CN209746129U - Distributed laser radar system - Google Patents

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

A Distributed LiDAR System

technical field

The invention relates to the technical field of laser detection and ranging, in particular to a laser radar system.

Background technique

A laser detection and ranging (LiDAR) system is generally called a lidar system. The basic working principle of laser radar is that the laser transmitter emits laser light to the target object, and the receiver receives the emitted light of the target object. The laser radar calculates the distance from the laser radar to the target object according to the principle of laser ranging. Among them, a laser transmitter and a receiver form a laser ranging channel. When the laser continuously scans the target object, 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 imaging processing of the data.

The common three-dimensional laser radar is a mechanical rotary laser radar, which contains multiple pairs of laser transmitters and receivers. Each pair of laser transmitters and receivers is oriented to different spatial angle positions to form a fan coverage, and then uses a single-axis rotation mechanism to drive The above-mentioned multiple pairs of laser transmitters and receivers rotate as a whole to realize three-dimensional laser scanning.

The laser transmitter and receiver of each laser ranging channel of the mechanically rotating lidar need to be precisely calibrated to ensure accurate focusing, precise parallelism of the transmitting and receiving optical axes, and a small gap between adjacent laser ranging channels. However, since both the laser transmitter and the receiver rotate at high speed with the mechanical rotating lidar, the stability of the mechanical rotating lidar is low.

Contents of the invention

In view of this, an embodiment of the present invention provides a distributed laser radar system, including: an optical transceiver unit and a plurality of scanning components, the optical transceiver unit includes a plurality of optical transceiver groups, wherein each optical transceiver group corresponds to a scanning components, each of the above-mentioned optical transceiver groups includes a laser transmitter and a laser receiver; the distributed laser radar system also includes a one-to-one transmitting optical fiber corresponding to the above-mentioned laser transmitter, and a one-to-one receiving optical fiber corresponding to the above-mentioned laser receiver The above-mentioned laser transmitter is used to emit laser light; one end of the above-mentioned transmitting fiber is coupled with the corresponding laser transmitter, and the other end is used as the light-emitting end in the corresponding scanning component to emit the detection laser; one end of the above-mentioned receiving fiber is coupled with the corresponding laser receiver , the other end is used as the light incident end in the corresponding scanning component to receive the reflected light of the detection laser; the laser receiver is used to receive the reflected light guided by the receiving optical fiber.

In an optional embodiment of the present invention, when the above-mentioned optical transceiver group includes multiple laser transmitters and multiple laser receivers; the multiple laser transmitters are in one-to-one correspondence with multiple transmitting fibers, and the multiple transmitting fibers One end of each is respectively coupled with the corresponding laser transmitter, and the other ends of the above-mentioned multiple transmitting optical fibers form a transmitting optical fiber array in the corresponding scanning component, and the end face of the above-mentioned transmitting optical fiber array is used as the light output end to emit detection laser light; the above-mentioned multiple laser receivers One-to-one correspondence with a plurality of receiving fibers, one end of the plurality of receiving fibers is respectively coupled to the corresponding laser receiver, the other end of the plurality of receiving fibers forms a receiving fiber array in the corresponding scanning component, and the end face of the receiving fiber array Receive the reflected light of the probe laser as the light incident end.

In another optional embodiment of the present invention, when the above-mentioned optical transceiver group includes a laser transmitter and a laser receiver; the above-mentioned one laser transmitter corresponds to one emission fiber, and one end of the above-mentioned emission fiber is connected to the corresponding laser emission Coupler coupling, the other end of the above-mentioned emitting fiber is used as the light-emitting end in the corresponding scanning component to emit detection laser light; the above-mentioned one laser receiver corresponds to one receiving fiber, one end of the above-mentioned receiving fiber is coupled to the corresponding laser receiver, and the above-mentioned receiving fiber The other end of the corresponding scanning part is used as the light incident end to receive the reflected light of the detection laser.

Optionally, the above-mentioned scanning component includes a transmitting lens, a receiving lens and a reflector assembly, and the above-mentioned reflector assembly includes a rotating shaft and a plurality of reflecting mirrors, and the included angle between the normal line of each reflecting mirror and the axis of the above-mentioned rotating shaft is different , the above-mentioned rotating shaft drives the above-mentioned multiple mirrors to rotate; the above-mentioned emitting lens is used to collimate the detection laser light; the above-mentioned reflector assembly is used to reflect the laser light collimated by the above-mentioned emitting lens to the detection area, and is also used to The reflected light of the detection laser is reflected to the receiving lens; the receiving lens is used to converge 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 through a multi-core optical 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; or , the transmitting optical fiber and the receiving optical fiber between each optical transceiver group and the corresponding scanning component are connected through a multi-core optical fiber connector.

Optionally, there is a microlens between each laser receiver and the corresponding receiving optical fiber, and the microlens is used to converge the reflected light received by the receiving optical fiber to the corresponding laser receiver.

Optionally, there is a beam shaper between each laser emitter and the corresponding emitting fiber, and the beam shaper is used to couple the laser light emitted by the laser emitter into the corresponding emitting fiber.

As an optional solution, the above-mentioned beam shaper is a double cylindrical lens, and the generatrices of the two cylindrical surfaces of the above-mentioned double cylindrical lens are orthogonal to each other.

As another optional solution, the above-mentioned beam shaper is a beam shaper based on optical diffraction, including: a collimator lens, a first diffraction element and a second diffraction element; the above-mentioned collimator lens is used to convert the beam emitted by the above-mentioned laser transmitter Collimating in the direction of the fast axis to become a slender beam; the above-mentioned first diffraction element is used to divide the slender beam into several beams, and except the central beam, the remaining beams are respectively deflected to different spatial orientations; The second diffraction element is used to correct the remaining light beams, so that the remaining light beams overlap with the central light beam and focus on the corresponding end face of the emitting fiber.

As yet another optional solution, the above-mentioned beam shaper is a beam shaper based on optical diffraction, including: a first lens, a first diffraction element, a second diffraction element, and a second lens; the above-mentioned first lens is used to emit the above-mentioned laser The beam emitted by the device is collimated in the direction of the fast axis to become a slender beam; the above-mentioned first diffraction element is used to divide the slender beam into several beams, and except the central beam, the remaining beams are respectively deflected to Different spatial orientations; the above-mentioned second diffraction element is used to correct the above-mentioned remaining light beams, so that the above-mentioned remaining light beams are parallel to the above-mentioned central light beam; the above-mentioned second lens is used to combine the above-mentioned remaining light beams from the above-mentioned second diffraction element and The aforementioned central beams are overlapped and focused onto the end face of the corresponding launch fiber.

In the distributed laser radar system provided by the embodiment of the present invention, the laser transmitter and the laser receiver are concentrated in the optical transceiver component, and the detection laser emitted by the laser transmitter is sent to a plurality of distributed laser scanning components through an optical fiber to detect the laser The reflected light is also transmitted to the corresponding laser receiver through the optical fiber. The distributed laser radar system provided by the embodiment of the present invention can fix the optical transceiver components at any position of the laser radar carrier (such as automobiles, aircrafts), and the scanning direction and field of view of the laser radar can be adjusted by adjusting the number and installation angle of the scanning components. Meet different needs. Further, since each laser transmitter in the distributed laser radar system provided by the embodiment of the present invention corresponds to a transmitting optical fiber, and each laser receiver corresponds to a receiving optical fiber, equipment maintenance and repair costs can be reduced. When a certain scanning component When an optical path failure occurs, only the laser transmitter and receiver corresponding to the scanning part need to be repaired; and if a certain laser transmitter or receiver fails, it will not affect other detection optical paths. In addition, since each laser emitter in the distributed lidar system provided by the embodiment of the present invention corresponds to one emitting fiber, different laser emitters can be configured for different scanning components according to actual scanning requirements, such as selecting lower power A laser transmitter acts as a light source, thereby reducing the cost of lidar.

Description of drawings

In order to clearly illustrate the technical solutions provided by the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to these drawings without creative work.

FIG. 1 is an architecture diagram of a distributed laser radar system provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of optical transceiver components in a distributed laser radar system provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a distributed laser radar system provided by an embodiment of the present invention;

Fig. 4 is another structural schematic diagram of the distributed lidar system provided by the embodiment of the present invention;

Fig. 5 is another structural schematic diagram of the distributed laser radar system provided by the embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a reflector assembly in a distributed lidar system provided by an embodiment of the present invention;

FIG. 7 is a second structural schematic diagram of the reflector assembly in the distributed lidar system provided by the embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a double cylindrical lens provided by an embodiment of the present invention;

9 is a schematic structural diagram of a beam shaper based on optical diffraction provided by an embodiment of the present invention;

Fig. 10 is a schematic structural diagram of another beam shaper based on optical diffraction provided by an embodiment of the present invention.

Detailed ways

The technical solutions of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described below are some, not all, embodiments of the present invention. Based on the following embodiments, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

As shown in Figure 1, this embodiment provides a distributed laser radar system, including an optical transceiver unit 110 and a plurality of scanning units, such as M scanning units 120-1, 120-2, 120-3 shown in Figure 1 ... 120-M, the optical transceiver unit 110 and each scanning unit are connected through optical fibers 11, 12, 13 ... 1M. The optical transceiver unit 110 includes multiple optical transceiver groups, wherein each optical transceiver group corresponds to a scanning unit. As shown in Figure 2, the optical transceiver unit 110 includes M optical transceiver groups 201, 301...M01, and the above M optical transceiver groups correspond to the M scanning components 120-1, 120-2, 120- 3...120-M.

Each of the above-mentioned optical transceiver groups includes a laser transmitter and a laser receiver, and the laser transmitter is used to emit laser light. The above-mentioned distributed laser radar system also includes a transmitting optical fiber corresponding to the above-mentioned laser transmitter one-to-one, and a receiving optical fiber corresponding to the above-mentioned laser receiver one-to-one; one end of the above-mentioned transmitting optical fiber is coupled with the corresponding laser transmitter, and the other end is in the corresponding The scanning part is used as the light-emitting end to emit the detection laser; one end of the receiving fiber is coupled to the corresponding laser receiver, and the other end is used as the light-incident end in the corresponding scanning part to receive the reflected light of the detection laser. The above-mentioned laser receiver is used for receiving the reflected light transmitted by the above-mentioned receiving optical fiber. Specifically, the laser light emitted by the above-mentioned laser emitter is coupled into the emission fiber corresponding to the laser emitter, is transmitted to the corresponding scanning component through the emission fiber, and is emitted from one end of the above-mentioned emission fiber as a detection laser; the above-mentioned corresponding scanning component The receiving optical fiber in the receiver 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 conducted by the receiving optical fiber.

Optionally, the optical transceiver group may include multiple laser transmitters and multiple laser receivers, or may include one laser transmitter and one laser receiver. For example, each light emitting group shown in FIG. 2 includes multiple laser transmitters and multiple laser receivers. Specifically, the optical transceiver group 201 includes N ₁ laser transmitters 211-1, 211-2 ... 211-N ₁ , and correspondingly N ₁ laser receivers 212-1, 212-2 ... 212- N ₁ ; the optical transceiver group 301 includes N ₂ laser transmitters 311-1, 311-2... 311-N ₂ , and correspondingly N ₂ laser receivers 312-1, 312-2... 312- N ₂ ; the optical transceiver group M01 includes N _n laser transmitters M11-1, M11-2...M11-N _n , and correspondingly N ₂ laser receivers M12-1, M12-2...M12- N _n .

As shown in Figures 3 and 4, taking the optical transceiver group 201 in the optical transceiver unit 110 and the corresponding scanning unit 120-1 as an example, the laser transmitters 211-1, 211-2...211-N ₁ and the transmitting optical fiber 111-1, 111-2...111-N ₁ one-to-one correspondence; laser receiver 212-1, 212-2...212-N ₁ and receiving optical fiber 112-1, 112-2...112-N ₁ one One to one correspondence. One end of the above-mentioned N ₁ transmitting fibers 111-1, 111-2 ... 111-N ₁ is respectively coupled to the corresponding laser transmitter 211-1, 211-2 ... 211-N ₁ , and the other end is connected to the corresponding scanning component In 120-1, a launching fiber array 231 is formed, and the end face of the launching fiber array 231 is used as a light emitting end to emit detection laser light. One end of the above N ₁ receiving optical fibers 112-1, 112-2 ... 112-N ₁ is respectively coupled to the corresponding laser receiver 212-1, 212-2 ... 212-N ₁ , and the other end is connected to the corresponding scanning component 120-1 constitutes a receiving fiber array 232, and the end face of the receiving fiber array 232 serves as the light incident end to receive the reflected light of the detection laser.

As an optional embodiment, as shown in FIG. 3 , the sending optical fibers 111-1, 111-2...111-N1 between the optical transceiver group 201 and the corresponding scanning component 120-1 can pass through _a multi-core optical fiber connector 221 Connection: The receiving optical fibers 112 - 1 , 112 - 2 ... 112 -N ₁ between the optical transceiver group 201 and the corresponding scanning component 120 - 1 are connected through a multi-core optical fiber connector 222 .

As another optional embodiment, as shown in FIG. 4, the sending optical fibers 111-1, 111-2...111 _- N1 and receiving optical fibers 112-1, 112-2 ... 112-N ₁ are connected through a multi-core optical fiber connector 220 .

FIG. 6 shows an embodiment in which an optical transceiver group 601 in the optical transceiver unit 60 includes a laser transmitter 61 and a laser receiver 62 . The laser emitter 61 corresponds to the emitting fiber 610 , one end of the emitting fiber 610 is coupled to the corresponding laser emitter 61 , and the other end of the corresponding scanning component 70 is used as a light emitting end to emit detection laser light. The laser receiver 62 corresponds to the receiving optical fiber 620 , one end of the receiving optical fiber 620 is coupled to the corresponding laser receiver 62 , and the other end is used as the light incident end in the corresponding scanning component 70 to receive the reflected light of the detection laser.

Further, the scanning component in the above embodiment includes a transmitting lens, a receiving lens and a mirror assembly, wherein the mirror assembly includes a rotating shaft and a plurality of reflecting mirrors, and the angle between the normal of each reflecting mirror and the axis of the rotating shaft is The degrees are not the same. The above-mentioned rotating shaft drives the above-mentioned multiple mirrors to rotate, the above-mentioned emission lens collimates the above-mentioned detection laser light, and the above-mentioned reflection mirror assembly reflects the laser light collimated by the above-mentioned emission lens to the detection area, and reflects the reflected light of the detection laser light to the above-mentioned Receiving lens; the receiving lens converges the received reflected light to the receiving optical fiber.

As shown in FIG. 3 , FIG. 4 and FIG. 5 , the scanning components 120 - 1 and 70 in the embodiment of the present invention include a transmitting lens 241 , a receiving lens 242 and a mirror assembly 25 . The mirror assembly 25 includes a rotating shaft and a plurality of reflecting mirrors, the rotating shaft drives the plurality of reflecting mirrors to rotate, and the angle between the normal line of each reflecting mirror and the axis of the rotating shaft is different; the emitting lens 241 is used for The above-mentioned detection laser light is collimated; the mirror assembly 25 is used to reflect the laser light collimated by the above-mentioned emitting lens 241 to the detection area, and is also used to reflect the reflected light of the detection laser light to the receiving lens 242; the receiving lens 242 is used to The received reflected light is converged to the receiving optical fiber.

As a specific implementation, the emitting fiber array 231 may be a one-dimensional fiber array or a two-dimensional fiber array, and the end face of the emitting fiber array 231 is on the 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 face of the receiving fiber array 232 is on the focal plane of the receiving lens 242 .

As shown in FIG. 6 and FIG. 7 , taking three mirror assemblies 25 as an example, the structure of the mirror assembly 25 is introduced.

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 drives the mirrors 6A, 6B, and 6C to rotate. The included angles between the normal of each reflector and the axis of the rotating shaft are different. As shown in Figure 7, the axis of the rotating shaft 251 is X, the included angle between the mirror 6A and the axis X of the rotating shaft 251 is θ ₁ , the included angle between the reflecting mirror 6B and the axis X of the rotating shaft 251 is θ ₂ , the reflecting mirror The included angle between 6C and the axis X of the rotating shaft 251 is θ ₃ (not shown in the figure), and θ ₁ , θ ₂ and θ ₃ are different. In the specific implementation process, the rotation of the motor can be used to drive the rotation of the rotation shaft. The present invention does not limit the connection mode between the motor and the rotation shaft, and the connection mode between each mirror and the rotation shaft, so it is not shown in the figure, and those skilled in the art can Select the connection method according to actual needs.

The three reflectors of the reflector assembly 25 rotate under the drive of the motor, and enter the laser irradiation range one by one to reflect the laser light and change the propagation direction of the laser light. Specifically, as the rotation shaft 251 rotates, the reflection mirror 6A scans the reflected light of the laser in the vertical plane of the rotation axis X, and as the rotation shaft 251 continues to rotate, the reflection mirror 6B enters the laser irradiation range, because θ ₂ ≠ θ ₁ , therefore, in the direction parallel to the rotation axis X, the reflected light has a large angular shift, that is, the reflected light of the mirror 6B is also scanned in the plane of the rotation axis X; at the same time, because the laser is rotating Gradually sweeping in the vertical plane of the axis X is equivalent to generating laser scanning in both the plane and the vertical direction of the rotation axis X.

As an optional embodiment, there is a beam shaper between each laser emitter and the corresponding emitting fiber in the above embodiment, and the beam shaper is used to couple the laser light emitted by the laser emitter into the corresponding emitting fiber. As another optional embodiment, in the above embodiment, there is a microlens between each laser receiver and the corresponding receiving optical fiber, and the microlens is used to converge the reflected light received by the receiving optical fiber to the corresponding laser receiver.

Optionally, the above-mentioned beam shaper may be a bicylindrical lens as shown in FIG. The generatrices L2 of the surface B are perpendicular to each other.

The high-power pulsed laser diode commonly used in multi-line laser radar is the edge emitting semiconductor laser diode (EdgeEmitting Laser Diode), and its light source is the end face of the P/N junction (P-N Junction) of the chip, that is, the narrow junction between the two planes of the P/N junction. seam. The characteristics of this laser emitter are: parallel to the direction of the P/N junction plane, the linear size of the beam is large (for example, 50um to hundreds of um), and the divergence angle is small (for example, 10 degrees); perpendicular to the P/N junction In the direction of the plane, the linear size of the beam is small (such as 1um-10um), and the divergence angle is large (such as 45 degrees). The direction with large linear size and small divergence angle is called the slow axis (SlowAxis); the direction with small linear size and large divergence angle is called the fast axis (Fast Axis).

The bicylindrical lens shown in FIG. 8 used in this embodiment constitutes two independent optical systems for the fast axis and the slow axis of the laser beam, respectively. When the laser light emitted by the laser transmitter passes through the above-mentioned double cylindrical lens, the divergence angle of the fast axis decreases and the divergence angle of the slow axis increases, so that the divergence angles of the beam on the fast axis and the slow axis are balanced and close. Therefore, the bicylindrical lens used in this embodiment can shape the elliptical light spot with a large difference between the two directions of the fast axis and the slow axis into a circle or a square with a small difference between the two directions of the fast axis and the slow axis. The light spot enables the beam to be coupled into the fiber efficiently.

Optionally, the aforementioned beam shaper may also be a beam shaper based on optical diffraction. As an implementation manner, as shown in FIG. 9 , a beam shaper based on optical diffraction includes: a collimator lens 91 , a first diffraction element 92 and a second diffraction element 93 . The collimating lens 91 is used to collimate the light beam emitted by the laser emitter in the direction of the fast axis, and turn the light beam into an elongated light beam. As an optional implementation, the collimating lens may be a microcylindrical lens. The first diffraction element 92 is used to divide the above-mentioned elongated light beam into several beams, and except the center beam, the other beams are respectively deflected to different spatial orientations; the second diffraction element 93 is used to correct the above-mentioned remaining beams, so that The rest of the above-mentioned beams overlap with the central beam and are focused to the end face of the corresponding optical fiber.

Specifically, as shown in Figure 9, the laser beam becomes a slender beam after passing through the collimating lens 91, and the slender beam is divided into 3 beams by the first diffractive element 92: beam 1, beam 2 (central beam ) and beam 3, beam 1 is deflected downward and to the right; beam 2 is the central beam, maintaining a propagation direction parallel to the optical axis of the system; beam 3 is deflected upward and to the left. The second diffraction element 93 corrects the light beam 1 and the light beam 3, so that the above-mentioned light beam 1 and the light beam 3 overlap with the central light beam 2 to form a square spot with relatively balanced linear dimensions and divergence angles in the two directions of the fast axis and the slow axis, and Focus on the end face of the corresponding fiber. The above-mentioned optical diffraction-based beam shaper can efficiently couple the beam into the optical fiber.

As another implementation manner, as shown in FIG. 10 , another beam shaper based on optical diffraction includes: a first lens 1001 , a first diffraction element 1002 , a second diffraction element 1003 and a second lens 1004 . The first lens 1001 is used to collimate the light beam emitted by the laser transmitter in the direction of the fast axis to become a slender beam; the first diffraction element 1002 is used to divide the above-mentioned slender beam into several beams, except for the central beam In addition, the remaining light beams are respectively deflected to different spatial orientations; the second diffraction element 1003 is used to correct the above-mentioned remaining light beams, so that the above-mentioned remaining light beams are parallel to the above-mentioned central light beam; The above-mentioned remaining light beams of the diffraction element 1003 overlap with the above-mentioned central light beam and focus onto the end face of the corresponding optical fiber. The above-mentioned optical diffraction-based beam shaper can efficiently couple the beam into the optical fiber.

Specifically, as shown in Figure 10, the laser beam becomes a slender beam after passing through the collimating lens 1001, and the slender beam is divided into 3 beams by the first diffraction element 1002: beam 1, beam 2 (central beam ) and beam 3, beam 1 is deflected downward and to the right; beam 2 is the central beam, maintaining a propagation direction parallel to the optical axis of the system; beam 3 is deflected upward 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 beams 1, 2 and 3 to form a square spot with relatively balanced linear dimensions and divergence angles in both directions of the fast axis and the slow axis, and focuses it on the end face of the corresponding optical fiber. The above-mentioned optical diffraction-based beam shaper can efficiently couple the beam into the optical fiber.

In the distributed laser radar system provided by the embodiment of the present invention, the laser transmitter and the laser receiver are concentrated in the optical transceiver component, and the detection laser emitted by the laser transmitter is sent to a plurality of distributed laser scanning components through an optical fiber to detect the laser The reflected light is also transmitted to the corresponding laser receiver through the optical fiber. The distributed laser radar system provided by the embodiment of the present invention can fix the optical transceiver components at any position of the laser radar carrier (such as automobiles, aircrafts), and the scanning direction and field of view of the laser radar can be adjusted by adjusting the number and installation angle of the scanning components. Meet different needs. Further, since each laser transmitter in the distributed laser radar system provided by the embodiment of the present invention corresponds to a transmitting optical fiber, and each laser receiver corresponds to a receiving optical fiber, equipment maintenance and repair costs can be reduced. When a certain scanning component When an optical path failure occurs, only the laser transmitter and receiver corresponding to the scanning part need to be repaired; and if a certain laser transmitter or receiver fails, it will not affect other detection optical paths. In addition, since each laser emitter in the distributed lidar system provided by the embodiment of the present invention corresponds to one emitting fiber, different laser emitters can be configured for different scanning components according to actual scanning requirements, such as selecting lower power A laser transmitter acts as a light source, thereby reducing the cost of lidar.

At the same time, the scanning component of the distributed lidar provided by the embodiment of the present invention realizes scanning in two dimensions of the rotation plane and the rotation axis plane by driving the polygon mirror to rotate on a single axis.

In addition, in the laser radar system provided by the embodiment of the present invention, since the optical fiber between the optical transceiver component and the scanning component is connected by a multi-core optical fiber connector, the optical transceiver component and the scanning component of the laser radar realize a modular structure, thereby realizing optical transceiver The group disassembly and plug-and-play of parts and scanning parts reduces the maintenance cost of LiDAR.

The above embodiments and drawings are only exemplary descriptions of the technical solutions of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (11)

1. A distributed laser radar system, characterized in that it comprises: an optical transceiver unit and a plurality of scanning units, wherein a plurality of optical transceiver groups are included in the optical transceiver unit, wherein each optical transceiver group corresponds to a scanning unit, Each optical transceiver group includes a laser transmitter and a laser receiver; The distributed laser radar system also includes a transmitting optical fiber corresponding to the laser transmitter one-to-one, and a receiving optical fiber corresponding to the laser receiver one-to-one; The laser transmitter is used to emit laser light; One end of the emitting fiber is coupled to the corresponding laser transmitter, and the other end is used as the light output end in the corresponding scanning component to emit the detection laser; One end of the receiving optical fiber is coupled to the corresponding laser receiver, and the other end is used as the light incident end in the corresponding scanning component to receive the reflected light of the detection laser; The laser receiver is used for receiving the reflected light guided by the receiving optical fiber. 2. The distributed laser radar system according to claim 1, wherein when the optical transceiver group includes a plurality of laser transmitters and a plurality of laser receivers; The plurality of laser emitters correspond to the plurality of emitting fibers one by one, one end of the plurality of emitting fibers is respectively coupled to the corresponding laser emitter, and the other end of the plurality of emitting fibers is formed in the corresponding scanning component to emit An optical fiber array, the end face of the emitting optical fiber array is used as a light emitting end to emit a detection laser; The multiple laser receivers are in one-to-one correspondence with multiple receiving optical fibers, one end of the multiple receiving optical fibers is respectively coupled to the corresponding laser receiver, and the other end of the multiple receiving optical fibers forms a receiving optical fiber in the corresponding scanning component. The optical fiber array, the end face of the receiving optical fiber array is used as the light incident end to receive the reflected light of the detection laser. 3. The distributed laser radar system according to claim 1, wherein a laser transmitter and a laser receiver are included in the optical transceiver group; The one laser emitter corresponds to one emitting fiber, one end of the emitting fiber is coupled to the corresponding laser emitter, and the other end of the emitting fiber is used as the light emitting end in the corresponding scanning component to emit the detection laser; The one laser receiver corresponds to a receiving optical fiber, one end of the receiving optical fiber is coupled to the corresponding laser receiver, and the other end of the receiving optical fiber is used as the light incident end in the corresponding scanning component to receive the reflected light of the detection laser. 4. The distributed lidar system according to any one of claims 1-3, wherein the scanning component includes a transmitting lens, a receiving lens and a mirror assembly, and the mirror assembly includes a rotating shaft and a plurality of reflectors, the included angles between the normal of each reflector and the axis of the rotating shaft are different, and the rotating shaft drives the plurality of reflectors to rotate; The emitting lens is used to collimate the detection laser light; The reflector assembly is used to reflect the laser light collimated by the transmitting lens to the detection area, and is also used to reflect the reflected light of the detection laser light to the receiving lens; The receiving lens is used to converge the received reflected light to the receiving optical fiber. 5. The distributed laser radar system according to any one of claims 1-3, wherein the sending 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 the sending and receiving group and the corresponding scanning component is connected through a multi-core optical fiber connector. 6. The distributed laser radar system according to any one of claims 1-3, characterized in that, the transmitting optical fiber and receiving optical fiber between each optical transceiver group and the corresponding scanning component are connected by a multi-core optical fiber connector. 7. The distributed laser radar system according to any one of claims 1-3, wherein a beam shaper is arranged between each laser transmitter and the corresponding emission fiber, and the beam shaper is used to convert The laser emitted by the laser emitter is coupled into the corresponding emitting optical fiber. 8 . The distributed lidar system according to claim 7 , wherein the beam shaper is a double cylindrical lens, and the generatrices of the two cylindrical surfaces of the double cylindrical lens are orthogonal to each other. 9. The distributed lidar system according to claim 7, wherein the beam shaper is a beam shaper based on optical diffraction, comprising: a collimator lens, a first diffraction element and a second diffraction element; The collimating lens is used to collimate the light beam emitted by the laser emitter in the direction of the fast axis to become an elongated light beam; The first diffraction element is used to divide the elongated light beam into several light beams, except for the central light beam, the other light beams are respectively deflected to different spatial orientations; The second diffraction element is used to correct the remaining light beams so that the remaining light beams overlap with the central light beam and focus on the corresponding end face of the emitting fiber. 10. The distributed lidar system according to claim 7, wherein the beam shaper is a beam shaper based on optical diffraction, comprising: a first lens, a first diffraction element, a second diffraction element and a first diffraction element two lenses; The first lens is used to collimate the light beam emitted by the laser emitter in the direction of the fast axis into a slender beam; The first diffraction element is used to divide the elongated light beam into several light beams, except for the central light beam, the other light beams are respectively deflected to different spatial orientations; The second diffraction element is used to correct the remaining light beams so that the remaining light beams are parallel to the central light beam; The second lens is configured to overlap and focus the remaining light beams from the second diffractive element and the central light beam to an end face of a corresponding emitting fiber. 11. The distributed laser radar system according to any one of claims 1-3, wherein there is a microlens between each laser receiver and the corresponding receiving optical fiber, and the microlens is used to convert the The reflected light received by the receiving optical fiber is converged to the corresponding laser receiver.