CN210534329U

CN210534329U - Complementary light path system in visual field, laser radar, intelligent car or unmanned aerial vehicle

Info

Publication number: CN210534329U
Application number: CN201921192540.9U
Authority: CN
Inventors: 张珂殊
Original assignee: Beike Tianhui Hefei Laser Technology Co Ltd
Current assignee: Beike Tianhui Hefei Laser Technology Co Ltd
Priority date: 2019-07-26
Filing date: 2019-07-26
Publication date: 2020-05-15
Anticipated expiration: 2029-07-26

Abstract

The utility model discloses a complementary light path system in visual field, laser radar, intelligent car or unmanned aerial vehicle. The optical path system includes: the optical modules rotate around a rotating shaft and respectively form corresponding scanning visual fields; the multiple scan fields of view overlap or abut each other. The utility model provides a complementary optical path system in visual field realizes total great visual field through the mode that carries out the visual field concatenation with a plurality of optical module, has reduced every independent optical module's visual field simultaneously, and then has improved every independent optical module's effective bore for every optical module's optical signal's intensity can strengthen.

Description

Complementary light path system in visual field, laser radar, intelligent car or unmanned aerial vehicle

Technical Field

The utility model relates to an optical system design field especially relates to a complementary light path system in visual field, laser radar, intelligent car or unmanned aerial vehicle.

Background

In the prior art optical path system, for a required field of view, it is usually realized by using a single optical module, that is, only a single optical module with a required field angle is directly selected to constitute the optical path system. However, the field of view of an optical module, and in particular an optical lens set, is inversely proportional to the effective aperture.

That is, the larger the field of view, the smaller the effective aperture, and the smaller the effective aperture, meaning the smaller the corresponding received energy.

Therefore, in the optical path system of the prior art, the larger the field of view, the smaller the received energy, which will seriously affect the optical signal strength of the optical path system, and thus the overall efficiency of the optical path system.

Therefore, how to ensure the effective aperture adopted on the premise of ensuring the field of view, so as to improve the optical signal intensity of the optical path system, becomes a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

The utility model provides a technical problem lie in, provide a complementary light path system in visual field, under the prerequisite of guaranteeing the visual field, provide great effective bore.

The utility model discloses a complementary optical path system in visual field, this optical path system includes:

the optical modules rotate around a rotating shaft and respectively form corresponding scanning visual fields;

the multiple scan fields of view overlap or abut each other.

The plurality of optical modules are fixed in position relative to each other.

The relative positions of the optical modules are not fixed, and the optical modules rotate relative to the rotating shaft at different speeds.

The plurality of optical modules are active optical modules, including a transmit optical sub-module and a receive optical sub-module.

The optical modules are passive optical modules.

The plurality of optical modules includes an active optical module and a passive optical module.

The total scan field of view of the plurality of optical modules forms a hemisphere or a global or oblong body.

The plurality of optical modules are disposed spaced apart from or adjacent to each other.

The utility model also discloses an use light path system's laser radar.

The utility model also discloses an install laser radar's intelligent car or unmanned aerial vehicle.

The utility model provides a complementary optical path system in visual field realizes total great visual field through the mode that carries out the visual field concatenation with a plurality of optical module, has reduced every independent optical module's visual field simultaneously, and then has improved every independent optical module's effective bore for every optical module's optical signal's intensity can strengthen.

Drawings

Fig. 1A and 1B are schematic cross-sectional views of optical paths of the optical path system with complementary fields of view according to the present invention.

Fig. 2 is a schematic cross-sectional view of an optical path of a field-of-view complementary optical path system according to another embodiment of the present invention.

Fig. 3A and 3B are schematic cross-sectional views of optical paths of a field-of-view complementary optical path system according to another embodiment of the present invention.

Fig. 4 is a schematic cross-sectional view of an optical path of a field-of-view complementary optical path system according to still another embodiment of the present invention.

Detailed Description

The following describes the implementation process of the technical solution of the present invention with reference to specific embodiments, which are not intended to limit the present invention.

In order to provide great effective bore under the prerequisite of guaranteeing the visual field, the utility model discloses a carry out the mode of visual field concatenation with a plurality of optical module and realize total great visual field, reduced every independent optical module's visual field simultaneously, and then improved every independent optical module's effective bore for every optical module's optical signal's intensity can strengthen.

The utility model discloses provide a mode that realizes the field of view concatenation with rotatory mode very much to realize more extensive field of view cover or even total coverage.

Fig. 1A is a schematic cross-sectional view of an optical path of a field-of-view complementary optical path system according to the present invention. The optical path system includes an optical module a, an optical module B, and a rotation shaft 100. The optical module a rotates around the rotation axis 100, and the optical module B also rotates around the rotation axis 100. The optical module A and the optical module B respectively form corresponding scanning visual fields, and the plurality of scanning visual fields are mutually covered or connected.

Taking fig. 1A as an example, the optical module a and the optical module B are arranged at an interval of 45 degrees.

The optical module a has a field of view of 45 degrees, as shown in the figure, the area 20 is a static scanning field of view of the optical module a, and extends outward by 45 degrees around the rotation axis 100, and as the optical module a rotates around the rotation axis 100, a scanning field of view of one circle around the rotation axis 100 is formed. Fig. 1A is a schematic cross-sectional view, in which the

regions

20 and 30 both belong to the scanning field of view of the optical module a, and the

regions

20 and 30 have a total 90-degree field angle.

Optical module B also has a field of view of 45 degrees, as shown by area 40, which is the static scan field of optical module B, and similar to optical module a, optical module a rotates about the axis of rotation 100, and

areas

10 and 40 both belong to the scan field of optical module B, and

areas

10 and 40 in the figure have a total field angle of 90 degrees. The

areas

10, 20, 30, 40 each cover 45 degrees.

The scan fields of view of optical module A, B are exactly coincident, and the total field of view of optical module A, B exactly constitutes a hemisphere, i.e., a total 180 degree field of view of

regions

10, 20, 30, 40 as shown in FIG. 1A. In the prior art, to obtain a 180-degree field angle, optical modules with a 90-degree field angle are adopted and are rotated, and the field angle of each optical module is reduced to 45 degrees by the field splicing method. The effective apertures corresponding to the optical modules with the angle of view of 45 degrees are greater than the effective apertures corresponding to the optical modules with the angle of view of 90 degrees, and the effective apertures of the two optical modules with the angle of view of 45 degrees are greater than the effective apertures corresponding to the optical modules with the angle of view of 90 degrees, so that the total effective apertures of the two optical modules with the angle of view of 45 degrees are greatly improved relative to the effective aperture of the optical module with the angle of view of 90 degrees.

Fig. 1B differs from fig. 1A in that an optical module B 'is further disposed in the region 10, and the optical module B' may be a passive optical module and the optical module B may be an active optical module. Similarly, an optical module a 'is disposed in the region 30, and the optical module a' may be a passive optical module, and the optical module a may be an active optical module.

It can be seen that the plurality of optical modules of the present invention may include only active optical modules, or only passive optical modules, or both active and passive optical modules.

Fig. 1A shows that the multiple scan fields are contiguous, and the multiple scan fields may also overlap each other. Fig. 2 is a schematic cross-sectional view of an optical path of a field-of-view complementary optical path system according to another embodiment of the present invention.

Optical module a has a 60 degree field of view, as shown by

regions

20, 30 which are the static scan field of view of optical module a. Optical module B also has a 60 degree field of view, as shown by

regions

50, 60 being the static scan field of view of optical module B. The optical module A and the optical module B are arranged at an interval of 30 degrees. The total field of view of optical module A, B is exactly what makes up a hemisphere, i.e., the total 180 degree field of view of

regions

10, 20, 30, 40, 50, 60 as shown in FIG. 2. The

areas

10, 20, 30, 40, 50, 60 each cover 30 degrees.

The optical module a rotates around the rotation axis 100, and the

areas

20, 30, 40, 50 in fig. 2 all belong to the scanning field of view of the optical module a, and the

areas

20, 30, 40, 50 in the figure have a total field angle of 120 degrees. The

areas

10, 20, 50, 60 in fig. 2 all belong to the scanning field of view of the optical module B, the

areas

10, 20, 50, 60 in the figure totaling a 120-degree field angle. The scan fields of view of optical module A, B overlap, with

regions

20, 50 being the overlapping portions.

The utility model discloses can also construct the total scanning visual field of arbitrary required, the mirror image that the scheme that fig. 2 shows is shown in fig. 3A doubles, sets up four optical module A, B, C, D altogether, and every optical module has 45 degrees visual fields for total scanning visual field can reach the total coverage at 360 degrees visual fields no dead angles.

It is within the scope of the present disclosure that one skilled in the art may design the desired total scan field of view as desired.

As shown in fig. 3B, optical module A, B has a total field of view of 200 degrees, optical module C, D has a total field of view of 200 degrees, and there is an overlapping region between the total field of view of optical module A, B and the total field of view of optical module C, D. The entirety of optical module A, B is spaced apart from the entirety of optical module C, D such that four optical modules A, B, C, D have an oblong total field of view.

This light path system can be applied to laser radar, as laser radar's light path system. This laser radar can install on intelligent car or unmanned aerial vehicle.

As shown in fig. 1A, 1B, 2, the positions of the plurality of optical modules relative to each other are fixed. That is, optical module A, B remains rotated at a fixed relative angle about the axis of rotation, that is, optical module A, B rotates at the same rate.

In another embodiment, the optical modules are not fixed in position relative to each other, and the optical modules rotate at different rates relative to the rotating shaft, i.e., the optical module A, B can be driven by different motors to rotate at different speeds. The utility model discloses a when light path system was applied to under the laser radar scene, different optical module can have different scanning spot frequency.

The plurality of optical modules may be disposed at intervals, as shown in fig. 1A, 2, and 3A, or may be disposed adjacent to each other, as shown in fig. 4, and the optical module B is disposed in the region 10, thereby realizing the same field of view as that of fig. 1A.

The utility model discloses can be applied to passive optical path system, also be exactly that these a plurality of optical module are passive optical module.

The utility model discloses still can be applied to initiative optical path system, also be exactly that this a plurality of optical module are initiative optical module, and this a plurality of optical module include emission optics submodule piece and receiving optics submodule piece.

Like in chinese patent application 201921071654.8 optical system, laser radar and intelligent car, unmanned aerial vehicle of focal plane elasticity spatial layout, a plurality of optical module include respective mirror group respectively, and every mirror group has respective optics and rolls over the device, the utility model discloses a plurality of optical module realize the focal plane sharing through optics book device. Therefore, focal planes of different lens groups are overlapped, and a set of transmitting and/or receiving devices is further utilized to realize the sharing of the photoelectronic devices among different light paths. The number of needed photoelectronic devices is reduced, the utilization efficiency of the same photoelectronic device on different light paths is improved, and the whole light path system and the whole volume of equipment provided with the light path system are reduced.

The above-mentioned embodiments are only exemplary descriptions for implementing the present invention, and are not intended to limit the scope of the present invention, and various obvious modifications and equivalent technical solutions can be made by those skilled in the art, which are all covered by the scope of the present invention.

Claims

1. A field-of-view complementary optical path system, comprising:

the multiple scan fields of view overlap or abut each other.

2. The optical path system of claim 1, wherein the plurality of optical modules are fixed in position relative to each other.

3. The optical path system of claim 1, wherein the optical modules are not fixed in position relative to each other, and the optical modules rotate at different rates relative to the rotation axis.

4. The optical circuit system of claim 1, wherein the plurality of optical modules are active optical modules, the plurality of optical modules including a transmit optical sub-module and a receive optical sub-module.

5. The optical path system of claim 1, wherein the plurality of optical modules are passive optical modules.

6. The optical path system of claim 1, wherein the plurality of optical modules comprise active optical modules and passive optical modules.

7. The optical path system of claim 1, wherein the total scan field of view of the plurality of optical modules forms a hemisphere or a global or prolate ellipsoid.

8. The optical path system of claim 1, wherein the plurality of optical modules are disposed spaced apart from or adjacent to each other.

9. Lidar having an optical path system, characterized in that the optical path system is according to any of claims 1-8.

10. An intelligent vehicle equipped with a lidar, wherein the lidar is as set forth in claim 9.

11. An unmanned aerial vehicle equipped with a lidar, wherein the lidar is as claimed in claim 9.