CN117630878A - Omnidirectional laser radar with optical lens shaping function, using method, equipment and medium - Google Patents
Omnidirectional laser radar with optical lens shaping function, using method, equipment and medium Download PDFInfo
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- CN117630878A CN117630878A CN202311624584.5A CN202311624584A CN117630878A CN 117630878 A CN117630878 A CN 117630878A CN 202311624584 A CN202311624584 A CN 202311624584A CN 117630878 A CN117630878 A CN 117630878A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 64
- 238000007493 shaping process Methods 0.000 title claims abstract description 10
- 238000000034 method Methods 0.000 title claims description 21
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 238000004590 computer program Methods 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 239000013307 optical fiber Substances 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical group [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- 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
The invention provides an omnidirectional laser radar with optical lens shaping, which comprises the following components: the device comprises a transmitting module, a receiving module and a back-end module; the emitting module comprises a laser, a fixed seat and an optical lens, wherein the laser is detachably arranged in the fixed seat, the optical lens is a cylinder, a reflecting structure of a cup-shaped body is cut in the optical lens, an opening of the cup-shaped body is arranged upwards, the emitting module is used for controlling the laser to emit a laser beam to the bottom of the optical lens, and the laser beam forms a total reflection annular laser detection network through the surface of the reflecting mechanism; the receiving module comprises a ring-shaped high-speed camera which is used for capturing diffuse reflection laser formed after the ring-shaped laser detection net touches an object; the back end module is connected with the receiving module and is used for receiving and processing the diffuse reflection laser. Annular laser is generated through optical lens shaping, and 360-degree non-blind area scanning in all directions is finally realized. The problem that the detection angle of the solid-state laser radar is limited in the current stage is effectively solved.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to an omnidirectional laser radar with optical lens shaping, a using method, equipment and a medium.
Background
The lidar is a radar system that detects a characteristic quantity such as a position and a speed of a target with a laser beam. By emitting a detection signal (laser beam) towards the target, the received signal (target echo) is then reflected back from the target. The information about the target can be obtained by comparing the information with the transmitted signal and performing proper processing. Thereby detecting, tracking and identifying the target. The method can measure various parameters such as the distance, the azimuth, the height, the speed, the gesture, the shape and the like of the target object. The laser radar is a core device in the field of automatic driving of automobiles, and has extremely high application value in automatic driving of automobiles, rail transit, intelligent civil aviation, intelligent shipping, traffic detection, industrial and service robots, internet of things, unmanned aerial vehicles, national security and protection systems and the like, and extremely wide market application space. The laser radar can be classified into: mechanical lidar, semi-solid lidar (hybrid solid-state lidar), solid-state lidar.
The internal module of the mechanical laser radar is provided with a transmitting module and a receiving module, and can rotate by 360 degrees transversely so as to cover the surrounding environment, the laser beams are vertically arranged to form an irradiation surface, the resolution is in direct proportion to the number of the beams, and the more the laser beams are transmitted, the more the information quantity can be received. However, the mechanical laser radar has the defects of complex structure, huge volume, complex debugging, short service life, high production cost and great limitation in practical application, and needs manual light path alignment.
The semi-solid laser radar mainly comprises an MEMS vibrating mirror and a rotating mirror, and is equivalent to the miniaturization of a mechanical rotating structure. The MEMS scanning mirror is a silicon-based semiconductor element, belongs to a solid-state electronic element, and has the two properties of solid state and motion because the micro mirror surface is movable. Simple structure, low cost and convenient manufacture and installation. But the scanning refresh rate is slow, and the high-speed moving object cannot be reacted in time.
Solid-state lidar is a development direction in recent years, and Flash lidar is a mainstream technology in the current stage. The Flash solid-state laser radar belongs to a non-scanning radar, emits area array light, is a laser radar which takes a two-dimensional or three-dimensional image as a key output content, and can realize global imaging at one time to finish detection. In analogy to cameras, flash lidar receives and emits active light, while cameras receive passive light reflected by the environment, so the former has one more emitting module. The Flash solid-state laser radar can perform one-time global imaging without considering motion compensation, has no scanning device, high imaging speed, high integration degree, small volume and chip-level process, and is suitable for mass production.
However, the existing Flash solid laser radar laser basically adopts a VCSEL (Vertical Cavity Surface Emitting Laser) which is a vertical cavity surface emitting laser, and the photoelectric detector basically adopts SPAD (Single Photon Avalanche Diode) which is a single photon avalanche diode. The technical bottleneck for restricting the development of Flash solid-state lidar is that VCSEL and SPAD upstream components are not mature. If the VCSEL optical power density is insufficient, the detection distance of the Flash solid-state laser radar is limited. The number of SPAD pixels is insufficient, so in order to ensure that the sufficiently small angle resolution can cover a longer distance, the view angle can only be sacrificed, and the Flash laser radar cannot realize omnibearing scanning detection.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an omnidirectional laser radar with optical lens shaping, a using method, equipment and a medium, so as to solve the technical problem that the Flash laser radar in the prior art cannot realize omnidirectional scanning detection.
The invention provides an omnidirectional laser radar with optical lens shaping, which comprises the following components:
the device comprises a transmitting module, a receiving module and a back-end module;
the emitting module comprises a laser, a fixed seat and an optical lens, wherein the laser is detachably arranged in the fixed seat, the optical lens is in a cylinder, a reflecting structure of a cup-shaped body is cut in the optical lens, an opening of the cup-shaped body is arranged upwards, the emitting module is used for controlling the laser to emit a laser beam to the bottom of the optical lens, and the laser beam forms a total reflection annular laser detection net through the surface of the reflecting mechanism;
the receiving module comprises a ring-shaped high-speed camera which is used for capturing diffuse reflection laser formed after the ring-shaped laser detection net touches an object;
the back-end module is connected with the receiving module and is used for receiving and processing the diffuse reflection laser.
Optionally, the reflective structure includes:
the reflection structure of the cup-shaped body comprises a first structure part, a second structure part and a third structure part, wherein the first structure part forms a 45-degree cone relative to the axis of the optical lens, the third structure part is cylindrical and is arranged at the opening of the cup-shaped body, and the second structure part is in a tangent arc shape between the two ends of the first structure part and the third structure part.
Optionally, the emission module with the receiving module all sets up to two sets of, two sets of optical lens in the emission module set up in the middle of, two sets of laser instrument and fixing base for optical lens symmetry sets up, two sets of annular high-speed cameras in the receiving module are located respectively the top and the bottom of emission module.
Optionally, the laser radar further includes:
and the laser distribution emitter is connected with the laser.
Optionally, the laser radar further includes:
the support module comprises a base, and the laser, the fixing seat, the optical lens and the annular high-speed camera are all fixedly arranged on the base.
The invention also provides a using method of the omnidirectional laser radar shaped by the optical lens, which comprises the following steps:
s1, controlling the laser to emit a laser beam to the bottom of the optical lens, wherein the laser beam forms a total reflection annular laser detection net through the surface of the reflection mechanism;
s2, capturing diffuse reflection laser formed after the annular laser detection net touches an object by the annular high-speed camera;
s3, outputting the captured diffuse reflection laser to a back-end module for analysis and processing.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the aforementioned method when executing the computer program.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps of the aforementioned method.
Compared with the prior art, the invention has the following beneficial effects:
the invention optimizes the integral optical system structure of the solid-state laser radar by utilizing the optical lens. The detection angle is optimized to generate ring laser by shaping an optical lens from a conventional horizontal view angle of 120 degrees and a vertical view angle of 25 degrees, and finally the omnibearing 360-degree blind-zone-free scanning is realized. The problem that the detection angle of the solid-state laser radar is limited in the current stage is effectively solved. The lens has the advantages of ingenious and simple structure, small volume, simple integral structure and high system reliability, and is applied to the Flash laser radar with the all-solid-state structure; no mechanical part, long service life of laser, high coupling power of optical fiber and long detection distance. Has extremely strong practical use value.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of the overall structure of a lidar according to the present invention;
FIG. 2 is a schematic perspective view of an optical lens according to the present invention;
FIG. 3 is a schematic cross-sectional view of an optical lens according to the present invention;
fig. 4 is a schematic diagram showing an irradiation light path of a laser beam according to the present invention.
Reference numerals illustrate:
1. a transmitting module; 101. a laser; 102. a fixing seat; 103. an optical lens; 1031. a first structure portion; 1032. a second structure portion; 1033. a third structure portion; 2. a receiving module; 201. a ring-shaped high-speed camera; 3. a back end module; 4. a base; 5. a laser dispensing emitter; 6. a reflective structure.
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. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein. The functional units of the same reference numerals in the examples of the present invention have the same and similar structures and functions.
Referring to fig. 1, the present invention provides an omnidirectional laser radar shaped by an optical lens 103, comprising:
a transmitting module 1, a receiving module 2 and a back-end module 3;
the emitting module 1 comprises a laser 101, a fixed seat 102 and an optical lens 103, wherein the laser 101 is detachably arranged in the fixed seat 102, the optical lens 103 is in a cylinder shape, a reflecting structure 6 of a cup body is cut in the optical lens 103, an opening of the cup body is arranged upwards, the emitting module 1 is used for controlling the laser 101 to emit a laser beam to the bottom of the optical lens 103, and the laser beam forms a total reflection annular laser detection network through the surface of the reflecting structure 6;
the receiving module 2 comprises a ring-shaped high-speed camera 201 which is used for capturing diffuse reflection laser formed after the ring-shaped laser detection net touches an object;
the back-end module 3 is connected to the receiving module 2 for receiving and processing the diffusely reflected laser light.
Referring to fig. 1 to 4, in the present embodiment, a laser 101 in an emission module 1 is detachably disposed inside a fixing seat 102, the fixing seat 102 is only used for fixing the laser 101, the laser 101 is used for emitting a laser beam toward the bottom of an optical lens 103, the laser beam forms a ring-shaped laser detection network facing to the omnidirectional reflection around via the surface of a reflection mechanism 6, and a 360-degree omnidirectional laser detection network scanning coverage within a horizontal action range is realized; the optical lens 103 is cylindrical, a cone is cut in the optical lens 103, the bottom surface of the cone faces upwards, and the laser beam is reflected omnidirectionally along the cone surface in the optical lens 103.
After reflection, a ring laser detection net covering a certain surrounding environment range is formed. The annular high-speed camera 201 in the receiving module 2 is used for capturing diffuse reflection laser light formed after the laser detection net hits an object. And finally, analyzing and processing the received diffuse reflection laser through a back-end module 3 to obtain the needed parameters.
According to the invention, the optical lens 103 is used for optimizing the structure of the whole optical system of the Flash solid-state laser radar, so that the problem of limited detection angle can be effectively solved. Not only can the coverage of the laser detection network be realized in the horizontal direction, but also the laser intensity in the vertical action range can meet certain standards, and the omnibearing 360-degree scanning detection is realized. The lens has the advantages of ingenious and simple structure, small volume, simple integral structure and high system reliability, and is applied to the Flash laser radar with the all-solid-state structure; no mechanical part, long service life of laser, high coupling power of optical fiber and long detection distance. Has extremely strong practical use value.
Referring to fig. 2 to 4, in another embodiment, the reflective structure includes:
the reflecting structure of the cup-shaped body comprises a first structure portion 1031, a second structure portion 1032 and a third structure portion 1033, wherein the first structure portion 1031 forms a 45-degree cone relative to the axis of the optical lens, the third structure portion 1033 is cylindrical and is arranged at the opening of the cup-shaped body, and the second structure portion 1032 is a tangent arc shape between two ends of the first structure portion 1031 and the third structure portion 1033.
The main dimensional parameter of the reflection structure of the cup-shaped body is 16mm in diameter and 15mm in thickness, and the reflection structure is small in volume and ingenious in structural design. The first structural portion 1031 forms a cone of 45 degrees relative to the axis of the optical lens, the third structural portion 1033 is in a horizontal and vertical cylindrical shape, and the arc line of the second structural portion is tangent to the arc lines of the two ends of the first structural portion 1031 and the third structural portion 1033.
Referring to fig. 4, the laser beam is incident from the bottom of the optical lens 103, and forms a ring laser detection network of total reflection sequentially via the surfaces of the first structure portion 1031 and the second structure portion 1032, realizing omnidirectional 360-degree scanning detection.
In another embodiment, the lidar further comprises:
the two groups of optical lenses 103 in the transmitting module 1 are arranged in the middle, the two groups of lasers 101 and the fixing base 102 are symmetrically arranged relative to the optical lenses 103, and the two groups of annular high-speed cameras 201 in the receiving module 2 are respectively arranged at the top and the bottom of the transmitting module 1.
By arranging the two groups of transmitting modules 1 and the receiving modules 2, the effect of omnidirectional reflection of the laser 101 along the inner conical surface of the optical lens 103 and the capturing effect of the annular high-speed camera 201 are enhanced, and the reliability is improved.
In another embodiment, the lidar further comprises:
a laser distribution emitter 5, said laser distribution emitter 5 being connected to said laser 101.
The laser 101 output frequency is controlled by the laser distribution transmitter 5.
In another embodiment, the lidar further comprises:
the support module comprises a base 4, and the laser 101, the fixing seat 102, the optical lens 103 and the annular high-speed camera 201 are fixedly arranged on the base 4.
The invention also provides a using method of the omnidirectional laser radar shaped by the optical lens 103, which comprises the following steps:
s1, controlling the laser 101 to emit a laser beam to the bottom of the optical lens 103, wherein the laser beam forms a total reflection annular laser detection net through the surface of the reflection mechanism 6;
s2, capturing diffuse reflection laser formed after the ring laser detection net touches an object by the ring high-speed camera 201;
s3, outputting the captured diffuse reflection laser to a back-end module 3 for analysis and processing.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the aforementioned method when executing the computer program.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps of the aforementioned method.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An omnidirectional lidar with optical lens shaping, comprising:
the device comprises a transmitting module, a receiving module and a back-end module;
the emitting module comprises a laser, a fixed seat and an optical lens, wherein the laser is detachably arranged in the fixed seat, the optical lens is in a cylinder, a reflecting structure of a cup-shaped body is cut in the optical lens, an opening of the cup-shaped body is arranged upwards, the emitting module is used for controlling the laser to emit a laser beam to the bottom of the optical lens, and the laser beam forms a total reflection annular laser detection net through the surface of the reflecting mechanism;
the receiving module comprises a ring-shaped high-speed camera which is used for capturing diffuse reflection laser formed after the ring-shaped laser detection net touches an object;
the back-end module is connected with the receiving module and is used for receiving and processing the diffuse reflection laser.
2. The optical lens shaped omnidirectional lidar of claim 1, wherein the reflective structure comprises:
the reflection structure of the cup-shaped body comprises a first structure part, a second structure part and a third structure part, wherein the first structure part forms a 45-degree cone relative to the axis of the optical lens, the third structure part is cylindrical and is arranged at the opening of the cup-shaped body, and the second structure part is in a tangent arc shape between the two ends of the first structure part and the third structure part.
3. The optical lens shaped omnidirectional lidar of claim 1, wherein the lidar further comprises:
the optical lens system comprises an emitting module, a receiving module, a laser and a fixing seat, wherein the emitting module and the receiving module are respectively arranged into two groups, two groups of optical lenses in the emitting module are arranged in the middle, the two groups of lasers and the fixing seat are symmetrically arranged relative to the optical lenses, and two groups of annular high-speed cameras in the receiving module are respectively arranged at the top and the bottom of the emitting module.
4. The optical lens shaped omnidirectional lidar of claim 1, wherein the lidar further comprises:
and the laser distribution emitter is connected with the laser.
5. The optical lens shaped omnidirectional lidar of any of claims 1-4, further comprising:
the support module comprises a base, and the laser, the fixing seat, the optical lens and the annular high-speed camera are all fixedly arranged on the base.
6. The method of using an omni-directional laser radar with optical lens shaping according to claim 1, comprising:
s1, controlling the laser to emit a laser beam to the bottom of the optical lens, wherein the laser beam forms a total reflection annular laser detection net through the surface of the reflection mechanism;
s2, capturing diffuse reflection laser formed after the annular laser detection net touches an object by the annular high-speed camera;
s3, outputting the captured diffuse reflection laser to a back-end module for analysis and processing.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of claim 6 when the computer program is executed by the processor.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of claim 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311624584.5A CN117630878A (en) | 2023-11-30 | 2023-11-30 | Omnidirectional laser radar with optical lens shaping function, using method, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311624584.5A CN117630878A (en) | 2023-11-30 | 2023-11-30 | Omnidirectional laser radar with optical lens shaping function, using method, equipment and medium |
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| Publication Number | Publication Date |
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| CN117630878A true CN117630878A (en) | 2024-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311624584.5A Pending CN117630878A (en) | 2023-11-30 | 2023-11-30 | Omnidirectional laser radar with optical lens shaping function, using method, equipment and medium |
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| CN (1) | CN117630878A (en) |
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- 2023-11-30 CN CN202311624584.5A patent/CN117630878A/en active Pending
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