CN210123470U - Laser scanning radar - Google Patents
Laser scanning radar Download PDFInfo
- Publication number
- CN210123470U CN210123470U CN201822222939.9U CN201822222939U CN210123470U CN 210123470 U CN210123470 U CN 210123470U CN 201822222939 U CN201822222939 U CN 201822222939U CN 210123470 U CN210123470 U CN 210123470U
- Authority
- CN
- China
- Prior art keywords
- laser
- scanning
- mirror
- spectroscope
- micro
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 claims description 10
- 238000002310 reflectometry Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model provides a laser scanning radar, include: the device comprises a laser emitting device, a spectroscope, a laser receiving device, a control device and a scanning micro mirror; the laser emitting device, the spectroscope and the scanning micro-mirror are sequentially arranged coaxially in a light path, and the laser emitting device, the laser receiving device and the scanning micro-mirror are respectively connected with the control device; the control device drives the laser emission device and the scanning micro-mirror, and the scanning micro-mirror performs two-dimensional scanning on the instantaneous field of view; the spectroscope transmits laser emitted by the laser emitting device and reflects a laser echo reflected by the scanning micro-mirror, and the laser receiving device is arranged on a reflection light path of the spectroscope. Through the utility model provides a laser scanning radar, transmission visual field and the coaxial scanning of receipt visual field, receiving module's instantaneous visual field is less, and the background light noise of introducing is also very little to SNR and detection distance have been improved.
Description
Technical Field
The utility model relates to a laser radar field, more specifically say, relate to a laser scanning radar.
Background
The solid-state scanning technology based on the MEMS scanning micromirror enables miniaturization, cost reduction, and power consumption reduction of the laser radar.
In the prior art, when the MEMS scanning micromirror is used for scanning, a one-dimensional MEMS micromirror is usually used for scanning line laser or two-dimensional MEMS micromirror scanning point laser to scan a field of view, and an array detector is used for covering the whole scanning field of view, so background light noise of the whole field of view enters the detector, the signal-to-noise ratio is low, and the detection distance is short.
SUMMERY OF THE UTILITY MODEL
For solving the nearer problem of detection distance, the utility model provides a laser scanning radar.
In order to achieve the above object, the utility model provides a following technical scheme:
a laser scanning radar, comprising:
the device comprises a laser emitting device, a spectroscope, a laser receiving device, a control device and a scanning micro mirror;
the laser emitting device, the spectroscope and the scanning micro-mirror are sequentially arranged coaxially with a light path, and the laser emitting device, the laser receiving device and the scanning micro-mirror are respectively connected with the control device;
the control device drives the laser emission device and the scanning micro-mirror, and the scanning micro-mirror performs two-dimensional scanning on the instantaneous field of view;
the spectroscope transmits the laser emitted by the laser emitting device and reflects the laser echo reflected by the scanning micro-mirror, and the laser receiving device is arranged on a reflection light path of the spectroscope.
Preferably, a quarter wave plate is further included; the quarter wave plate is arranged between the spectroscope and the scanning micro mirror and is arranged with the spectroscope and the scanning micro mirror in a coaxial light path.
Preferably, the method comprises the following steps: the laser emitting devices, the spectroscopes and the laser receiving devices are respectively provided with a plurality of numbers;
and the laser transmitting device, the spectroscope and the laser receiving device form a group of transceiving devices.
Preferably, the method comprises the following steps: and the included angle between the laser emission directions of the adjacent laser emission devices is a preset multiple of the maximum deflection angle of the scanning micro mirror.
Preferably, the method comprises the following steps: the preset multiple is two times.
Preferably, the laser emitting apparatus includes:
the device comprises a laser emission module and an emission lens positioned on an emission light path of the laser emission module;
and the emission lens collimates the laser emitted by the laser emission module and outputs the laser.
Preferably, the laser light receiving device includes:
a receiving lens and a detector;
the receiving lens receives the laser echo reflected by the beam splitter and focuses the laser echo on a photosensitive surface of the detector;
the detector converts the laser echo into an electric signal, generates a stop signal and amplitude information according to the electric signal, and sends the stop signal and the amplitude information to the control device; the amplitude information represents the reflectivity of the measured target.
Preferably, the control device includes:
a device control unit and a micromirror drive unit; the equipment control unit is connected with the micromirror drive unit;
the equipment control unit sends a pulse control signal to the laser emission module so that the laser emission module outputs pulses according to the pulse control signal;
the equipment control unit transmits a micromirror driving signal to the micromirror driving unit so that the micromirror driving unit controls the scanning micromirror to perform two-dimensional scanning, receives the stop signal and the amplitude information sent by the detector, and determines a measurement result according to the stop signal and the amplitude information.
Preferably, the scanning micro-mirror comprises a two-dimensional MEMS micro-mirror.
Preferably, the detector comprises a single point detector.
According to the above technical scheme, the utility model provides a laser scanning radar, laser emission device the spectroscope with scanning micro mirror is successively coaxial light path setting in proper order. Through the utility model provides a laser scanning radar, transmission visual field and the coaxial scanning of receipt visual field, receiving module's instantaneous visual field is less, and the background light noise of introducing is also very little to SNR and detection distance have been improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser scanning radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another laser scanning radar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another laser scanning radar according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model provides a laser scanning radar, referring to fig. 1, laser scanning radar can include:
a laser emitting device 101, a spectroscope 102, a laser receiving device 105, a control device 104 and a scanning micro mirror 103;
the laser emitting device 101, the spectroscope 102 and the scanning micro-mirror 103 are sequentially arranged on a coaxial light path, and the laser emitting device 101, the laser receiving device 105 and the scanning micro-mirror 103 are respectively connected with the control device 104;
the control device 104 drives the laser emitting device 101 and the scanning micro-mirror 103, and the scanning micro-mirror 103 performs two-dimensional scanning on the instantaneous field of view;
the beam splitter 102 transmits the laser emitted by the laser emitting device 101 and reflects the laser echo reflected by the scanning micro-mirror 103, and the laser receiving device 105 is disposed on the reflected light path of the beam splitter 102.
Each device in this embodiment is powered by a power management module 107 in the laser scanning radar. The beam splitter 102 in this embodiment may be a polarization beam splitter prism. Preferably, on the basis of the present embodiment, the scanning micro mirror 103 comprises a two-dimensional MEMS micro mirror.
Optionally, on the basis of this embodiment, the laser emitting device 101 includes:
a laser emission module 1011 and an emission lens 1012 located on an emission optical path of the laser emission module 1011;
the emission lens 1012 collimates the laser emitted by the laser emission module 1011 and outputs the laser.
Optionally, on the basis of this embodiment, the laser receiving apparatus 105 includes:
a receiving lens 1052 and a detector 1051;
the receiving lens 1052 receives the laser echo reflected by the beam splitter 102 and focuses the laser echo on the photosensitive surface of the detector 1051;
the detector 1051 converts the laser echo into an electrical signal, generates a stop signal and amplitude information according to the electrical signal, and sends the stop signal and the amplitude information to the control device 104; the amplitude information characterizes the magnitude of the reflectivity of the target under test 106.
Specifically, referring to fig. 1, the emitting lens 1012 is used to couple a laser emitting module 1011, such as a laser. The emitted laser light is shaped and a receiving lens 1052 is used to focus the received laser light echo onto a detector 1051. The transmit and receive fields of view are matched. The laser emission and the laser reception are arranged by adopting a coaxial light path, a two-dimensional MEMS micro-mirror is utilized to carry out two-dimensional scanning on the instantaneous view field, and a receiving light path and an emitting light path are separated by a beam splitter 102.
Optionally, on the basis of this embodiment, the control device includes:
a device control unit 1041 and a micromirror driving unit 1042; the device control unit 1041 is connected to the micromirror driving unit 1042;
the device control unit 1041 sends a pulse control signal to the laser emission module 1011, so that the laser emission module 1011 performs pulse output according to the pulse control signal;
the device control unit 1041 transmits a micromirror driving signal to the micromirror driving unit 1042, so that the micromirror driving unit 1042 controls the scanning micromirror 103 to perform two-dimensional scanning, receives the stop signal and the amplitude information sent by the detector 1051, and determines a measurement result according to the stop signal and the amplitude information.
Specifically, the device control unit 1041, which may be a timing control and measurement module, for example, sends out a pulse control signal with a repetition frequency k, such as a START pulse signal, and the laser emission module 1011 sends out a narrow laser pulse with a repetition frequency k according to the received START pulse signal. The laser can be a semiconductor laser or a fiber laser.
The laser output from the laser is shaped, e.g., collimated, by a transmitting lens 1012 to output a beam with a small divergence angle, typically on the order of milliradians. A part of the laser light is reflected by the two-dimensional MEMS micro-mirror to the target 106 after passing through the beam splitter 102. The size of the collimated laser pulse after shaping is matched with that of the two-dimensional MEMS micro-mirror, so that all laser within the scanning angle of the whole two-dimensional MEMS micro-mirror can be reflected by the two-dimensional MEMS micro-mirror.
The micromirror driving signal of the two-dimensional MEMS micromirror is also sent by the timing control and measurement module, and generates the driving signal required by the MEMS micromirror through the micromirror driving unit 1042.
The two-dimensional MEMS micro-mirror is driven by the driving signal to perform two-dimensional scanning. The scanning mode can adopt a progressive scanning mode and can also adopt other scanning modes according to the requirement.
The collimated laser pulse is reflected by the two-dimensional MEMS micro-mirror and then strikes the target 106, part of the scattered laser echo returns along the original path, is reflected by the two-dimensional MEMS micro-mirror and then reflected by the beam splitter 102, and part of the laser echo is focused on the photosensitive surface of the detector 1051 through the receiving lens 1052. The detector 1051 may be a single point detector 1051.
The single-point detector 1051 converts the received laser echo into an electrical signal, and generates a STOP signal and amplitude information after time discrimination. The amplitude information characterizes the magnitude of the reflectivity of the target under test 106. The time sequence control and measurement module calculates the distance from the target 106 to the laser scanning radar by using the flight time, namely the time difference between the STOP signal receiving and the START pulse signal transmitting according to the current START pulse signal and the STOP signal, and the specific calculation process is as follows:
distance is time of flight at speed of light/2.
And converting the amplitude information into reflectivity, and obtaining the corresponding relation between the amplitude and the reflectivity by a calibration method. And recording the deflection angle in the current micromirror driving signal, namely completing one measurement and generating a measurement point comprising a distance, a vertical deflection angle, a horizontal deflection angle and a reflectivity.
And the time sequence control and measurement module drives the two-dimensional MEMS micro-mirror to deflect to the next position, the processes are continuously repeated, and after the two-dimensional MEMS micro-mirror finishes scanning in the vertical and horizontal directions, one-frame scanning is finished.
The scanning field angle of the whole system is determined by the deflection angle of two directions of the two-dimensional MEMS micro-mirror. And setting the maximum deflection angles of the two-dimensional MEMS micro-mirror in the horizontal and vertical directions as thetax and thetay, and setting the field angles of the laser scanning radar in the horizontal and vertical directions as 2 thetax and 2 thetay.
The horizontal angular resolution and the vertical angular resolution of the system are determined by the laser pulse repetition frequency k and the scanning beam of the two-dimensional MEMS micro-mirror in the horizontal and vertical directions. And setting the scanning line number (pixel point) of the two-dimensional MEMS micro-mirror in the horizontal and vertical directions as Nx and Ny respectively, and then setting the angular resolution of the laser scanning radar in the horizontal and vertical directions as follows: 2 theta x/Nx, 2 theta y/Ny. Nx and Ny satisfy Nx × Ny ═ k/f, where f is the frame rate of the laser radar. The parameters are determined by comprehensively considering the requirements on the viewing angle and the resolution and the device parameters of the laser and the two-dimensional MEMS micro-mirror.
In the embodiment of the utility model provides an in, only use single laser emission module 1011 and single detector 1051 can realize the two-dimensional scanning, laser emission device 101 spectroscope 102 scanning micro mirror 103 is coaxial light path setting in proper order. Through promptly the utility model provides a laser scanning radar, transmission visual field and the coaxial scanning of receipt visual field, receiving module's instantaneous visual field is less, and the background light noise of introducing is also very little to SNR and detection distance have been improved. And because only a single detector 1051 is used, the device has the advantages of simple structure and low cost.
Optionally, referring to fig. 2, on the basis of any of the above embodiments, a quarter-wave plate 108 is further included; the quarter wave plate 108 is disposed between the beam splitter 102 and the scanning micro mirror 103 and is disposed coaxially with the beam splitter 102 and the scanning micro mirror 103.
Specifically, the laser emitted by the laser emitting module 1011 is horizontally polarized light, which is shaped by the emitting lens 1012 and then passes through the beam splitter 102, and then is converted into left-handed circularly polarized light by the quarter wave plate 108. The laser echo reflected by the measured target 106 is right circularly polarized light, which is converted into vertical polarized light after passing through the quarter-wave plate 108 again, and the vertical polarized light is totally reflected by the beam splitter 102 and focused on the photosensitive surface of the detector 1051 through the receiving lens 1052.
In this embodiment, compared with the previous embodiment, the optical energy loss caused by the beam splitter 102 can be reduced, and the optical energy utilization rate can be improved, thereby further increasing the measurement distance of the laser scanning radar.
Optionally, on the basis of any of the above embodiments, the number of the laser emitting devices 101, the beam splitter 102 and the laser receiving device 105 may be multiple respectively; the laser emitting device 101, the beam splitter 102 and the laser receiving device 105 form a group of transceiver, and an included angle between the laser emitting directions of the adjacent laser emitting devices 101 is a preset multiple of the maximum deflection angle of the scanning micro mirror 103. Preferably, the preset multiple is two times.
Specifically, referring to fig. 2 and 3, each transceiver module includes a laser transmitter 101, a beam splitter 102, a laser receiver 105, and a quarter-wave plate 108, in this embodiment, the number of the transceiver modules is not limited, and may be any value greater than two, and in fig. 3, 3 transceiver modules are illustrated. The three transceiving modules are respectively a transceiving module 1, a transceiving module 2 and a transceiving module 3, and the scanning view fields of the three transceiving modules are respectively a scanning view field 1, a scanning view field 2 and a scanning view field 3.
Each pair of laser emitting device 101, spectroscope 102 and laser receiving device 105 adopts coaxial light path arrangement, the emitting view field is matched with the receiving view field, and the receiving light path and the emitting light path are separated by the spectroscope 102;
the included angle between the laser emission directions of the adjacent laser emission devices 101 is 2 times of the maximum deflection angle of the scanning micro-mirror 103, and the two-dimensional MEMS micro-mirror is used for carrying out two-dimensional scanning on the instantaneous field of view, so that the scanning field of view of two adjacent pairs of lasers can be spliced, and the field angle of the dimensional MEMS micro-mirror is further enlarged.
In this embodiment, the scanning field of view of the two-dimensional MEMS micro-mirror is enlarged by providing a plurality of transceiver devices.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A laser scanning radar, comprising:
the device comprises a laser emitting device, a spectroscope, a laser receiving device, a control device and a scanning micro mirror;
the laser emitting device, the spectroscope and the scanning micro-mirror are sequentially arranged coaxially with a light path, and the laser emitting device, the laser receiving device and the scanning micro-mirror are respectively connected with the control device;
the control device drives the laser emission device and the scanning micro-mirror, and the scanning micro-mirror performs two-dimensional scanning on the instantaneous field of view;
the spectroscope transmits the laser emitted by the laser emitting device and reflects the laser echo reflected by the scanning micro-mirror, and the laser receiving device is arranged on a reflection light path of the spectroscope.
2. The lidar of claim 1, further comprising a quarter wave plate; the quarter wave plate is arranged between the spectroscope and the scanning micro mirror and is arranged with the spectroscope and the scanning micro mirror in a coaxial light path.
3. Laser scanning radar according to claim 1, characterized in that it comprises: the laser emitting devices, the spectroscopes and the laser receiving devices are respectively provided with a plurality of numbers;
and the laser transmitting device, the spectroscope and the laser receiving device form a group of transceiving devices.
4. A lidar according to claim 3, comprising: and the included angle between the laser emission directions of the adjacent laser emission devices is a preset multiple of the maximum deflection angle of the scanning micro mirror.
5. Laser scanning radar according to claim 4, characterized in that it comprises: the preset multiple is two times.
6. The lidar of claim 1, wherein the laser emitting device comprises:
the device comprises a laser emission module and an emission lens positioned on an emission light path of the laser emission module;
and the emission lens collimates the laser emitted by the laser emission module and outputs the laser.
7. The lidar of claim 6, wherein the laser receiving device comprises:
a receiving lens and a detector;
the receiving lens receives the laser echo reflected by the beam splitter and focuses the laser echo on a photosensitive surface of the detector;
the detector converts the laser echo into an electric signal, generates a stop signal and amplitude information according to the electric signal, and sends the stop signal and the amplitude information to the control device; the amplitude information represents the reflectivity of the measured target.
8. Laser scanning radar according to claim 7, characterized in that the control means comprise:
a device control unit and a micromirror drive unit; the equipment control unit is connected with the micromirror drive unit;
the equipment control unit sends a pulse control signal to the laser emission module so that the laser emission module outputs pulses according to the pulse control signal;
the equipment control unit transmits a micromirror driving signal to the micromirror driving unit so that the micromirror driving unit controls the scanning micromirror to perform two-dimensional scanning, receives the stop signal and the amplitude information sent by the detector, and determines a measurement result according to the stop signal and the amplitude information.
9. The lidar of claim 1, wherein the scanning micromirror comprises a two-dimensional MEMS micromirror.
10. The lidar of claim 7, wherein the detector comprises a single point detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822222939.9U CN210123470U (en) | 2018-12-27 | 2018-12-27 | Laser scanning radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822222939.9U CN210123470U (en) | 2018-12-27 | 2018-12-27 | Laser scanning radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210123470U true CN210123470U (en) | 2020-03-03 |
Family
ID=69633112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822222939.9U Active CN210123470U (en) | 2018-12-27 | 2018-12-27 | Laser scanning radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210123470U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113227827A (en) * | 2020-04-03 | 2021-08-06 | 深圳市速腾聚创科技有限公司 | Laser radar and autopilot device |
| WO2024045884A1 (en) * | 2022-08-31 | 2024-03-07 | 华为技术有限公司 | Laser radar, electronic device and vehicle |
-
2018
- 2018-12-27 CN CN201822222939.9U patent/CN210123470U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113227827A (en) * | 2020-04-03 | 2021-08-06 | 深圳市速腾聚创科技有限公司 | Laser radar and autopilot device |
| WO2021196193A1 (en) * | 2020-04-03 | 2021-10-07 | 深圳市速腾聚创科技有限公司 | Lidar and self-driving device |
| WO2024045884A1 (en) * | 2022-08-31 | 2024-03-07 | 华为技术有限公司 | Laser radar, electronic device and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109709572B (en) | Semi-coaxial light path receiving laser radar system | |
| CN110488247B (en) | Two-dimensional MEMS scanning galvanometer laser radar system | |
| US5200606A (en) | Laser radar scanning system | |
| US20190257924A1 (en) | Receive path for lidar system | |
| US5224109A (en) | Laser radar transceiver | |
| CN107643516A (en) | A kind of 3-D scanning laser radar based on MEMS micromirror | |
| EP3430428A1 (en) | Integrated illumination and detection for lidar based 3-d imaging | |
| US20170261612A1 (en) | Optical distance measuring system and light ranging method | |
| JP2018520346A (en) | Beat signal bandwidth compression method, apparatus and application | |
| CN113841062B (en) | LIDAR system with mode field expander | |
| CN108646230B (en) | Hybrid Doppler laser radar and use method thereof | |
| CN210123470U (en) | Laser scanning radar | |
| CN112698307B (en) | Single photon imaging radar system | |
| CN207318708U (en) | A kind of 3-D scanning laser radar based on MEMS micromirror | |
| CN109521438A (en) | A kind of multi-beam photon counting laser imaging method | |
| CN113296079B (en) | Remote photoelectric detection system | |
| CN109085600B (en) | MEMS scanning laser radar and scanning method | |
| WO2024093981A1 (en) | Multi-channel laser radar | |
| KR101255816B1 (en) | Device and method for optically scanning three dimensional object | |
| CN112346068A (en) | Device and method for improving angular resolution of laser radar | |
| CN113721220A (en) | Method for realizing two-dimensional optical scanning by single-degree-of-freedom rotation | |
| CN217332861U (en) | Radar system and vehicle | |
| RU2528109C1 (en) | Pulsed laser location system | |
| WO2022116852A1 (en) | Detection device, control method and control device therefor, laser radar system, and terminal | |
| US11579258B1 (en) | Solid state pulse steering in lidar systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hirain Technologies Co.,Inc. Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |
|
| CP03 | Change of name, title or address |