CN117706518A - Transmitting optical system based on field lens type focusing and laser radar - Google Patents
Transmitting optical system based on field lens type focusing and laser radar Download PDFInfo
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- CN117706518A CN117706518A CN202311418617.0A CN202311418617A CN117706518A CN 117706518 A CN117706518 A CN 117706518A CN 202311418617 A CN202311418617 A CN 202311418617A CN 117706518 A CN117706518 A CN 117706518A
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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
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Abstract
The invention discloses a field lens type focusing-based transmitting optical system and a laser radar, wherein the transmitting optical system comprises: an emission optical lens group having an optical axis; the N emission light sources are arranged on the focal plane of the emission optical lens group, the distances between the N emission light sources and the optical axis are the same, the N emission light sources emit N laser beams, the N laser beams pass through the emission optical lens group to generate N collimated laser beams, the N collimated laser beams are focused on the same target area, the N collimated laser beams are the same as the pointing angle of the optical axis, and the emission optical lens group is used for symmetrically focusing the incident laser beams. The invention is used for carrying out efficient facula compression on the laser beam signals sent by the emission light source, realizing reasonable arrangement of laser beams, expanding the angle of view, enabling the energy in the optical system to be efficiently utilized, compressing the volume requirement on the scanning module and compressing the whole volume of the laser radar.
Description
Technical Field
The invention relates to the technical field of laser radar based on photoelectric detection, in particular to a field lens type focusing-based transmitting optical system and a laser radar.
Background
Lidar has been widely used in various fields due to its measurement advantages such as high accuracy, high resolution, etc. In particular in the field of autopilot automobiles, laser radar is indispensable as a core sensor, whether it is for calibration, testing or for practical scene applications.
The optical system is an important component of the laser radar, and in order to improve the performance of the laser radar in the aspects of ranging and the like, the laser signal sent by the transmitting unit needs to be utilized efficiently, and particularly, the waste of the laser signal energy is avoided by reasonably designing the optical system.
In lidar systems, the signal from the transmitting light source needs to be shaped to form the desired field of view. The signal emitted by the emission light source irradiates the scanning module, the scanning module is used for expanding the field range in the horizontal direction, and the field range in the vertical direction is realized by the emission light source and the emission optical system.
The larger the area of the scanning module irradiated by the signal emitted by the emission light source is, the lower the spot energy is, the larger the volume requirement on the scanning module is, and the larger the overall size requirement on the laser radar is.
Therefore, a person skilled in the art needs to solve the problem that on the premise of obtaining the same emission energy level, the signal sent by the emission light source is subjected to efficient facula compression, so that the overall emission efficiency of the laser radar is higher, and the volume is smaller.
Disclosure of Invention
The technical problem solved by the invention is to provide the emission optical system which is used for carrying out efficient facula compression on signals emitted by an emission light source.
Furthermore, the whole volume of the laser radar is compressed by utilizing the light path design, and the high-efficiency emission of the laser beam at the emitting end is ensured in a limited space.
The invention discloses a field lens type focusing-based emission optical system, which comprises:
an emission optical lens group having an optical axis;
the N emission light sources are arranged on the focal plane of the emission optical lens group, the distances between the N emission light sources and the optical axis are the same, the N emission light sources emit N laser beams, the N laser beams pass through the emission optical lens group to generate N collimated laser beams, the N collimated laser beams are focused on the same target area, the N collimated laser beams are the same as the pointing angle of the optical axis, and the emission optical lens group is used for symmetrically focusing the incident laser beams.
The field lens based focusing emission optical system,
1.5＜θ1/(θ2*f)＜3；
wherein θ1 is the divergence angle of the laser beam, θ2 is the divergence angle of the collimated laser beam, and f is the focal length of the emission optical lens group.
The field lens based focusing emission optical system,
0.15＜D/(L1+L2)＜0.4；
wherein D is the diameter of the envelope generated by the N collimated laser beams, L1 is the total lens length of the emission optical lens group, and L2 is the length from the target area to the exit lens of the emission optical lens group.
The N emission light sources are uniformly arranged on the focal plane of the emission optical lens group.
The lens of the emission optical lens group is hollow.
The target area is located in a scanning module of the lidar.
The spots generated by the N collimated laser beams are focused on the target area at least partially overlapping each other.
The central region of the transmitting optical lens group is used for receiving echo signals.
The emission optical lens group includes, along a laser emission direction:
the first lens is concave on the first side surface and convex on the second side surface;
the first side surface of the second lens is a convex surface, and the second side surface of the second lens is a convex surface.
The emission optical lens group satisfies:
0.4＜R/(L3+S1)＜0.7
1.0＜L2/S2＜1.2
wherein R is the diameter of the circular arrangement of the N emission light sources, L3 is the distance between the plane where the N emission light sources are positioned and the first lens, S1 is the caliber of the first lens, L2 is the distance between the second lens and the target area B, and S2 is the caliber of the second lens.
The invention also discloses a laser radar which comprises the field lens focusing-based transmitting optical system.
The invention is used for carrying out efficient facula compression on the laser beam signals sent by the emission light source, realizing reasonable arrangement of laser beams, expanding the angle of view, enabling the energy in the optical system to be efficiently utilized, compressing the volume requirement on the scanning module and compressing the whole volume of the laser radar.
Drawings
Fig. 1 is a schematic diagram of an optical path of an emission optical system based on field lens focusing according to the present invention.
Fig. 2A and 2B are schematic diagrams of optical paths of an emission optical system based on field lens focusing according to the present invention.
Fig. 3A and 3B are schematic diagrams showing the arrangement of the emission light source according to the present invention.
Fig. 3C is a schematic diagram of an optical path of an emission optical system based on field lens focusing according to the present invention.
Fig. 4 is a schematic structural diagram of an emission optical system based on field lens focusing according to the present invention.
Fig. 5 is a schematic structural diagram of an emission optical system based on field lens focusing according to the present invention.
Detailed Description
The following describes the implementation procedure of the technical solution of the present invention in conjunction with specific embodiments, and is not meant to limit the present invention.
In order to perform efficient spot compression on laser beam signals emitted by an emission light source, realize reasonable arrangement of laser beams and enlarge a field angle, the invention provides an emission optical system based on field lens focusing, so that energy in the optical system is efficiently utilized, and the volume requirement of a scanning module is compressed.
Fig. 1, 2A and 2B are schematic diagrams of the optical path of an emission optical system based on field lens focusing according to the present invention. Fig. 4 is a schematic structural diagram of an emission optical system based on field lens focusing according to the present invention.
The emission optical system provided by the invention realizes the focusing of the field lens by using the lens, and shapes the optical path, so that laser beams incident from different positions can be focused at the same position, the efficient compression of the light spots is realized, the reasonable arrangement of the laser beams is realized, and the energy supply efficiency for the scanning module is improved.
The emission optical system 100 is disposed on the laser radar, and the emission optical system 100 includes N emission light sources 10 and an emission optical lens group 20.
The emission optical lens group 20 has an optical axis O.
The N emission light sources 10 are disposed on the focal plane of the emission optical lens assembly, and the distances between the N emission light sources and the optical axis O are the same, which are all H.
The N emission light sources each emit a laser beam A1 to the emission optical lens group 20 to obtain N laser beams. The emission optical lens group 20 collimates the N laser beams A1 and symmetrically focuses the N laser beams A1, and the symmetrical focusing has the same focusing effect at a symmetrical position with respect to the optical axis O.
The N laser beams A1 pass through the emission optical lens group to generate N collimated laser beams A2, and the emission optical lens group enables the respective pointing angles of the N collimated laser beams to be the same and alpha. The pointing angle is the angle between the principal ray of the collimated laser beam A2 and the optical axis O. The N collimated laser beams A2 are focused on the same target area B. The target area B is centered on the optical axis O. The emission optical lens group reduces the divergence angle of the laser beam and increases the light flux of the outgoing light.
Meanwhile, fig. 3A and 3B are schematic diagrams showing the arrangement of the emission light source according to the present invention. The N emission light sources 10 have the same distance from the optical axis O, and are all H, and fig. 3A is provided with 4 emission light sources, fig. 3B is provided with 6 emission light sources, and the number is not limited thereto. In an optimized embodiment, the N emission light sources are uniformly disposed on the focal plane of the emission optical lens group. The N emission light sources 10 are disposed around the optical axis O, instead of being arranged in a straight line, so that the directions of the multiple collimated laser beams A2 are staggered from each other around the optical axis O, as shown in fig. 3C, so as to avoid mutual interference, have obvious directional difference, fully utilize the space in the emission optical system, and enable the laser radar to obtain a larger field angle and focus on the same target area B (the same plane), so that energy is effectively concentrated. The target area B is positioned on a scanning module of the laser radar, so that each collimated laser beam A2 is focused on the scanning module, and reflection of each collimated laser beam A2 is realized, and then efficient scanning of a corresponding field of view is realized.
In an advantageous embodiment, the emission optical lens group 20 includes two lenses in the laser emission direction.
A first lens 201, the first side of which is concave and the second side of which is convex;
the second lens 202 has a convex first side and a convex second side.
In an optimized embodiment, the emission optical lens group 20 collimates each of the laser beams A1 and adjusts the divergence angle of the laser beam A1, and the emission optical lens group 20 can realize:
1.5＜θ1/(θ2*f)＜3；
θ1 is the divergence angle of the laser beam A1, θ2 is the divergence angle of the collimated laser beam A2, and f is the focal length of the emission optical lens group 20.
The emission optical lens group collimates the laser beam A1, focuses the collimated and emitted light A2, reduces the spot size of the laser beam in the target area B, and can correspondingly reduce the volume of the scanning module and also compress the volume of the laser radar.
In an optimized embodiment, the emission optical lens group 20 focuses the N collimated laser beams A2, and the emission optical lens group 20 can:
0.15＜D/(L1+L2)＜0.4；
where D is the diameter of the light spot generated by the N collimated laser beams A2, L1 is the total lens length of the emission optical lens group, and L2 is the length from the target area B to the exit lens (second lens 202) of the emission optical lens group.
The emission optical lens group 20 can reduce the area of the target area B, so that the volume of the scanning module can be correspondingly reduced, and the volume of the laser radar can be also compressed.
In an advantageous embodiment, the emission optical lens group 20 can realize:
0.4＜R/(L3+S1)＜0.7
1.0＜L2/S2＜1.2
wherein, R is the diameter (2H) of the N emission light sources in circular arrangement, L3 is the distance between the plane where the N emission light sources are located and the first lens 201, S1 is the caliber of the first lens 201, L2 is the distance between the second lens 202 and the target area B, and S2 is the caliber of the second lens 202.
In an advantageous embodiment, as shown in fig. 5, the lenses of the emission optical lens group may be hollow. The hollow hole diameter is less than 2H. The hollow area of the transmitting optical lens group can be used for placing a receiving optical system and receiving echo signals of a laser radar.
In an optimized embodiment, the spots generated by the N collimated laser beams are focused on the target area at least partially overlapping each other, so that the hollow area of the emission optical lens group is expanded when the difference of the spatial directions of adjacent laser beams is increased, so that the adaptation compatibility of the receiving optical system is stronger.
The emission optical lens group 20 is coated with a high transmittance film to increase energy transmittance.
The invention is used for carrying out efficient facula compression on the laser beam signals sent by the emission light source, realizing reasonable arrangement of laser beams, expanding the angle of view, enabling the energy in the optical system to be efficiently utilized, compressing the volume requirement on the scanning module and compressing the whole volume of the laser radar.
The above embodiments are only for describing the technical solution of the present invention, and are not to be construed as limiting the present invention.
Claims (10)
1. A field-lens-focusing-based emission optical system, comprising:
an emission optical lens group having an optical axis;
the N emission light sources are arranged on the focal plane of the emission optical lens group, the distances between the N emission light sources and the optical axis are the same, the N emission light sources emit N laser beams, the N laser beams pass through the emission optical lens group to generate N collimated laser beams, the N collimated laser beams are focused on the same target area, the N collimated laser beams are the same as the pointing angle of the optical axis, and the emission optical lens group is used for symmetrically focusing the incident laser beams.
2. The field-lens-based focusing emission optical system according to claim 1, wherein 1.5 < θ1/(θ 2*f) < 3;
wherein θ1 is the divergence angle of the laser beam, θ2 is the divergence angle of the collimated laser beam, and f is the focal length of the emission optical lens group.
3. The field-lens-based focusing emission optical system according to claim 1, wherein 0.15 < D/(l1+l2) < 0.4;
wherein D is the diameter of the envelope generated by the N collimated laser beams, L1 is the total lens length of the emission optical lens group, and L2 is the length from the target area to the exit lens of the emission optical lens group.
4. The field lens type focusing based emission optical system as defined in claim 1, wherein the N emission light sources are uniformly arranged on a focal plane of the emission optical lens group.
5. The field lens focusing based transmit optical system of claim 1 wherein the lenses of the transmit optical lens group are hollow.
6. The field-lens focusing-based transmit optical system of claim 1, wherein the target area is located in a scanning module of a lidar.
7. The field-lens-based focusing emission optical system of claim 1 or 6, wherein spots generated by the N collimated laser beams are focused on the target area at least partially overlapping each other.
8. The field lens type focusing based emission optical system as defined in claim 1, wherein the emission optical lens group includes, in a laser emission direction:
the first lens is concave on the first side surface and convex on the second side surface;
the first side surface of the second lens is a convex surface, and the second side surface of the second lens is a convex surface.
9. The field lens focusing based transmit optical system of claim 8, wherein the transmit optical lens group satisfies:
0.4＜R/(L3+S1)＜0.7
1.0＜L2/S2＜1.2
wherein R is the diameter of the circular arrangement of the N emission light sources, L3 is the distance between the plane where the N emission light sources are positioned and the first lens, S1 is the caliber of the first lens, L2 is the distance between the second lens and the target area B, and S2 is the caliber of the second lens.
10. A lidar comprising a field lens focus based transmit optical system according to any of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311418617.0A CN117706518A (en) | 2023-10-30 | 2023-10-30 | Transmitting optical system based on field lens type focusing and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311418617.0A CN117706518A (en) | 2023-10-30 | 2023-10-30 | Transmitting optical system based on field lens type focusing and laser radar |
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| CN117706518A true CN117706518A (en) | 2024-03-15 |
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| CN202311418617.0A Pending CN117706518A (en) | 2023-10-30 | 2023-10-30 | Transmitting optical system based on field lens type focusing and laser radar |
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