CN209746129U - Distributed laser radar system - Google Patents
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Abstract
the embodiment of the utility model provides a distributed laser radar system. The distributed lidar system includes: the scanning device comprises an optical transceiving component and a plurality of scanning components, wherein the optical transceiving component comprises a plurality of optical transceiving groups, each optical transceiving group corresponds to one scanning component, and each optical transceiving group comprises a laser transmitter and a laser receiver; the distributed laser radar system also comprises transmitting optical fibers in one-to-one correspondence with the laser transmitters and receiving optical fibers in one-to-one correspondence with the laser receivers. The embodiment of the utility model provides a distributed laser radar system corresponds a transmission optic fibre through every laser emitter, and every laser receiver corresponds a receipt optic fibre, can reduce equipment maintenance and cost of maintenance.
Description
Technical Field
The invention relates to the technical field of laser detection and ranging, in particular to a laser radar system.
Background
Laser Detection And Ranging (LiDAR) systems are commonly referred to as LiDAR systems. The basic working principle of the laser radar is that a laser transmitter transmits laser to a target object, a receiver receives the transmitted light of the target object, and the laser radar calculates the distance from the laser radar to the target object according to the laser ranging principle. Wherein, a laser transmitter and a receiver constitute a laser ranging channel. When the laser scans the target object continuously, the data of all target points on the target object can be obtained, and the three-dimensional image of the target object can be obtained after the data is imaged.
The common three-dimensional laser radar is a mechanical rotary laser radar, and comprises a plurality of pairs of laser transmitters and receivers, wherein each pair of laser transmitters and receivers face different spatial angle positions to form sector coverage, and then a single-shaft rotating mechanism is used for driving the plurality of pairs of laser transmitters and receivers to integrally rotate so as to realize three-dimensional laser scanning.
the laser transmitter and the receiver of every laser ranging channel of mechanical rotation type laser radar all need carry out accurate calibration to guarantee that it is accurate to focus, transmission and receive the accurate parallel of optical axis, and need guarantee between the adjacent laser ranging channel small and accurate angle interval, but because laser transmitter and receiver all rotate at a high speed with mechanical rotation type laser radar, mechanical rotation type laser radar's stability is lower.
disclosure of Invention
In view of this, an embodiment of the present invention provides a distributed laser radar system, including: the scanning device comprises an optical transceiving component and a plurality of scanning components, wherein the optical transceiving component comprises a plurality of optical transceiving groups, each optical transceiving group corresponds to one scanning component, and each optical transceiving group comprises a laser transmitter and a laser receiver; the distributed laser radar system also comprises transmitting optical fibers which are in one-to-one correspondence with the laser transmitters and receiving optical fibers which are in one-to-one correspondence with the laser receivers; the laser emitter is used for emitting laser; one end of the emission optical fiber is coupled with a corresponding laser emitter, and the other end of the emission optical fiber is used as a light emergent end in a corresponding scanning component to emit detection laser; one end of the receiving optical fiber is coupled with a corresponding laser receiver, and the other end of the receiving optical fiber is used as a light incidence end in a corresponding scanning component to receive reflected light of the detection laser; the laser receiver is used for receiving the reflected light conducted by the receiving optical fiber.
In an optional embodiment of the present invention, when the optical transceiver group comprises a plurality of laser transmitters and a plurality of laser receivers; the laser transmitters correspond to the emission optical fibers one by one, one ends of the emission optical fibers are coupled with the corresponding laser transmitters respectively, the other ends of the emission optical fibers form an emission optical fiber array in the corresponding scanning component, and the end face of the emission optical fiber array is used as a light emergent end to emit detection laser; the laser receivers correspond to the receiving optical fibers one by one, one ends of the receiving optical fibers are coupled with the corresponding laser receivers respectively, the other ends of the receiving optical fibers form a receiving optical fiber array in the corresponding scanning component, and the end face of the receiving optical fiber array serves as a light incidence end to receive reflected light of the detection laser.
in another optional embodiment of the present invention, when the optical transceiver group comprises a laser transmitter and a laser receiver; the laser emitter corresponds to an emitting optical fiber, one end of the emitting optical fiber is coupled with the corresponding laser emitter, and the other end of the emitting optical fiber is used as a light emitting end in the corresponding scanning component to emit detection laser; the laser receiver corresponds to a receiving optical fiber, one end of the receiving optical fiber is coupled with the corresponding laser receiver, and the other end of the receiving optical fiber is used as a light incidence end in the corresponding scanning component to receive the reflected light of the detection laser.
Optionally, the scanning component includes a transmitting lens, a receiving lens and a mirror assembly, the mirror assembly includes a rotating shaft and a plurality of mirrors, the angle between the normal of each mirror and the axis of the rotating shaft is different, and the rotating shaft drives the plurality of mirrors to rotate; the emitting lens is used for collimating the detection laser; the reflector component is used for reflecting the laser collimated by the emitting lens to a detection area and reflecting the reflected light of the detection laser to the receiving lens; the receiving lens is used for converging the received reflected light to the receiving optical fiber.
Optionally, the transmitting optical fiber between each optical transceiver group and the corresponding scanning component is connected by a multi-core optical fiber connector; the receiving optical fiber between each optical transceiving group and the corresponding scanning component is connected through a multi-core optical fiber connector; or, the transmitting optical fiber and the receiving optical fiber between each optical transceiving group and the corresponding scanning component are connected through a multi-core optical fiber connector.
optionally, a micro lens is disposed between each laser receiver and the corresponding receiving optical fiber, and the micro lens is configured to converge the reflected light received by the receiving optical fiber to the corresponding laser receiver.
Optionally, there is a beam shaper between each of the laser emitters and the corresponding emitting fiber for coupling the laser light emitted by the laser emitter into the corresponding emitting fiber.
as an alternative, the beam shaper is a bi-cylindrical lens, and generatrices of two cylinders of the bi-cylindrical lens are orthogonal to each other.
As another alternative, the above-mentioned beam shaper is an optical diffraction-based beam shaper, comprising: a collimating lens, a first diffractive element and a second diffractive element; the collimating lens is used for collimating the light beam emitted by the laser emitter in the fast axis direction to form a slender strip-shaped light beam; the first diffraction element is used for dividing the slender strip-shaped light beam into a plurality of light beams, and the rest light beams except the central light beam are deflected to different spatial directions respectively; the second diffraction element is used for correcting the rest beams, so that the rest beams are overlapped with the central beam and focused on the end face of the corresponding emission optical fiber.
As a further alternative, the above-mentioned beam shaper is an optical diffraction-based beam shaper, comprising: a first lens, a first diffractive element, a second diffractive element, and a second lens; the first lens is used for collimating the light beam emitted by the laser emitter in the fast axis direction to form a slender strip-shaped light beam; the first diffraction element is used for dividing the slender strip-shaped light beam into a plurality of light beams, and the rest light beams except the central light beam are deflected to different spatial directions respectively; the second diffraction element is used for correcting the rest light beams to enable the rest light beams to be parallel to the central light beam; the second lens is configured to overlap each of the remaining light beams from the second diffraction element and the central light beam and focus the light beams on an end surface of a corresponding emission optical fiber.
in the distributed laser radar system provided by the embodiment of the invention, the laser transmitters and the laser receivers are centralized in the optical transceiving components, the detection laser transmitted by the laser transmitters is transmitted to the distributed laser scanning components through the optical fibers, and the reflected light of the detection laser is also transmitted to the corresponding laser receivers through the optical fibers. The distributed laser radar system provided by the embodiment of the invention can fix the light receiving and transmitting component at any position of a laser radar carrier (such as an automobile and an aircraft), and the scanning direction and the field of view of the laser radar can meet different requirements by adjusting the number and the installation angle of the scanning components. Furthermore, each laser transmitter in the distributed laser radar system provided by the embodiment of the invention corresponds to one transmitting optical fiber, and each laser receiver corresponds to one receiving optical fiber, so that the equipment maintenance and repair cost can be reduced, and when a certain scanning component has a light path fault, only the laser transmitter and the laser receiver corresponding to the scanning component need to be overhauled; and if a certain laser transmitter or receiver breaks down, other detection light paths cannot be influenced. In addition, each laser transmitter in the distributed laser radar system provided by the embodiment of the invention corresponds to one transmitting optical fiber, so that different laser transmitters can be configured for different scanning components according to actual scanning requirements, for example, a laser transmitter with lower power is selected as a light source, thereby reducing the cost of the laser radar.
drawings
in order to clearly illustrate the technical solutions provided by the embodiments of the present invention, the drawings used for describing the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is an architecture diagram of a distributed lidar system provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of optical transceiver components in a distributed lidar system provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a distributed lidar system provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of another structure of a distributed lidar system provided by an embodiment of the invention;
FIG. 5 is a schematic diagram of another structure of a distributed lidar system provided by an embodiment of the invention;
FIG. 6 is a first schematic structural diagram of a mirror assembly in a distributed lidar system according to an embodiment of the present invention;
Fig. 7 is a schematic structural diagram ii of a mirror assembly in the distributed lidar system according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a middle bi-cylindrical lens provided by an embodiment of the present invention;
Fig. 9 is a schematic structural diagram of a beam shaper based on optical diffraction according to an embodiment of the present invention;
Fig. 10 is a schematic structural diagram of another optical diffraction-based beam shaper provided in an embodiment of the present invention.
Detailed Description
Technical solutions of embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the embodiments of the present invention, and it is apparent that the embodiments described below are some, but not all, embodiments of the present invention. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of protection of the present invention, based on the following examples.
As shown in fig. 1, the present embodiment provides a distributed lidar system, which includes an optical transceiver 110 and a plurality of scanning units, for example, M scanning units 120-1, 120-2, 120-3 … … 120-M shown in fig. 1, where the optical transceiver 110 and each scanning unit are connected through optical fibers 11, 12, and 13 … … 1M. The optical transceiver 110 includes a plurality of optical transceiver groups, each of which corresponds to one scanning unit. As shown in fig. 2, the optical transceiver 110 includes M optical transceiver groups 201, 301 … … M01, which correspond to the M scanning units 120-1, 120-2, 120-3 … … 120-M in fig. 1, respectively.
each optical transceiving group comprises a laser transmitter and a laser receiver, and the laser transmitter is used for transmitting laser. The distributed laser radar system also comprises transmitting optical fibers in one-to-one correspondence with the laser transmitters and receiving optical fibers in one-to-one correspondence with the laser receivers; one end of the emission optical fiber is coupled with a corresponding laser emitter, and the other end of the emission optical fiber is used as a light emergent end in a corresponding scanning component to emit detection laser; one end of the receiving optical fiber is coupled with a corresponding laser receiver, and the other end of the receiving optical fiber is used as a light incidence end in a corresponding scanning component to receive reflected light of the detection laser. The laser receiver is used for receiving the reflected light conducted by the receiving optical fiber. Specifically, the laser emitted by the laser emitter is coupled into an emitting optical fiber corresponding to the laser emitter, conducted to a corresponding scanning component through the emitting optical fiber, and emitted from one end of the emitting optical fiber as detection laser; the receiving optical fiber in the corresponding scanning component receives the reflected light of the detection laser, and the reflected light of the detection laser is transmitted to the corresponding laser receiver through the receiving optical fiber; the laser receiver receives the reflected light transmitted by the receiving optical fiber.
optionally, the optical transceiver group may include a plurality of laser transmitters and a plurality of laser receivers, and may also include one laser transmitter and one laser receiver. Each light emission group, such as that shown in fig. 2, includes a plurality of laser emitters and a plurality of laser receivers. Specifically, the optical transceiver group 201 comprises N1 laser transmitters 211-1, 211-2 … … 211-N1, and correspondingly also comprises N1 laser receivers 212-1, 212-2 … … 212-N1; the optical transceiver group 301 comprises N2 laser transmitters 311-1 and 311-2 … … 311-N2, and correspondingly also comprises N2 laser receivers 312-1 and 312-2 … … 312-N2; the optical transceiver group M01 comprises Nn laser transmitters M11-1 and M11-2 … … M11-Nn, and correspondingly comprises N2 laser receivers M12-1 and M12-2 … … M12-Nn.
As shown in fig. 3 and 4, taking the optical transceiving group 201 in the optical transceiving component 110 and the corresponding scanning component 120-1 as an example, the laser transmitters 211-1, 211-2 … … 211-N1 are in one-to-one correspondence with the transmitting optical fibers 111-1, 111-2 … … 111, 111-N1; the laser receivers 212-1, 212-2 … … 212-N1 are in one-to-one correspondence with the receiving fibers 112-1, 112-2 … … 112-N1. One end of each of the N1 emitting optical fibers 111-1 and 111-2 … … 111-N1 is coupled to a corresponding laser emitter 211-1 and 211-2 … … 211-N1, and the other end of each emitting optical fiber forms an emitting optical fiber array 231 in the corresponding scanning unit 120-1, and the end face of the emitting optical fiber array 231 serves as a light emitting end to emit detection laser. One end of each of the N1 receiving optical fibers 112-1 and 112-2 … … 112-N1 is coupled to a corresponding laser receiver 212-1, 212-2 … … 212-N1, and the other end of each receiving optical fiber forms a receiving optical fiber array 232 in the corresponding scanning unit 120-1, and the end face of the receiving optical fiber array 232 serves as a light incident end to receive the reflected light of the probe laser.
as an alternative embodiment, as shown in FIG. 3, the transmitting fibers 111-1, 111-2 … … 111-N1 between the optical transceiver group 201 and the corresponding scan component 120-1 may be connected by a multi-fiber connector 221; the receiving fibers 112-1, 112-2 … … 112-N1 between the optical transceiver group 201 and the corresponding scan element 120-1 are connected by a multi-fiber connector 222.
as another alternative, as shown in FIG. 4, the transmitting fibers 111-1, 111-2 … … 111-N1 and the receiving fibers 112-1, 112-2 … … 112-N1 between the optical transceiving module 201 and the corresponding scan component 120-1 are connected by a multi-fiber connector 220.
Fig. 6 shows an embodiment in which one optical transceiver group 601 of the optical transceiver component 60 includes one laser transmitter 61 and one laser receiver 62. The laser emitters 61 correspond to emitting fibers 610, and one end of each of the emitting fibers 610 is coupled to the corresponding laser emitter 61, and the other end thereof emits detection laser as a light emitting end in the corresponding scanning unit 70. The laser receiver 62 corresponds to the receiving fiber 620, and one end of the receiving fiber 620 is coupled to the corresponding laser receiver 62, and the other end receives the reflected light of the detection laser as a light incident end in the corresponding scanning unit 70.
Further, the scanning unit in the above embodiment includes a transmitting lens, a receiving lens and a mirror assembly, where the mirror assembly includes a rotating shaft and a plurality of mirrors, and the normal of each mirror is different in angle degree from the axis of the rotating shaft. The rotating shaft drives the plurality of reflectors to rotate, the emitting lens collimates the detection laser, and the reflector component reflects the laser collimated by the emitting lens to a detection area and reflects the reflected light of the detection laser to the receiving lens; the receiving lens converges the received reflected light to the receiving optical fiber.
As shown in fig. 3, 4 and 5, the scan components 120-1 and 70 in embodiments of the present invention include an emitter lens 241, a receiver lens 242 and a mirror assembly 25. The reflector assembly 25 comprises a rotating shaft and a plurality of reflectors, wherein the rotating shaft drives the reflectors to rotate, and the included angle degree between the normal of each reflector and the axis of the rotating shaft is different; the emission lens 241 is used for collimating the detection laser; the mirror assembly 25 is used for reflecting the laser light collimated by the emitting lens 241 to the detection area, and is also used for reflecting the reflected light of the detection laser light to the receiving lens 242; the receiving lens 242 is used to focus the received reflected light to the receiving fiber.
as a specific embodiment, the emitting fiber array 231 may be a one-dimensional fiber array or a two-dimensional fiber array, and an end surface of the emitting fiber array 231 is on a focal plane of the emitting lens 241. The receiving fiber array 232 may be a one-dimensional fiber array or a two-dimensional fiber array, and the end surface of the receiving fiber array 232 is located on the focal plane of the receiving lens 242.
as shown in fig. 6 and 7, the structure of the mirror assembly 25 will be described by taking the example in which the mirror assembly 25 includes 3 mirrors.
As shown in fig. 6, the mirror assembly 25 includes a rotating shaft 251 and mirrors 6A, 6B, and 6C, and the rotating shaft 251 rotates the mirrors 6A, 6B, and 6C. The included angle degree between the normal of each reflector and the axis of the rotating shaft is different. As shown in fig. 7, the axis of the rotating shaft 251 is X, the angle between the mirror 6A and the axis X of the rotating shaft 251 is θ 1, the angle between the mirror 6B and the axis X of the rotating shaft 251 is θ 2, the angle between the mirror 6C and the axis X of the rotating shaft 251 is θ 3 (not shown), and θ 1, θ 2, and θ 3 are different. In the specific implementation process, the rotating shaft can be driven to rotate by the rotation of the motor, and the connection mode of the motor and the rotating shaft and the connection mode of each reflector and the rotating shaft are not limited in the invention, so that the connection mode is not shown in the figure and can be selected by a person skilled in the art according to actual needs.
The 3-sided mirror of the mirror assembly 25 is driven by a motor to rotate, sequentially enters a laser irradiation range, reflects the laser and changes the propagation direction of the laser. Specifically, the mirror 6A scans the reflected light of the laser light in a plane perpendicular to the rotation axis X as the rotation shaft 251 rotates, and the mirror 6B enters the laser irradiation range as the rotation shaft 251 continues to rotate, and since θ 2 ≠ θ 1, the reflected light undergoes a large angular shift in a direction parallel to the rotation axis X, that is, the reflected light of the mirror 6B also scans in the plane of the rotation axis X; at the same time, since the laser is gradually swept in the plane perpendicular to the rotation axis X, it is equivalent to generating a laser scan in both the plane and the plane perpendicular to the rotation axis X.
As an alternative embodiment, there is a beam shaper between each laser emitter and the corresponding emitting fiber in the above embodiments, and the beam shaper is used for coupling the laser light emitted by the laser emitter into the corresponding emitting fiber. As another alternative, there is a micro lens between each laser receiver and the corresponding receiving fiber in the above embodiments, and the micro lens is used to converge the reflected light received by the receiving fiber to the corresponding laser receiver.
alternatively, the beam shaper may be a bi-cylindrical lens as shown in fig. 8, and the generatrices of the two cylinders of the bi-cylindrical lens are mutually orthogonal, that is, the generatrices L1 of the cylindrical surface a and L2 of the cylindrical surface B of the bi-cylindrical lens are mutually orthogonal.
The high power pulse Laser Diode commonly used in the multiline Laser radar is an Edge Emitting semiconductor Laser Diode (Edge Emitting Laser Diode), and the light Emitting source of the Diode is the end face of a P/N Junction (P-N Junction) of a chip, namely a slit at the boundary of two planes of the P/N Junction. The characteristics of such a laser emitter are: the linear dimension of the beam is large (e.g., 50um to hundreds of um), the divergence angle is small (e.g., 10 degrees), parallel to the P/N junction plane; the linear dimension of the beam is small (e.g., 1um-10um) and the divergence angle is large (e.g., 45 degrees) in the direction perpendicular to the plane of the P/N junction. The direction with large linear dimension and small divergence angle is called Slow Axis (Slow Axis); the direction of small linear dimension and large divergence angle is called Fast Axis (Fast Axis).
The bi-cylindrical lens shown in fig. 8 employed in this embodiment forms two independent optical systems for the fast axis and the slow axis of the laser beam, respectively. Laser emitted by the laser emitter passes through the double-cylindrical lens, the divergence angle of the fast axis is reduced, the divergence angle of the slow axis is increased, and therefore the divergence angles of the light beams on the fast axis and the slow axis are balanced and approximate. Therefore, the double-cylindrical lens adopted by the embodiment can shape the elliptical light spots with large difference in the fast axis direction and the slow axis direction into the circular or square light spots with small difference in the fast axis direction and the slow axis direction, so that the light beams are efficiently coupled into the optical fiber.
Optionally, the beam shaper may be an optical diffraction based beam shaper. As an implementation, as shown in fig. 9, an optical diffraction-based beam shaper includes: a collimator lens 91, a first diffractive element 92 and a second diffractive element 93. The collimating lens 91 is used for collimating the light beam emitted by the laser emitter in the fast axis direction, and changing the light beam into an elongated light beam. As an alternative embodiment, the collimating lens may be a micro-cylindrical mirror. The first diffraction element 92 is used for dividing the slender strip-shaped light beam into a plurality of light beams, and the rest light beams except the central light beam are deflected to different spatial directions respectively; the second diffraction element 93 corrects the remaining light beams so that the remaining light beams overlap the center light beam and are focused on the end surfaces of the corresponding optical fibers.
specifically, as shown in fig. 9, the laser beam passes through a collimator lens 91 and becomes an elongated bar-shaped beam, which is divided into 3 beams by a first diffraction element 92: beam 1, beam 2 (central beam) and beam 3, beam 1 being deflected downwards and to the right; beam 2 is the central beam, maintaining a propagation direction parallel to the system optical axis; the light beam 3 is deflected upwards and to the left. The second diffraction element 93 corrects the light beams 1 and 3 so that the light beams 1 and 3 overlap the central light beam 2 to form a square spot having relatively uniform linear dimensions and divergence angles in both the fast axis and the slow axis, and focuses the square spot on the end face of the corresponding optical fiber. The above-described optical diffraction-based beam shaper can efficiently couple a beam into an optical fiber.
As another implementation, as shown in fig. 10, another optical diffraction-based beam shaper includes: a first lens 1001, a first diffractive element 1002, a second diffractive element 1003, and a second lens 1004. The first lens 1001 is used for collimating the light beam emitted by the laser emitter in the fast axis direction and changing the light beam into a slender bar-shaped light beam; the first diffraction element 1002 is used for dividing the elongated light beam into a plurality of light beams, and the rest light beams except the central light beam are deflected to different spatial directions respectively; a second diffraction element 1003 for correcting the remaining light fluxes so that the remaining light fluxes are parallel to the central light flux; the second lens 1004 is for superposing and focusing the remaining light fluxes and the central light flux from the second diffraction element 1003 on the end surfaces of the corresponding optical fibers. The above-described optical diffraction-based beam shaper can efficiently couple a beam into an optical fiber.
specifically, as shown in fig. 10, the laser beam passes through a collimator lens 1001 and becomes an elongated beam, which is split into 3 beams by a first diffraction element 1002: beam 1, beam 2 (central beam) and beam 3, beam 1 being deflected downwards and to the right; beam 2 is the central beam, maintaining a propagation direction parallel to the system optical axis; the light beam 3 is deflected upwards and to the left. The second diffraction element 1003 corrects the beam 1 and the beam 3 so that the beam 1 and the beam 3 are parallel to the central beam 2. The second lens 1004 overlaps the parallel light beam 1, light beam 2 and light beam 3 to form a square spot with relatively uniform linear size and divergence angle in both the fast axis and the slow axis, and focuses the square spot on the end face of the corresponding optical fiber. The above-described optical diffraction-based beam shaper can efficiently couple a beam into an optical fiber.
In the distributed laser radar system provided by the embodiment of the invention, the laser transmitters and the laser receivers are centralized in the optical transceiving components, the detection laser transmitted by the laser transmitters is transmitted to the distributed laser scanning components through the optical fibers, and the reflected light of the detection laser is also transmitted to the corresponding laser receivers through the optical fibers. The distributed laser radar system provided by the embodiment of the invention can fix the light receiving and transmitting component at any position of a laser radar carrier (such as an automobile and an aircraft), and the scanning direction and the field of view of the laser radar can meet different requirements by adjusting the number and the installation angle of the scanning components. Furthermore, each laser transmitter in the distributed laser radar system provided by the embodiment of the invention corresponds to one transmitting optical fiber, and each laser receiver corresponds to one receiving optical fiber, so that the equipment maintenance and repair cost can be reduced, and when a certain scanning component has a light path fault, only the laser transmitter and the laser receiver corresponding to the scanning component need to be overhauled; and if a certain laser transmitter or receiver breaks down, other detection light paths cannot be influenced. In addition, each laser transmitter in the distributed laser radar system provided by the embodiment of the invention corresponds to one transmitting optical fiber, so that different laser transmitters can be configured for different scanning components according to actual scanning requirements, for example, a laser transmitter with lower power is selected as a light source, thereby reducing the cost of the laser radar.
meanwhile, the scanning component of the distributed laser radar provided by the embodiment of the invention drives the multi-surface reflecting mirror to rotate through the single shaft, so that the scanning in two dimensions of a rotating plane and a rotating axis plane is realized.
In addition, according to the laser radar system provided by the embodiment of the invention, the optical fiber between the optical transceiver component and the scanning component is connected through the multi-core optical fiber connector, so that the optical transceiver component and the scanning component of the laser radar realize a modular structure, the optical transceiver component and the scanning component are assembled and disassembled in groups and are plug-and-play, and the maintenance cost of the laser radar is reduced.
The above embodiments and drawings are only illustrative of the technical solutions of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A distributed lidar system, comprising: the scanning device comprises an optical transceiving component and a plurality of scanning components, wherein the optical transceiving component comprises a plurality of optical transceiving groups, each optical transceiving group corresponds to one scanning component, and each optical transceiving group comprises a laser transmitter and a laser receiver;
the distributed laser radar system also comprises transmitting optical fibers in one-to-one correspondence with the laser transmitters and receiving optical fibers in one-to-one correspondence with the laser receivers;
The laser transmitter is used for transmitting laser;
One end of the emission optical fiber is coupled with the corresponding laser emitter, and the other end of the emission optical fiber is used as a light emergent end in the corresponding scanning component to emit detection laser;
One end of the receiving optical fiber is coupled with a corresponding laser receiver, and the other end of the receiving optical fiber is used as a light incidence end in a corresponding scanning component to receive reflected light of the detection laser;
The laser receiver is used for receiving the reflected light conducted by the receiving optical fiber.
2. the distributed lidar system of claim 1, wherein when the optical transceiver group comprises a plurality of laser transmitters and a plurality of laser receivers;
The laser transmitters correspond to the emission optical fibers one by one, one ends of the emission optical fibers are coupled with the corresponding laser transmitters respectively, the other ends of the emission optical fibers form an emission optical fiber array in the corresponding scanning component, and the end face of the emission optical fiber array is used as a light emergent end to emit detection laser;
The laser detection device comprises a plurality of laser receivers, a plurality of receiving optical fibers, a scanning component and a detection laser, wherein the laser receivers correspond to the receiving optical fibers one to one, one ends of the receiving optical fibers are respectively coupled with the corresponding laser receivers, the other ends of the receiving optical fibers form a receiving optical fiber array in the corresponding scanning component, and the end face of the receiving optical fiber array is used as a light incidence end to receive reflected light of the detection laser.
3. The distributed lidar system of claim 1, wherein the optical transceiver group comprises a laser transmitter and a laser receiver;
The laser emitter corresponds to one emitting optical fiber, one end of the emitting optical fiber is coupled with the corresponding laser emitter, and the other end of the emitting optical fiber is used as a light emergent end in the corresponding scanning component to emit detection laser;
The laser receiver corresponds to a receiving optical fiber, one end of the receiving optical fiber is coupled with the corresponding laser receiver, and the other end of the receiving optical fiber is used as a light incidence end in the corresponding scanning component to receive reflected light of the detection laser.
4. the distributed lidar system of any of claims 1-3, wherein the scanning component comprises a transmitting lens, a receiving lens, and a mirror assembly, the mirror assembly comprises a rotating shaft and a plurality of mirrors, a normal of each mirror is at a different angle with an axis of the rotating shaft, and the rotating shaft rotates the plurality of mirrors;
The emission lens is used for collimating the detection laser;
The reflector component is used for reflecting the laser collimated by the emitting lens to a detection area and reflecting the reflected light of the detection laser to the receiving lens;
The receiving lens is used for converging the received reflected light to the receiving optical fiber.
5. a distributed lidar system according to any of claims 1-3, wherein the transmitting optical fiber between each optical transceiver group and the corresponding scanning component is connected by a multi-fiber connector; the receiving optical fiber between each optical transceiver group and the corresponding scanning component is connected through a multi-core optical fiber connector.
6. A distributed lidar system according to any of claims 1-3, wherein the transmitting optical fiber and the receiving optical fiber between each optical transceiver group and the corresponding scan element are connected by a multi-fiber connector.
7. A distributed lidar system according to any of claims 1-3, wherein a beam shaper is disposed between each of the laser emitters and the corresponding transmitting fiber, the beam shaper being configured to couple laser light emitted by the laser emitter into the corresponding transmitting fiber.
8. The distributed lidar system of claim 7, wherein the beam shaper is a bi-cylindrical lens, wherein generatrices of two cylinders of the bi-cylindrical lens are orthogonal to each other.
9. The distributed lidar system of claim 7, wherein the beam shaper is an optical diffraction-based beam shaper comprising: a collimating lens, a first diffractive element and a second diffractive element;
the collimating lens is used for collimating the light beam emitted by the laser emitter in the fast axis direction to form a slender strip-shaped light beam;
The first diffraction element is used for dividing the slender strip-shaped light beam into a plurality of light beams, and the rest light beams except the central light beam are deflected to different spatial directions respectively;
And the second diffraction element is used for correcting the rest beams, so that the rest beams are overlapped with the central beam and are focused on the end face of the corresponding emission optical fiber.
10. the distributed lidar system of claim 7, wherein the beam shaper is an optical diffraction-based beam shaper comprising: a first lens, a first diffractive element, a second diffractive element, and a second lens;
the first lens is used for collimating the light beam emitted by the laser emitter in the fast axis direction to form an elongated strip-shaped light beam;
the first diffraction element is used for dividing the slender strip-shaped light beam into a plurality of light beams, and the rest light beams except the central light beam are deflected to different spatial directions respectively;
The second diffraction element is used for correcting the rest light beams to enable the rest light beams to be parallel to the central light beam;
The second lens is used for overlapping and focusing the rest beams from the second diffraction element and the central beam to the end face of the corresponding emission optical fiber.
11. A distributed lidar system according to any of claims 1-3, wherein a micro-lens is disposed between each of the laser receivers and the corresponding receiving fiber, the micro-lens being configured to focus the reflected light received by the receiving fiber to the corresponding laser receiver.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581400A (en) * | 2019-01-31 | 2019-04-05 | 无锡流深光电科技有限公司 | A kind of distribution type laser radar system and laser distance measurement method |
| CN111766587A (en) * | 2020-06-11 | 2020-10-13 | 苏州玖物互通智能科技有限公司 | Multi-line laser radar optical system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581400A (en) * | 2019-01-31 | 2019-04-05 | 无锡流深光电科技有限公司 | A kind of distribution type laser radar system and laser distance measurement method |
| CN109581400B (en) * | 2019-01-31 | 2024-09-20 | 宁波梅山保税港区真优成选股权投资中心(有限合伙) | Distributed laser radar system and laser ranging method |
| CN111766587A (en) * | 2020-06-11 | 2020-10-13 | 苏州玖物互通智能科技有限公司 | Multi-line laser radar optical system |
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