CN206147096U - Laser radar and vehicle - Google Patents
Laser radar and vehicle Download PDFInfo
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- CN206147096U CN206147096U CN201621101070.7U CN201621101070U CN206147096U CN 206147096 U CN206147096 U CN 206147096U CN 201621101070 U CN201621101070 U CN 201621101070U CN 206147096 U CN206147096 U CN 206147096U
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Abstract
The utility model discloses a laser radar and vehicle. Laser radar includes the control unit, laser generator, a receiving circuit and the 2nd receiving circuit, and laser radar still includes: collimation beam expander system for expand a laser beam collimation of laser generator transmission and restraint, obtain the 2nd laser beam, beam splitting optical system for after being divided into the 2nd laser beam the range finding light beam of reference beam of the same kind and multichannel parallel, send reference beam for a receiving circuit, and to measured object transmission range finding light beam, wherein, a receiving circuit is used for changing reference beam into the first signal of telecommunication, and the 2nd receiving circuit will run into range finding light beam that the measured object reflected and change the second signal of telecommunication into, the distance of the control unit according to the time difference of receiving the first signal of telecommunication and the second signal of telecommunication, between calculation laser radar and the measured object. Originally, the technical problem with high costs who has openly solved the diffraction optical element of relevant laser plastic adoption hot investment casting and caused.
Description
Technical field
It relates to radar range finding field, in particular it relates to a kind of laser radar and vehicle.
Background technology
With flourishing for opto-electronics, the application of semiconductor laser is also increasingly extensive, and in many applications of laser
In, for the demand expanding day of beam shaping, and the corrugated to laser, pattern and light spot shape and size etc. propose it is many
Plant special requirement.And the light beam of the semiconductor laser output of correlation is all the vertical divergence of its light beam in Gauss distribution
Angle and horizontal divergence angle all than larger, just occur larger hot spot, laser beam after laser beam reaches a certain distance
Energy significantly decay.The application level of these semiconductor lasers for largely effecting on.Therefore research beam shaping problem has
Critically important realistic meaning, and semiconductor laser technique advance must GPRS technology.
Laser shaping technology is typically referred to change the intensity distributions of incident laser beam and controls its propagation characteristic.Partly leading
Volumetric laser field is using a kind of diffraction optical element that wide laser shaping beam splitting technology is Application Optics diffraction principle
(DOE；Diffraction Optical Element), it is a kind of diffraction theory based on light wave, is set using area of computer aided
Meter, and by large scale integrated circuit manufacturing process, in chip base, etching produces the embossment structure of two or more steps, is formed
It is coaxial to reproduce and the class optics with high diffraction efficiency.DOE beam splitting principle is as shown in figure 1, by changing incident illumination
Phase place realize desired far-field spot, the phase grating so DOE is otherwise known as, grating equation is：sinθm t=(m/ Λ) λ,
Wavelength (μm) of the wherein λ for incident illumination, m=0, ± 1, ± 2, ± 3 ... is diffraction lighting level time, and Λ is screen periods (μm), θm tFor
M order diffractions light and grating normal angle (rad).DOE is the specific shape that micrometer level depth is etched in specific transparent material surface
Shape and formed, usual etch depth be d=λ/(n-1), wherein n for material refractive index.
As related semiconductor laser shaping beam splitting components and parts adopt diffraction of light principle, using etching technique in transparent material
The given shape of material surface etching micrometer level depth is realized, is consequently belonging to precision manufactureing, on the one hand design and generation technique are wanted
Ask high, on the other hand raised the cost of scheme.
Utility model content
The purpose of the disclosure is to provide a kind of laser radar and vehicle, adopts precision system to the laser shaping for solving correlation
The diffraction optical element made and the technical problem with high costs for causing.
To achieve these goals, the disclosure provides a kind of laser radar, and the laser radar includes control unit, laser
Generator, the first receiving circuit and the second receiving circuit, the laser radar also include：
Collimating and beam expanding system, for the first laser beam collimation that the laser generator is launched is expanded, obtains second
Laser beam；
Light splitting optical system, for the second laser light beam to be divided into the range finding light of reference beam all the way and Multichannel Parallel
The reference beam is sent to first receiving circuit, and launches the distance measuring light beam to measured object by Shu Hou；
Wherein, for the reference beam is changed into first signal of telecommunication, described second receives first receiving circuit
Circuit will run into the distance measuring light beam that the measured object reflects and be changed into second signal of telecommunication, and described control unit is according to connecing
The time difference of first signal of telecommunication and second signal of telecommunication is received, is calculated between the laser radar and the measured object
Distance.
Alternatively, the light splitting optical system includes：
First spectroscope, for the second laser light beam is divided into reference beam all the way and distance measuring light beam all the way；With
And
At least one second spectroscopes and/or least one set beam splitting subsystem, second spectroscope are arranged at the ginseng
Examine in the light path of light beam, the beam splitting subsystem is arranged in the light path of the distance measuring light beam, the beam splitting subsystem is used for will
The distance measuring light beam is divided into the distance measuring light beam of Multichannel Parallel all the way.
Alternatively, the beam splitting subsystem includes：
3rd spectroscope, for the distance measuring light beam to be transmitted as the distance measuring light beam all the way and be reflected into reflecting all the way
Light beam；
Reflecting mirror, for the reflected beams are reflected into the distance measuring light beam.
Alternatively, the light splitting optical system includes second spectroscope and beam splitting subsystem described in a group.
Alternatively, described first spectroscopical absorbance and reflectance are respectively 60% and 40%, second spectroscope
Absorbance and reflectance be respectively 25% and 75%, the 3rd spectroscopical absorbance and reflectance are respectively 50% He
50%.
Alternatively, first receiving circuit and second receiving circuit include：
Photodiode；
Electric current turns potential circuit, is connected to the photodiode；
Amplifying circuit, is connected to the electric current and turns potential circuit；And
Moment discrimination circuit, is connected to the amplifying circuit.
Alternatively, also include：Time-to-digit converter, be connected to described control unit, first receiving circuit and
Second receiving circuit, described control unit reach the time number according to first signal of telecommunication and second signal of telecommunication
The time difference of word transducer, calculates the distance between the laser radar and described measured object.
Alternatively, also include：Laser driver, it is described sharp for when described control unit launches pulse signal, driving
Optical generator launches the first laser light beam.
Alternatively, the laser generator is infrared generator, and the laser driver is mosfet driver.
The disclosure also provides a kind of vehicle, including above-mentioned mobile lidar.
The technical scheme that embodiment of the disclosure is provided can include following beneficial effect：
On the one hand, by arranging collimating and beam expanding system and light splitting optical system, first that the laser generator is launched
After laser beam carries out collimator and extender, then laser beam is split, so as to reduce the angle of divergence of laser beam, Jin Er great
Amplitude improves the measurement distance of laser radar；
On the other hand, as collimating and beam expanding system and light splitting optical system can adopt the optical element on market to carry out group
Conjunction is obtained, and then, the design cost of system is reduced to a certain extent.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute the part of description, with following tool
Body embodiment is used for explaining the disclosure together, but does not constitute restriction of this disclosure.In the accompanying drawings：
Fig. 1 is the beam splitting principle schematic of diffraction optical element in correlation technique.
Fig. 2 is a kind of block diagram of the laser radar according to an exemplary embodiment.
Fig. 3 is a kind of block diagram of the light splitting optical system of the laser radar according to an exemplary embodiment.
Fig. 4 is a kind of block diagram of the first receiving circuit of the laser radar according to an exemplary embodiment.
Fig. 5 is a kind of block diagram of the second receiving circuit of the laser radar according to an exemplary embodiment.
Specific embodiment
Here in detail exemplary embodiment will be illustrated, its example is illustrated in the accompanying drawings.Explained below is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.Conversely, they be only with as appended by
The example of consistent apparatus and method in terms of some described in detail in claims, the disclosure.
Fig. 2 is a kind of block diagram of the laser radar according to an exemplary embodiment.As shown in Fig. 2 the laser thunder
Up to including the first receiving circuit 11, the second receiving circuit 12, control unit 10, laser generator 15, collimating and beam expanding system 14, with
And light splitting optical system 15.
The laser generator 15 is used to launch first laser light beam.The laser generator 15 can be single one
Laser beam emitter, such as launches first laser light beam by user's control.The laser generator 15 can also be received
The control of control unit 10 and launch first laser light beam.
Alternatively, the laser radar also includes：It is connected to swashing for described control unit 10 and the laser generator 15
CD-ROM driver 150.Described control unit 10 is sent after pulse to the laser driver 150, and the laser driver 150 drives
The laser generator 15 launches first laser light beam.
Alternatively, the laser generator 15 is infrared laser generator 15, and the laser driver 150 is MOSFET
(Metal-Oxide-Semiconductor Field-Effect Transistor；Metal-Oxide Semiconductor field effect is brilliant
Body pipe) driver.Described control unit 10 sends the pulse of predetermined width to the mosfet driver, such as sends 30ns extremely
After the pulse of 40ns width, the mosfet driver drives the infrared laser generator 15 to launch infrared laser pulses.
The collimating and beam expanding system 14 is expanded for the first laser beam collimation for launching the laser generator 15, is obtained
To second laser light beam.The collimating and beam expanding system 14 of the disclosure can the first laser light beam be entered using non-spherical lens
Row collimator and extender, by carrying out the angle of divergence that collimator and extender reduces elementary beam to the first laser light beam, so that laser
Energy be uniformly distributed, it is ensured that the measurement distance of the laser radar is farther.
The light splitting optical system 15 is for being divided into reference beam all the way and Multichannel Parallel by the second laser light beam
After distance measuring light beam, the reference beam is sent to into first receiving circuit 11, and launches the range finding light to measured object
Beam, so as to ensure that multi beam directional light is irradiated to the measured object surface.
Alternatively, as shown in figure 3, Fig. 3 is a kind of light splitting optical of the laser radar according to an exemplary embodiment
The block diagram of system, the light splitting optical system 15 include the first spectroscope 161, and at least one second spectroscopes 162 and/or
Least one set beam splitting subsystem.
First spectroscope 161 is for being divided into reference beam all the way and light of finding range all the way by the second laser light beam
Beam.As shown in Fig. 2 second spectroscope 162 is arranged in the light path of the reference beam.Second spectroscope 162 can
To be one, or multiple, second spectroscope 162 will separate distance measuring light beam all the way the reference beam more, and then
Increased the quantity of the distance measuring light beam.
As shown in Fig. 2 the beam splitting subsystem is arranged in the light path of the distance measuring light beam, the beam splitting subsystem is used for
The distance measuring light beam all the way is divided into into the distance measuring light beam of Multichannel Parallel.The beam splitting subsystem can be one group, or many
Group.Distance measuring light beam becomes multichannel distance measuring light beam to the beam splitting subsystem all the way, further increases the number of the distance measuring light beam
Amount.As shown in Fig. 2 the beam splitting subsystem includes the second spectroscope 162 and reflecting mirror 164.Second spectroscope 162 is used for
The distance measuring light beam is transmitted as into the distance measuring light beam all the way and the reflected beams all the way are reflected into.The reflecting mirror 164 is used for
The reflected beams are reflected into into the distance measuring light beam.
Alternatively, as shown in Fig. 2 the light splitting optical system 15 includes second spectroscope 162 and one group of institute
State beam splitting subsystem.I.e. the light splitting optical system 15 includes 161, one, first spectroscope, 162, one, the second spectroscope
Second spectroscope 162, an and reflecting mirror 164.Alternatively, the absorbance of first spectroscope 161 and reflectance difference
For 60% and 40%, the absorbance and reflectance of second spectroscope 162 are respectively 25% and 75%, second spectroscope
162 absorbance and reflectance are respectively 50% and 50%.When the second laser light beam that power is 100% is through shown in Fig. 2
After light splitting optical system 15, then it is divided into the distance measuring light beam that power all the way is that 10% reference beam and three road power are 30%.
After the reference beam is sent to first receiving circuit 11, first receiving circuit 11 is for by the ginseng
Examine light beam and be changed into first signal of telecommunication.Fig. 4 is a kind of the first reception electricity of the laser radar according to an exemplary embodiment
The block diagram on road, as shown in figure 4, first receiving circuit 11 includes receiving the photodiode 111 of reference beam, is connected to light
The electric current of electric diode 111 turn potential circuit 112, be connected to electric current turn potential circuit 112 amplifying circuit 113, and connection
In the moment discrimination circuit 114 of amplifying circuit 113.
After the distance measuring light beam is irradiated to the measured object in front, reflects and received by the second receiving circuit 12, described the
Two receiving circuits 12 are for being converted to second signal of telecommunication by the distance measuring light beam.Fig. 5 is illustrated according to an exemplary embodiment
The block diagram of the second receiving circuit of a kind of laser radar, as shown in figure 5, second receiving circuit 12 includes that receiving second finds range
The photodiode 121 of light beam, be connected to photodiode 121 electric current turn potential circuit 122, be connected to electric current turn voltage electricity
The amplifying circuit 123 on road 122, the moment discrimination circuit 124 for being connected to amplifying circuit 123.Wherein, moment discrimination circuit 114,
124 is waveform shaping circuit, for the waveform that amplifying circuit 113,123 is transmitted is carried out shaping.
Alternatively, as shown in Fig. 2 the laser radar also includes time-to-digit converter 13.Described control unit 10 connects
The time-to-digit converter 13 is connected to, the time-to-digit converter 13 is connected to first receiving circuit 11 and described
Two receiving circuits 12.The waveform that amplifying circuit 113,123 is transmitted is carried out sending after shaping by moment discrimination circuit 114,124
To the time-to-digit converter 13.
The time-to-digit converter 13 determines winged according to first signal of telecommunication and second signal of telecommunication that receive
Row time, the flight time are that first signal of telecommunication and second signal of telecommunication reach the time-to-digit converter 13
Time difference, described control unit 10 calculate the distance between the laser radar and described measured object according to the flight time.
The distance between the laser radar and described measured object are assumed for L, the flight time is T, then：L=C*T/
2；Wherein, C is the light velocity.
The disclosure additionally provides a kind of vehicle, including above-mentioned laser radar.The vehicle can be electric automobile, also may be used
To be other types of vehicle, in this regard, the disclosure is not specifically limited.Laser radar included by the vehicle, upper
It has been described in detail in the embodiment of the laser radar in text, it is succinct for description, will be not set forth in detail herein
It is bright.
The technical scheme that embodiment of the disclosure is provided can include following beneficial effect：
On the one hand, by arranging collimating and beam expanding system and light splitting optical system, first that the laser generator is launched
After laser beam carries out collimator and extender, then laser beam is split, so as to reduce the angle of divergence of laser beam, Jin Er great
Amplitude improves the measurement distance of laser radar；
On the other hand, as collimating and beam expanding system and light splitting optical system can adopt the optical element on market to carry out group
Conjunction is obtained, and then, the design cost of system is reduced to a certain extent.
The preferred implementation of the disclosure is described in detail above in association with accompanying drawing, but, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, various letters can be carried out with technical scheme of this disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The compound mode of energy is no longer separately illustrated.
Additionally, combination in any between a variety of embodiments of the disclosure, can also be carried out, as long as which is without prejudice to this
Disclosed thought, which should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of laser radar, it is characterised in that the laser radar includes that control unit, laser generator, first receive electricity
Road and the second receiving circuit, it is characterised in that the laser radar also includes：
Collimating and beam expanding system, for the first laser beam collimation that the laser generator is launched is expanded, obtains second laser
Light beam；
Light splitting optical system, for the second laser light beam to be divided into the distance measuring light beam of reference beam all the way and Multichannel Parallel
Afterwards, the reference beam is sent to into first receiving circuit, and launches the distance measuring light beam to measured object；
Wherein, first receiving circuit is for being changed into first signal of telecommunication, second receiving circuit by the reference beam
The distance measuring light beam that the measured object reflects will be run into and be changed into second signal of telecommunication, described control unit is according to receiving
The time difference of first signal of telecommunication and second signal of telecommunication, calculate between the laser radar and the measured object away from
From.
2. laser radar according to claim 1, it is characterised in that the light splitting optical system includes：
First spectroscope, for the second laser light beam is divided into reference beam all the way and distance measuring light beam all the way；And
At least one second spectroscopes and/or least one set beam splitting subsystem, second spectroscope are arranged at the reference light
In the light path of beam, the beam splitting subsystem is arranged in the light path of the distance measuring light beam, and the beam splitting subsystem is used for will all the way
The distance measuring light beam is divided into the distance measuring light beam of Multichannel Parallel.
3. laser radar according to claim 2, it is characterised in that the beam splitting subsystem includes：
3rd spectroscope, for the distance measuring light beam is transmitted as the distance measuring light beam all the way and reflected light all the way is reflected into
Beam；
Reflecting mirror, for the reflected beams are reflected into the distance measuring light beam.
4. laser radar according to claim 3, it is characterised in that the light splitting optical system includes described second
Spectroscope and beam splitting subsystem described in a group.
5. laser radar according to claim 4, it is characterised in that first spectroscopical absorbance and reflectance point
Not Wei 60% and 40%, second spectroscopical absorbance and reflectance are respectively 25% and 75%, the 3rd spectroscope
Absorbance and reflectance be respectively 50% and 50%.
6. laser radar according to claim 1, it is characterised in that first receiving circuit and described second receive
Circuit includes：
Photodiode；
Electric current turns potential circuit, is connected to the photodiode；
Amplifying circuit, is connected to the electric current and turns potential circuit；And
Moment discrimination circuit, is connected to the amplifying circuit.
7. laser radar according to claim 1, it is characterised in that also include：
Time-to-digit converter, is connected to described control unit, first receiving circuit and second receiving circuit, institute
State the time difference that control unit reaches the time-to-digit converter according to first signal of telecommunication and second signal of telecommunication, meter
Calculate the distance between the laser radar and described measured object.
8. laser radar according to claim 1, it is characterised in that also include：
Laser driver, for when described control unit launches pulse signal, driving laser generator transmitting described the
One laser beam.
9. laser radar according to claim 8, it is characterised in that the laser generator is infrared generator, institute
Laser driver is stated for mosfet driver.
10. a kind of vehicle, it is characterised in that including the laser radar any one of claim 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621101070.7U CN206147096U (en) | 2016-09-30 | 2016-09-30 | Laser radar and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621101070.7U CN206147096U (en) | 2016-09-30 | 2016-09-30 | Laser radar and vehicle |
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| CN206147096U true CN206147096U (en) | 2017-05-03 |
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Cited By (9)
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| CN108303690A (en) * | 2018-01-17 | 2018-07-20 | 武汉煜炜光学科技有限公司 | A kind of distance measuring method and range-measurement system for eliminating laser radar blind area |
| CN109283541A (en) * | 2017-07-21 | 2019-01-29 | 比亚迪股份有限公司 | Mobile lidar range unit, method and automobile |
| WO2019019433A1 (en) * | 2017-07-24 | 2019-01-31 | Huawei Technologies Co., Ltd. | Lidar scanning system |
| WO2019033270A1 (en) * | 2017-08-14 | 2019-02-21 | 杭州欧镭激光技术有限公司 | Laser distance measuring device and method of use thereof |
| CN110031853A (en) * | 2017-12-22 | 2019-07-19 | 罗伯特·博世有限公司 | Laser radar apparatus for test object |
| CN110794378A (en) * | 2018-08-01 | 2020-02-14 | 罗伯特·博世有限公司 | Lidar device for detecting an object |
| CN110907915A (en) * | 2018-09-14 | 2020-03-24 | 通用汽车环球科技运作有限责任公司 | Chip-scale laser radar with enhanced distance performance |
| CN111175787A (en) * | 2018-11-13 | 2020-05-19 | 奥特润株式会社 | Laser radar signal processing apparatus and laser radar apparatus |
| CN112285723A (en) * | 2020-10-20 | 2021-01-29 | 南京工程学院 | Laser radar system and method used in wide-temperature environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109283541A (en) * | 2017-07-21 | 2019-01-29 | 比亚迪股份有限公司 | Mobile lidar range unit, method and automobile |
| CN109283541B (en) * | 2017-07-21 | 2023-10-13 | 比亚迪股份有限公司 | Vehicle-mounted laser radar ranging device and method and automobile |
| US11187806B2 (en) | 2017-07-24 | 2021-11-30 | Huawei Technologies Co., Ltd. | LIDAR scanning system |
| WO2019019433A1 (en) * | 2017-07-24 | 2019-01-31 | Huawei Technologies Co., Ltd. | Lidar scanning system |
| WO2019033270A1 (en) * | 2017-08-14 | 2019-02-21 | 杭州欧镭激光技术有限公司 | Laser distance measuring device and method of use thereof |
| US11662466B2 (en) | 2017-08-14 | 2023-05-30 | Hangzhou Ole-Systems Co., Ltd. | Laser distance measuring device and method of use thereof |
| CN110031853A (en) * | 2017-12-22 | 2019-07-19 | 罗伯特·博世有限公司 | Laser radar apparatus for test object |
| CN108303690B (en) * | 2018-01-17 | 2019-12-27 | 深圳煜炜光学科技有限公司 | Ranging method and ranging system for eliminating laser radar blind area |
| CN108303690A (en) * | 2018-01-17 | 2018-07-20 | 武汉煜炜光学科技有限公司 | A kind of distance measuring method and range-measurement system for eliminating laser radar blind area |
| CN110794378A (en) * | 2018-08-01 | 2020-02-14 | 罗伯特·博世有限公司 | Lidar device for detecting an object |
| CN110907915B (en) * | 2018-09-14 | 2023-07-04 | 通用汽车环球科技运作有限责任公司 | Chip-level laser radar with enhanced range performance |
| CN110907915A (en) * | 2018-09-14 | 2020-03-24 | 通用汽车环球科技运作有限责任公司 | Chip-scale laser radar with enhanced distance performance |
| CN111175787A (en) * | 2018-11-13 | 2020-05-19 | 奥特润株式会社 | Laser radar signal processing apparatus and laser radar apparatus |
| US11899138B2 (en) | 2018-11-13 | 2024-02-13 | Hyundai Mobis Co., Ltd. | LIDAR signal processing apparatus and LIDAR apparatus |
| CN111175787B (en) * | 2018-11-13 | 2024-03-05 | 现代摩比斯株式会社 | Laser radar signal processing apparatus and laser radar apparatus |
| CN112285723A (en) * | 2020-10-20 | 2021-01-29 | 南京工程学院 | Laser radar system and method used in wide-temperature environment |
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