals emitted by the second laser emitting units in the second laser emitting unit group.
Further, the plurality of first emission optical adjustment units in the first emission optical adjustment unit group are collimation optical adjustment units, and emission optical axes of the plurality of first laser emission units are not overlapped with optical axes of the corresponding first emission optical adjustment units.
Further, the plurality of first emission optical adjustment units in the first emission optical adjustment unit group are one or a combination of more of wedges, microprisms, spherical mirrors or cylindrical mirrors.
Further, the adjustment angle θ of the laser signal adjusted by the first emission optical adjustment unit in the first emission optical adjustment unit group is:
wherein the D is the distance between the original emitting field of view (long-distance requirement) and the receiving field of view of the first laser; l is the distance between the first laser emission unit and the close range target.
Further, the plurality of first emission optical adjustment units in the first emission optical adjustment unit group set corresponding adjustment angles according to different close-range objects detected by the plurality of first laser emission units in the first laser emission unit group.
Further, the laser light emitting device further comprises a laser light emitting lens;
the laser emission lens receives the adjusted laser signal and emits the laser signal to a short-distance detection object;
The laser emission lens receives the laser signals after the collimation treatment and emits the laser signals to the remote detection object.
The embodiment of the invention also provides a laser radar which comprises the laser transmitting device and the laser receiving device;
the laser receiving device includes: a laser receiving array and a first laser receiving unit group;
the laser receiving array comprises a first laser receiving unit group;
the first laser receiving unit group comprises a plurality of first laser receiving units;
the plurality of first laser receiving units are correspondingly arranged with the plurality of first laser emitting units of the first laser emitting unit group and are used for receiving echo laser signals corresponding to the emitted laser of the first laser emitting units.
Further, the laser receiving array further comprises a second laser receiving unit group; the laser receiving device also comprises a first receiving optical adjusting unit group;
the second laser receiving unit group comprises a plurality of second laser receiving units;
the second laser receiving units are correspondingly arranged with a plurality of second laser emitting units of the second laser emitting unit group and are used for receiving echo laser signals corresponding to the emitted laser of the second laser emitting units;
The first receiving optical adjustment unit group comprises a plurality of first receiving optical adjustment units;
the first receiving optical adjusting unit is arranged on the first side of the second laser receiving unit and is used for adjusting the emergent direction of the echo laser signal corresponding to the emergent laser of the second laser transmitting unit which is incident on the optical surface of the first receiving optical adjusting unit to the second laser receiving unit.
Further, the laser radar comprises a laser receiving plate, the laser receiving array is arranged on the laser receiving plate, and the first receiving optical adjusting unit and the plane where the laser receiving plate is arranged form a first preset angle.
Further, the first receiving optical adjustment unit makes a second preset angle with a first vertical plane perpendicular to the laser receiving plate.
Further, the first receiving optical adjustment unit is disposed on the first side of the laser receiving array group, and is configured to adjust an outgoing direction of the laser incident on the surface of the first receiving optical adjustment unit to a plurality of second laser receiving units of the laser receiving array group.
Further, the laser receiving device further comprises a second receiving optical adjusting unit;
The second receiving optical adjustment unit is arranged on a second side of at least one second laser receiving unit in the second laser receiving group, and the second side of the second laser receiving unit is opposite to the first receiving optical adjustment unit of the second laser receiving unit.
Further, the first receiving optical adjusting unit is one or more;
when the first receiving optical adjusting unit is one, the first receiving optical adjusting unit is arranged along the first laser receiving group, and the length of the projection of the optical surface of the first receiving optical adjusting unit on the laser receiving plate along the laser receiving array group is greater than or equal to the total length of the arrangement of all the second laser receiving units in the laser receiving group;
when the first receiving optical adjusting units are multiple, the first receiving optical adjusting units correspond to the second laser receiving units in the second laser receiving group, and are used for adjusting the outgoing direction of the laser light which is incident on the optical reflecting surface of each of the first receiving optical adjusting units to each of the second laser receiving units in the second laser receiving group.
The embodiment of the application also provides intelligent sensing equipment, and the laser radar in the embodiment is adopted.
To sum up, according to the embodiment of the application, the emission optical adjusting units are respectively arranged in front of the plurality of laser emitting units, so that the laser signals emitted by the laser emitting arrays are adjusted, the detection of the close-range object is realized, and meanwhile, the emission optical adjusting units and the laser emitting units are arranged in one-to-one correspondence, so that the adjusting angles of the laser emitting units can be conveniently adjusted, and the detection effect of the close-range object is guaranteed to the greatest extent. And the emission optical adjusting unit is directly arranged with the laser emission unit, so that the structure is simple, and the laser radar structure is prevented from being greatly changed.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present invention can be more clearly understood, and the following specific embodiments of the present invention are given for clarity and understanding.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings do not depict a proportional limitation unless expressly stated otherwise:
FIG. 1 shows a schematic diagram of lidar close range detection;
FIG. 2 shows an optical path diagram of a lidar detecting a near object;
FIG. 3 shows a laser radar structure diagram according to an embodiment of the present invention;
fig. 4 shows a schematic diagram of optical path adjustment of a laser emitting device according to an embodiment of the present invention;
fig. 5 shows a schematic view of an adjustment angle of a laser emitting device according to an embodiment of the present invention;
FIG. 6a shows a first optical path diagram for transmitting and receiving lidar provided by an embodiment of the present invention;
FIG. 6b shows a second optical path diagram for transmitting and receiving lidar provided by an embodiment of the present invention;
fig. 7 shows a schematic diagram of a receiving optical adjustment unit of a laser receiving device according to an embodiment of the present invention;
fig. 8 shows a schematic diagram of a receiving optical adjustment unit of a laser receiving device according to another embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The basic principle of the laser radar is that the laser emits laser light, the laser light is emitted after being collimated by an emission optical system, and the laser light is reflected back to a receiving optical system of the laser radar after being transmitted to an object and is converted into an electric signal. The optical system of the lidar may be classified into an on-axis system and an off-axis system according to whether the laser transmitting optical system and the laser receiving optical system are on-axis. In order to obtain the distance measurement capability of a long distance when the transmitting optical system and the receiving optical system are not coaxial (i.e. an off-axis system), in the practical use case, as shown in fig. 1, in the practical scene application, taking a vehicle-mounted laser radar as an example, when the distance measurement is performed on a short-distance object, the problem that the overlapping degree of a transmitting field of view and a receiving field of view is low exists in the short distance, so that the echo signal of the short distance is weak and the distance dynamic range is limited; for a system with high integration degree of transmitting and receiving devices, the traditional optical lens cannot simultaneously meet the long-distance ranging and short-distance ranging of a main view field, and the problem of short-distance ground line information loss can occur.
Fig. 2 is a light path diagram of ranging a short-distance object by using a conventional laser radar, at a transmitting end, a laser transmitting unit emits a laser beam a, the laser beam a is collimated by a FAC fast axis collimating lens, then reflected to a transmitting lens by a reflecting mirror, collimated and shaped by the transmitting lens, and finally emitted to the object to be measured. When the measured object is a close-range target object, the emission angle of the laser emission unit mainly faces to the far-end object, and the light beam A emitted to the close-range target object is reflected by the close-range target object and then passes through the receiving lens and the reflecting mirror, so that the reflected light signal A is emitted to deflect and cannot be emitted into the laser receiving unit, and the laser radar cannot detect the close-range target object.
Based on the above-mentioned problems in the prior art, an embodiment of the present application proposes a laser emitting device, as shown in fig. 3, including: a laser emitting array 110, a first laser emitting unit group 120, and a first emission optical adjustment unit group 140; the laser emitting array 110 includes a first laser emitting unit group 120; the first laser emitting unit group 120 includes a plurality of first laser emitting units 122; the first emission optical adjustment unit group 140 includes a plurality of first emission optical adjustment units 142; the first optical adjustment units 142 in the first optical adjustment unit set 140 are disposed corresponding to the first laser emission units 122 in the first laser emission unit set 120, that is, one first optical adjustment unit 142 corresponds to one first laser emission unit 122, and the first optical adjustment unit set 140 is configured to adjust an emitting direction of a laser signal emitted by the first laser emission unit 122 in the first laser emission unit set 120, so that a laser beam emitted by the first laser emission unit is aligned with a detection field at a short distance.
The optical path diagram of the first transmitting optical adjusting unit 142 for adjusting the laser signal sent by the first laser transmitting unit 122 is shown in fig. 4, in which in fig. 4, the dashed line represents the original transmitting field of view, and when the laser signal sent by the first laser transmitting unit is not adjusted, the laser radar is used for testing a remote target, and the laser transmitting beam is aligned with the field of view of the detector at a remote distance. After the laser signal sent by the first laser emission unit is adjusted, the laser beam emitted by the first laser emission unit is aligned with the detection view field at a close distance, and the laser beam is intersected with the laser beam before the close distance alignment, namely before the original detection view field formed by the laser beam before adjustment, so that the detection of a close-distance object is realized, and the distance measurement of the close-distance object is realized.
Therefore, it can be known from the above, in the embodiment of the present application, through setting the first emission optical adjustment unit respectively before a plurality of first laser emission units, realized under the condition that satisfies the whole detection demand of laser radar, the reinforcing is to the detection of closely object, simultaneously, because first emission optical adjustment unit with first laser emission unit one-to-one sets up, can be convenient adjust every first laser emission unit's adjustment angle, can set up different adjustment angles to the first emission optical adjustment unit that different first laser emission units correspond respectively to different measurement distance, the detection effect to closely object has been guaranteed to the maximum degree. And the first emission optical adjusting unit is directly arranged with the first laser emission unit, so that the structure is simple, and the laser radar structure is prevented from being greatly changed.
Further, as shown in fig. 3, the laser emitting device further includes a second laser emitting unit group 160 and a second emission optical adjustment unit group 180; the second laser emitting unit group 160 includes at least one laser emitting unit 162; the second emission optical adjustment unit group 180 includes at least one second emission optical adjustment unit 182; the second emission optical adjustment unit 182 in the second emission optical adjustment unit group 180 is disposed corresponding to the second laser emission unit 162 in the second laser emission unit group 160, and is configured to perform collimation processing on the laser signal emitted by the second laser emission unit 162 in the second laser emission unit group 160.
As shown in fig. 3, the second laser emitting units 122 in the first laser emitting unit set 120 are configured to detect a near-distance object, and the second emission optical adjusting units 142 in the first emission optical adjusting unit set 140 are respectively disposed in front of the second laser emitting units 122 in the first laser emitting unit set 120, and are configured to adjust the laser signals, and the adjusted laser signals are directly emitted to the near-distance object, and the near-distance object reflects the incident laser light to the second laser receiving unit. The second laser emitting units 162 in the second laser emitting unit set 160 are configured to detect a remote object, and the second emission optical adjusting unit set 182 in the second emission optical adjusting unit set 180 is disposed in front of the second laser emitting units 162 in the second laser emitting unit set 160, and is configured to perform collimation processing on the laser signal, and the collimated laser signal is emitted to the remote object to detect the remote object, where the remote object reflects the incident laser signal to the second laser receiving unit.
Among them, it can be appreciated that, as shown in fig. 1, in some alternative embodiments, the first laser emitting units of the first laser emitting unit group 120 satisfy:
L=h/sin beta is less than or equal to the target detection distance
Wherein L is the actual detection distance of the first laser emission unit, h is the height of the fixed distance detection plane of the laser radar, and beta represents the angle of view of the first laser emission unit.
It can be seen from the above equation that the selection of which laser emitting units are used as the first laser emitting units of the first laser emitting unit group performs the optical path adjustment, which is related to the emission angle of the first laser emitting unit and the fixed position height of the laser radar. The target detection distance is the distance at which the emission light path and the detection view field are intersected when the off-axis laser radar is designed under normal conditions.
It may be understood that the first emission optical adjustment unit is an optical element capable of adjusting an optical path, where the first emission optical adjustment unit may be: one or more combinations of wedges, microprisms, spherical mirrors or cylindrical mirrors.
It is understood that the second emission optical adjustment unit is an optical element that can collimate the light path, where the second emission optical adjustment unit may be an optical fiber or a cylindrical lens, or a combination of an optical fiber or a cylindrical lens and other optical elements.
Therefore, as can be known from the above, in the embodiment of the present application, the laser emission array is divided into the first laser emission unit group and the second laser emission unit group, and the first laser emission unit group and the second laser emission unit group are respectively used for detecting a close-range object and detecting a long-range object, and before the first laser emission unit group for detecting the close-range object is performed, the first emission optical adjustment unit group is configured to adjust the laser signal sent by the first laser emission unit so that the laser signal is emitted to the close-range object; before the second laser emission unit group for detecting the remote object, a second emission optical adjustment unit group is arranged for collimating the laser signals emitted by the second laser emission unit and making the laser signals emit to the remote object. The detection of the short-distance object and the long-distance object can be realized through one laser radar, and the detection effect of the short-distance object is improved.
Further, in the existing laser radar, the laser emission unit is often arranged together with the collimation optical adjustment unit, such as the collimation optical element, so that the emitted laser is subjected to collimation treatment, and therefore the whole emission device is high in integration level and simple in structure. Preferably, in the embodiment of the present application, the plurality of first emission optical adjustment units 142 in the first emission optical adjustment unit group 140 are set as collimating lenses, and emission optical axes of the plurality of first laser emission units 122 in the first laser emission unit group 120 and optical axes of the corresponding first emission optical adjustment units 142 are set to be misaligned, so as to implement adjustment of a laser signal optical path emitted by the first laser emission unit, and maximally utilize components of the existing laser radar.
In the above embodiment, the setting of the first emission optical adjustment unit not to coincide with the optical axis of the first laser emission unit is achieved by setting the optical axis of the collimator lens at an angle to the emission optical axis of the first laser emission unit.
Among them, it can be understood that the adjustment angle θ of the collimating optical element satisfies:
wherein D is the distance between the original transmitting field of view (long-distance requirement) and the receiving field of view, namely the relative deviation between the original light spot position and the target light spot position which enables the short-distance signal to meet the requirement; l is the near target distance required to be detected.
In actual operation, the equivalent light path diagram shown in fig. 5 may also be used to determine the position of the collimator lens, that is:
wherein D is the distance between the original transmitting field of view (long-distance requirement) and the receiving field of view, namely the relative deviation between the original light spot position and the target light spot position which enables the short-distance signal to meet the requirement; l is the distance of the near target to be detected; d' is the spot position offset on the close target; l' is the target distance.
From the above, the collimating lens is adopted as the first transmitting optical adjusting unit, and the optical paths of the transmitting laser can be adjusted only by setting the optical axes of the collimating lens and the first laser transmitting unit in a non-overlapping way, so that the optical paths of the first laser transmitting unit group and the detection view field are intersected in the near place, and therefore, the structure is simple, excessive changes on the existing laser radar are not needed, and the structure is compact on the basis of meeting the near-field object detection requirement.
Further, in other alternative embodiments, since the first emission optical adjustment units 142 are respectively disposed in one-to-one correspondence with the first laser emission units 122, each of the first emission optical adjustment units 122 in the first emission optical adjustment unit group 120 may adjust the emission laser beams of each of the first laser emission units 122 in the first laser emission unit group 120 to emit at an angle to each other; each of the first emission optical adjustment units 122 in the first emission optical adjustment unit group 120 may also adjust the emission laser light of each of the first laser emission units 122 to emit parallel to each other; alternatively, each of the first emission optical adjustment units 122 in the first emission optical adjustment unit group 120 may also adjust an angle of an outgoing laser portion of each of the first laser emission units 122, and be partially parallel.
It is understood that, the specific adjustment scheme of the outgoing light path of each first laser light emitting unit 122 in the first emission optical adjustment unit group 120 in the first laser light emitting unit group 120 may be set according to the requirement.
For example, when four emission units are selected as the first laser emission units, when the first emission optical adjustment unit is a collimation unit, the adjustment angles θ of the first emission optical adjustment unit may be set respectively, so as to achieve intersection between the outgoing light paths of the four emission units and the detection fields at positions 1m,3m,5m, and 10m, respectively, and thereby achieve near field detection at four positions.
It can be understood that when the number of the emitting units in the first laser emitting unit group is multiple, the emitting units can be divided into several subgroups, so as to realize detection of different near-field distances by each subgroup. By setting different adjustment angles for the different first emission optical adjustment units 122, flexibility of the lidar for short-range object detection is achieved.
Further, as shown in fig. 3, the laser emitting device further includes a laser emitting lens 190; the laser emission lens 190 receives the adjusted laser signal and directs the laser signal to a close-range detection object; the laser emission lens receives the laser signals after the collimation treatment and emits the laser signals to the remote detection object.
In summary, in the laser emission device provided in this embodiment of the present application, the first emission optical adjustment units are respectively disposed before the plurality of first laser emission units, so that the adjustment of the laser signals emitted by the laser emission array is implemented, and the detection of the close-range object is implemented.
The optical system of the lidar may be divided into an on-axis system and an off-axis system. In the case where the transmitting optical system and the receiving optical system are off-axis systems, the generation of the near-field blind area is generally caused by two reasons, on the one hand, in order to satisfy the ranging requirement of the laser radar, the laser transmitting light beam detection field of view is aligned with the receiving field of view of the detector at a long distance, which results in the fact that the transmitting field of view and the receiving field of view have areas which are not overlapped at a short distance so as to generate the blind area, the above embodiment solves the problem that the transmitting light path and the receiving light path are not overlapped at the near distance by adjusting part of the transmitting light path, but there is also a case where when the transmitting unit detecting a long distance also hits a near object to be reflected, since the transmitting optical system and the receiving optical system are aligned at a long distance, the image point formed by the reflected signal light passing through the receiving lens is not on the focal plane of the receiving lens, and the reflected signal cannot be received by the receiver after the reflecting mirror at the receiving end is folded at the light path, so the invention further provides the following embodiments.
Another embodiment of the present invention also proposes a laser radar including a laser emitting device and a laser receiving device, as shown in fig. 3.
The laser emitting device includes: a laser emitting array 110, a first laser emitting unit group 120, and a first emission optical adjustment unit group 140; the laser emitting array 110 includes a first laser emitting unit group 120; the first laser emitting unit group 120 includes a plurality of first laser emitting units 122; the first emission optical adjustment unit group 140 includes a plurality of first emission optical adjustment units 142; the first optical adjustment units 142 in the first optical adjustment unit set 140 are disposed in one-to-one correspondence with the first laser emission units 122 in the first laser emission unit set 120, and are configured to adjust the laser signals emitted by the first laser emission units 122 in the first laser emission unit set 120, so that the detection field of the laser emitted by the first laser emission unit set and the corresponding receiving field of the laser emitted by the first laser emission unit set intersect in the near field.
The laser receiving device includes: a laser light receiving array 210 and a first laser light receiving unit group 220; the laser receiving array 210 includes a first set of laser receiving cells 220. The first laser receiving unit group 220 includes a plurality of first laser receiving units 222; the plurality of first laser receiving units 222 are disposed corresponding to the plurality of first laser emitting units 122 of the first laser emitting unit group 120, and are configured to receive echo laser signals corresponding to the emitted laser beams of the first laser emitting units.
Specifically, as shown in fig. 6a, at the transmitting end, a first transmitting optical adjusting unit is arranged in front of a first laser transmitting unit at the laser radar to adjust the laser signal transmitted by the first laser transmitting unit needing to detect the object at a short distance, the transmitted laser signal is adjusted to be a laser signal B, and the laser signal B is reflected by a transmitting mirror and passes through a transmitting lens to be transmitted to the object at the short distance. The short-distance target object reflects the laser signal B onto a receiving lens of a laser receiving device.
At the receiving end, the laser signal B adjusted by the first transmitting optical adjusting unit receives the echo laser signal through the laser receiving lens, and the reflecting mirror makes the adjusted laser signal B incident on the first laser receiving unit.
Because the transmitting end adjusts the laser signals transmitted by the first transmitting optical adjusting unit, the adjusted echo laser signals can be reflected to the first laser receiving unit of the receiving end after being reflected by the short-distance object, and the effect of the laser radar on the detection of the short-distance object is improved.
Further, referring again to fig. 3, the laser emission array 110 further includes a second laser emission unit group 160 and a second emission optical adjustment unit group 180; the second laser emitting unit group 160 includes a plurality of second laser emitting units 162; the second emission optical adjustment unit group 180 includes at least one second emission optical adjustment unit 182; the second emission optical adjustment unit 182 in the second emission optical adjustment unit set 180 is disposed corresponding to the second laser emission unit 162 in the second laser emission unit set 160, and is configured to perform collimation processing on the laser signal emitted by the second laser emission unit 162 in the second laser emission unit set 160, and emit the laser signal to a remote object.
The laser receiving array 210 further includes a second laser receiving unit group 260 and a first receiving optical adjustment unit group 240, and the second laser receiving unit group 260 includes a plurality of second laser receiving units 242; the second laser receiving unit 242 is disposed corresponding to the plurality of second laser emitting units 162 of the second laser emitting unit group 160, and is configured to receive echo laser signals corresponding to the emitted laser of the second laser emitting unit 162; the first receiving optical adjustment unit group 240 includes a plurality of first receiving optical adjustment units 242; the first receiving optical adjustment unit 242 is disposed on a first side of the second laser receiving unit 262, and is configured to adjust a direction of an echo laser signal corresponding to the second laser emitting unit emitting laser incident on the optical surface of the first receiving optical adjustment unit 242 onto the second laser receiving unit 262. The second laser receiving unit set 260 is configured to receive the laser signal emitted by the second laser emitting unit set 160, that is, the second laser receiving unit set 260 receives the laser signal emitted after being collimated. The first receiving optical adjusting unit 242 is configured to adjust the echo laser of the emitting units in the second laser emitting unit group 160 to be received by the second laser receiving unit 262 on the second laser receiving unit group 260 when the emitting laser of the emitting units hits the near-field obstacle, so that the emitting laser of the second laser emitting unit group can also detect the object at a close distance.
Specifically, as shown in fig. 6b, at the transmitting end, a second transmitting optical adjusting unit is arranged in front of the second laser transmitting unit at the laser radar, the laser signal transmitted by the second laser transmitting unit is collimated to form an outgoing laser C, and the laser signal C is reflected by the transmitting mirror and passes through the transmitting lens to be emitted to the short-distance object to be measured.
At the receiving end, the short-distance target object reflects the laser signal C to a receiving lens of the laser receiving device and is incident on a second laser receiving unit of the receiving end through the receiving lens. The echo laser signal reflected by the short-distance object deviates from the second laser receiving unit and is incident to the first receiving optical adjusting unit, and the first receiving optical adjusting unit reflects the echo laser signal to the receiving surface of the second laser receiving unit.
Because the transmitting end performs collimation treatment on the laser signals transmitted by the second laser transmitting unit through the second transmitting optical adjusting unit, the collimated echo laser signals are reflected to the first receiving optical adjusting unit of the receiving end after being reflected by the short-distance object, and the first receiving optical adjusting unit reflects the echo laser signals to the receiving surface of the second laser receiving unit, the effect of the laser radar on detecting the short-distance object is improved.
Further, it is understood that the lidar may include a plurality of laser emitting arrays 110, and a plurality of laser receiving arrays 210. It is understood that, when the laser emitters of the laser emitting arrays 110 are edge emitters, the plurality of laser emitting arrays 110 may be fixed on a plurality of laser emitting boards. It will be appreciated that the plurality of laser receiving arrays 210 may be mounted on a plurality of receiving plates or may be mounted on a single receiving plate. Wherein the laser emitting array 110 and the laser receiving array 210 satisfy a one-to-one arrangement relationship.
The laser radar provided by the embodiment of the application sets up first transmission optical adjustment unit through the transmitting terminal respectively, sets up first receiving optical adjustment unit at the receiving terminal, improves simultaneously at transmitting terminal and receiving terminal, has improved the detection ability of laser radar to closely object greatly.
Further, the laser receiving device includes a laser receiving array 210, the laser receiving array 210 includes a first laser receiving unit group 220 and a second laser receiving unit group 260, as shown in fig. 7, the first laser receiving unit group 220 includes a plurality of first laser receiving units, and the second laser receiving unit group 260 includes a plurality of second laser receiving units; the plurality of second laser receiving units can be arranged on the laser receiving plate to form a laser receiving array by one or more rows of laser receiving units according to the positions of the second laser transmitting units of the laser radar. When arranged in a laser receiving array, the first receiving optical adjustment unit 240 is disposed on a first side of the second laser receiving unit group 260, and is configured to adjust an outgoing direction of the laser light incident on the surface of the first receiving optical adjustment unit 240 to a plurality of the second laser receiving units 262 of the laser receiving array. The first receiving optical adjustment unit 240 is disposed at a first preset angle with respect to a plane of the laser receiving plate. The first receiving optical adjustment unit 240 may also be at a second preset angle to a first vertical plane perpendicular to the laser receiving plate.
Further, the first receiving optical adjustment unit 240 may be arranged in various ways. As shown in fig. 7, the first receiving optical adjusting unit 240 is integrally formed, the first receiving optical adjusting unit 240 is disposed along the laser receiving array 210, and the projection of the optical surface of the first receiving optical adjusting unit 242 on the laser receiving board is greater than or equal to the total length of the arrangement of all the second laser receiving units in the laser receiving array along the length of the laser receiving array, that is, the first receiving optical adjusting unit 242 is integrally formed on one side of the laser receiving array, and at the same time, in order to be able to emit all the echo laser signals scattered to one side of the laser receiving array to the surface of the laser receiving array as much as possible, the length of the first receiving optical adjusting unit 242 is greater than or equal to the length of the laser receiving array. Meanwhile, it is preferable that, in order to enhance the receiving effect of a specific second laser receiving unit, a second receiving optical adjusting unit 250 is disposed at a second side of at least one of the second laser receiving units in the first laser receiving array, the second side of the second laser receiving unit being a side opposite to the first receiving optical adjusting unit of the second laser receiving unit, by which echo laser signals at both sides of the second laser receiving unit can be reflected to the surface of the second laser receiving unit, and the receiving effect of the echo laser is improved.
As shown in fig. 8, in order to increase the independence adjustment of the echo laser signal receiving effect enhancement for a single laser receiving unit, the embodiment of the present application sets the first receiving optical adjusting units 240 to a plurality of first receiving optical adjusting units 240, that is, the plurality of first receiving optical adjusting units 240 are in one-to-one correspondence with the plurality of second laser receiving units in the first laser receiving array, and are used for adjusting the outgoing direction of the laser incident on each optical reflection surface of the plurality of first receiving optical adjusting units to each of the second laser receiving units in the first laser receiving array. In this way, since the plurality of first receiving optical adjustment units are independently arranged, the reflection angle of each first receiving optical adjustment unit can be adjusted according to the emission angle of the corresponding laser emission unit of each second laser receiving unit, adjustment limitation caused by arranging one first receiving optical adjustment unit is avoided, the effect of receiving and enhancing echo laser signals can be better achieved, accurate control can be achieved, the receiving efficiency of each second laser receiving unit is greatly improved, and when a certain laser receiving unit has a problem, the angle of each first receiving optical adjustment unit can be independently replaced and adjusted. Preferably, in the embodiment of the present application, a second receiving optical adjustment unit may be further disposed on a second side of at least one second laser receiving unit in the first laser receiving array, where the second side of the second laser receiving unit is a side opposite to the first receiving optical adjustment unit of the second laser receiving unit, and in this way, echo laser signals that are scattered to two sides of the laser receiving unit may be reflected to a surface of the laser receiving unit, so as to enhance a receiving effect.
In summary, the laser radar provided in this embodiment of the present application, through setting up the first transmission optical adjustment unit at the transmitting end respectively, set up the first receiving optical adjustment unit at the receiving end, improve simultaneously at transmitting end and receiving end, improved the detection capability of laser radar to closely object greatly.
The embodiment of the invention also provides intelligent sensing equipment, which comprises at least one laser radar, wherein the laser radar comprises the laser receiving device and the laser transmitting device in the embodiment, and the functions and the structures of the laser receiving device and the laser receiving device are consistent with those of the embodiment, and are not repeated here.
It should be noted that unless otherwise indicated, technical or scientific terms used in the embodiments of the present invention should be given the ordinary meanings as understood by those skilled in the art to which the embodiments of the present invention belong.
In the description of the novel embodiment, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. refer to the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for convenience of describing the embodiment of the present invention and for simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiment of the present invention.
Furthermore, the technical terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more unless explicitly defined otherwise.
In the description of the novel embodiments, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or be integrated; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present invention will be understood by those of ordinary skill in the art according to specific circumstances.
In the description of embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (10)
1. A laser emitting device, the device comprising: the laser emission device comprises a laser emission array, a first laser emission unit group and a first emission optical adjustment unit group;
the laser emission array comprises a first laser emission unit group;
the first laser emission unit group comprises a plurality of first laser emission units, and the first laser emission units are used for emitting laser beams;
The first emission optical adjustment unit group comprises a plurality of first emission optical adjustment units;
the first emission optical adjusting units in the first emission optical adjusting unit group are arranged in one-to-one correspondence with the first laser emitting units in the first laser emitting unit group, and are used for adjusting the emitting direction of the laser signals emitted by the first laser emitting units in the first laser emitting unit group.
2. The laser emitting device of claim 1, wherein the device further comprises: a second laser emission unit group and a second emission optical adjustment unit group;
the second laser emission unit group comprises at least one second laser emission unit;
the second emission optical adjustment unit group comprises at least one second emission optical adjustment unit;
and the second emission optical adjusting units in the second emission optical adjusting unit group are correspondingly arranged with the second laser emitting units in the second laser emitting unit group and are used for carrying out collimation treatment on laser signals emitted by the second laser emitting units in the second laser emitting unit group.
3. The laser light emitting device according to claim 2, wherein a plurality of first emission optical adjustment units in the first emission optical adjustment unit group are collimation optical adjustment units, and emission optical axes of the plurality of first laser light emission units do not coincide with optical axes of the first emission optical adjustment units corresponding thereto.
4. The laser light emitting device according to claim 2, wherein the plurality of first emission optical adjustment units in the first emission optical adjustment unit group are one or more of a combination of optical wedges, micro prisms, spherical mirrors, or cylindrical mirrors.
5. The laser emitting device of claim 2, further comprising a laser emitting lens;
the laser emission lens receives the adjusted laser signal and emits the laser signal to a short-distance detection object;
the laser emission lens receives the laser signals after the collimation treatment and emits the laser signals to the remote detection object.
6. A lidar comprising a laser emitting device and a laser receiving device according to any of claims 1 to 5;
the laser receiving device includes: a laser receiving array and a first laser receiving unit group;
the laser receiving array comprises a first laser receiving unit group;
the first laser receiving unit group comprises a plurality of first laser receiving units;
the plurality of first laser receiving units are correspondingly arranged with the plurality of first laser emitting units of the first laser emitting unit group and are used for receiving echo laser signals corresponding to the emitted laser of the first laser emitting units.
7. The lidar of claim 6, wherein the laser receiving array further comprises a second set of laser receiving units; the laser receiving device also comprises a first receiving optical adjusting unit group;
the second laser receiving unit group comprises a plurality of second laser receiving units;
the second laser receiving units are correspondingly arranged with a plurality of second laser emitting units of the second laser emitting unit group and are used for receiving echo laser signals corresponding to the emitted laser of the second laser emitting units;
the first receiving optical adjustment unit group comprises a plurality of first receiving optical adjustment units;
the first receiving optical adjusting unit is arranged on the first side of the second laser receiving unit and is used for adjusting the emergent direction of the echo laser signal corresponding to the emergent laser of the second laser transmitting unit which is incident on the optical surface of the first receiving optical adjusting unit to the second laser receiving unit.
8. The lidar of claim 7, wherein the lidar comprises a laser receiving plate, wherein the laser receiving array is disposed on the laser receiving plate, and wherein the first receiving optical adjustment unit is disposed at a first predetermined angle with respect to a plane in which the laser receiving plate is disposed.
9. The lidar of claim 7, wherein the first receiving optical adjustment unit is disposed on a first side of the laser receiving array set, and is configured to adjust an outgoing direction of the laser light incident on the surface of the first receiving optical adjustment unit to a plurality of the second laser receiving units of the laser receiving array set.
10. The lidar of claim 9, wherein the laser receiving device further comprises a second receive optical adjustment unit;
the second receiving optical adjustment unit is arranged on a second side of at least one second laser receiving unit in the second laser receiving group, and the second side of the second laser receiving unit is opposite to the first receiving optical adjustment unit of the second laser receiving unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311292167.5A CN117310654A (en) | 2020-07-07 | 2020-07-07 | Laser emitting device and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202080005404.3A CN112888957B (en) | 2020-07-07 | 2020-07-07 | Laser emission device, laser radar and intelligent induction equipment |
| PCT/CN2020/100703 WO2022006751A1 (en) | 2020-07-07 | 2020-07-07 | Laser emitting apparatus, laser radar, and smart sensing device |
| CN202311292167.5A CN117310654A (en) | 2020-07-07 | 2020-07-07 | Laser emitting device and laser radar |
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| CN202080005404.3A Division CN112888957B (en) | 2020-07-07 | 2020-07-07 | Laser emission device, laser radar and intelligent induction equipment |
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| CN117310654A true CN117310654A (en) | 2023-12-29 |
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| CN202080005404.3A Active CN112888957B (en) | 2020-07-07 | 2020-07-07 | Laser emission device, laser radar and intelligent induction equipment |
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| CN113534168A (en) * | 2021-07-19 | 2021-10-22 | 深圳市镭神智能系统有限公司 | Laser radar system and driving equipment |
| CN113933811B (en) * | 2021-11-22 | 2023-12-29 | 上海禾赛科技有限公司 | Laser radar detection method, laser radar and computer storage medium |
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| CN2811945Y (en) * | 2005-08-08 | 2006-08-30 | 南京德朔实业有限公司 | Optical distance measurer |
| CN203053429U (en) * | 2012-09-05 | 2013-07-10 | 贾怀昌 | Laser ranging module |
| CN105891844B (en) * | 2016-04-24 | 2018-02-23 | 西南技术物理研究所 | Dual-mode laser impulse ejection controls and echo signal processing system |
| DE102016208713B4 (en) * | 2016-05-20 | 2022-12-22 | Ifm Electronic Gmbh | Photoelectric sensor |
| US10408923B2 (en) * | 2016-12-15 | 2019-09-10 | National Chung Shan Institute Of Science And Technology | Optical design for modularizing laser radar sensor |
| CN106872961A (en) * | 2017-04-08 | 2017-06-20 | 北醒（北京）光子科技有限公司 | A kind of optical lens, optical distance measurement apparatus and distance-finding method, range-measurement system |
| CN107132519A (en) * | 2017-06-30 | 2017-09-05 | 深圳市镭神智能系统有限公司 | A kind of laser radar light path system |
| CN208000376U (en) * | 2018-03-01 | 2018-10-23 | 深圳市镭神智能系统有限公司 | A kind of mobile lidar |
| CN109270515B (en) * | 2018-11-29 | 2020-06-16 | 北京理工大学 | Variable scanning area coaxial receiving and transmitting scanning laser radar |
| CN111090082A (en) * | 2019-08-30 | 2020-05-01 | 上海禾赛光电科技有限公司 | Laser radar and method for detecting using the same |
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- 2020-07-07 CN CN202080005404.3A patent/CN112888957B/en active Active
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| CN112888957B (en) | 2023-10-31 |
| CN112888957A (en) | 2021-06-01 |
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