CN212432061U

CN212432061U - Laser transceiver scanner and coaxial transceiver imaging device

Info

Publication number: CN212432061U
Application number: CN201922015067.3U
Authority: CN
Inventors: 杜晨光
Original assignee: Lorentech Beijing Technology Co ltd
Current assignee: Lorentech Beijing Technology Co ltd
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2021-01-29
Anticipated expiration: 2029-11-20

Abstract

The utility model discloses a laser transceiver scanner, a serial communication port, include: the device comprises a transceiving optical fiber, a beam collimator and a beam scanning device, wherein the transceiving optical fiber is used for transmitting a light beam and receiving the light beam; the beam collimator is used for collimating and outputting the emitted beams emitted from the transmitting and receiving optical fibers to the beam scanning device and outputting the received beams from the beam scanning device to the transmitting and receiving optical fibers; and a beam scanning device for emitting the emission beam from the beam collimator to a plurality of directions, and for outputting the reception beam from the plurality of directions to the beam collimator. The embodiment of the utility model discloses technical scheme, every receiving and dispatching optic fibre all possesses the ability of light beam transmission and receipt, can realize the coaxial receiving and dispatching of light beam, improves the SNR, has reduced the degree of difficulty of beam scanning, and the problem of the optical axis mark school inefficiency during having solved production.

Description

Laser transceiver scanner and coaxial transceiver imaging device

Technical Field

The utility model relates to a survey the field, in particular to laser transceiver scanner and coaxial transceiver image device.

Background

Three-dimensional contour information of objects and environments is required in a wide range of application fields, including aerospace, profiling, machine vision, autonomous vehicles, unmanned aerial vehicles, and the like. With the development of technology, higher and higher requirements are put on environmental perception. Photoelectric detection is taken as an important implementation means for three-dimensional contour perception, and has gained more and more attention in recent years and has also gained great development. Common photoelectric detection technology approaches mainly include moire fringe method, triangulation method, pulse time flight method, indirect time flight method, laser illumination distance gate imaging method and the like. The technical approaches have advantages and disadvantages, and are practically applied to different platforms and fields.

Most of the existing solutions have the light source transmitting aperture separated from the receiving aperture. The structure increases the difficulty of beam scanning and also causes low optical axis calibration efficiency during production.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a laser transceiver scanner and coaxial receiving and dispatching image device. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

In a first aspect, an embodiment of the present invention provides a laser transceiver scanner, which includes: a transmitting and receiving optical fiber, a beam collimator and a beam scanning device, wherein,

the receiving and transmitting optical fiber comprises a fiber core and a cladding, wherein the fiber core is used for emitting a light beam, and the cladding is used for receiving the light beam;

the beam collimator is used for collimating and outputting the emitted beams emitted from the transmitting and receiving optical fibers to the beam scanning device and outputting the received beams from the beam scanning device to the transmitting and receiving optical fibers;

and a beam scanning device for emitting the emission beam from the beam collimator to a plurality of directions, and for outputting the reception beam from the plurality of directions to the beam collimator.

Optionally, the optical beam scanning device is further configured to:

determining a scanning amplitude according to a set scanning field angle;

and determining the scanning frequency according to the set scanning frequency or the set frame rate.

Alternatively, the optical beam scanning device includes a fast axis scanning device and a slow axis scanning device arranged in a set order, wherein,

the fast axis scanning device realizes line scanning;

the slow axis scanning device implements frame scanning.

Optionally, the fast axis scanning device and the slow axis scanning device include:

the device comprises a polyhedron rotating mirror, a mechanical vibrating mirror, a micro electro mechanical system vibrating mirror, a voice coil quick reflector, a piezoelectric quick reflector, a liquid lens, an optical wedge, a grating, an electro-optic crystal device, a liquid crystal device or an optical waveguide device.

Optionally, the fast axis scanning device includes a polygon mirror, and at least one of the faces is used:

each receiving and transmitting optical fiber corresponds to one surface of the polyhedral rotary mirror respectively; and/or the presence of a gas in the gas,

and the plurality of receiving and transmitting optical fibers simultaneously correspond to one surface of the polyhedral rotary mirror.

Optionally, the receiving and transmitting optical fiber end is matched with a mechanical micro-motion device, and the mechanical micro-motion device is used for:

and carrying out translational micromotion on the tail end of the receiving and transmitting optical fiber.

Optionally, the beam collimator is matched with a mechanical micro-motion device, and the mechanical micro-motion device is configured to:

and carrying out translational micromotion on the beam collimator.

Optionally, the light beam scanning device is a polygonal rotating mirror, and is characterized in that the inclination angles of the surfaces of the polygonal rotating mirror are different.

In a second aspect, embodiments of the present invention provide a coaxial transceiver imaging device comprising a controller, a laser, a coaxial transceiver, a receiver, and a laser transceiver scanner, wherein,

the controller is used for controlling the laser to generate an emission beam;

a laser for outputting a transmission beam to the transmission fiber;

a coaxial transceiver for transmitting the emission beam to a laser transceiver scanner via a transceiver fiber; receiving the return light transmitted by the laser receiving and transmitting scanner through the receiving and transmitting optical fiber and transmitting the return light to the receiver through the receiving optical fiber;

a receiver for detecting the received light beam received by the receiving optical fiber.

Optionally, the imaging device includes at least one laser transceiver scanner, and the imaging device further includes:

and the optical fiber beam splitter is used for splitting the emission beam generated by the laser and outputting the split emission beam to the emission optical fiber.

The embodiment of the utility model discloses technical scheme, every receiving and dispatching optic fibre all possesses the ability of beam transmission and receipt, can realize the coaxial receiving and dispatching of light beam, improves the SNR, has reduced the degree of difficulty of beam scanning, and the problem of the optical axis mark school inefficiency during having solved production.

The embodiment of the utility model discloses technical scheme for fuse target scene degree of depth information and grey scale information, can fuse the effective information in depth image and the grey scale image, filtering is irrelevant and redundant information, and then obtains the fusion image that can contain more target scene identification information. Meanwhile, the image precision can be optimized and the recognition efficiency can be improved through the fusion of the depth image and the gray level image.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic diagram of a laser transceiver scanner in an exemplary embodiment;

FIG. 2 is a schematic view of an optical beam scanning apparatus in an exemplary embodiment;

FIG. 2A is a schematic illustration of an exemplary embodiment of a fast mirror using a polygon mirror;

FIG. 2B is a schematic diagram of a fast mirror in an exemplary embodiment using a four-plane iso-tilt turning mirror;

FIG. 2C is a schematic diagram of a laser transceiver scanner with different tilt mirrors in an exemplary embodiment;

FIG. 3 is a schematic diagram of a laser transceiver scanner in an exemplary embodiment;

FIG. 4 is a schematic diagram of a laser transceiver scanner in an exemplary embodiment;

FIG. 5 is a schematic view of an optical beam scanning apparatus in an exemplary embodiment;

fig. 6 and 7 are schematic views of the operation of the mechanical micromotion device in an exemplary embodiment.

Detailed Description

The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "utility model" merely for convenience and without intending to voluntarily limit the scope of this application to any single utility model or utility model concept if more than one is in fact disclosed. Herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed. The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The embodiment of the present invention discloses a laser transceiver scanner 10, as shown in fig. 1, comprising a transceiver fiber 101, a beam collimator 102 and a beam scanning device 103, wherein,

a transmitting and receiving optical fiber 101 for transmitting and receiving a light beam;

a beam collimator 102 for collimating and outputting the transmission beam emitted from the transmission and reception optical fiber 101 to the beam scanning device 103, and for outputting the reception beam from the beam scanning device 103 to the transmission and reception optical fiber 101;

a beam scanning device 103 for emitting the emission beam from the beam collimator 102 to a plurality of directions, and for outputting the reception beam from the plurality of directions to the beam collimator 102.

The transceiver fiber 101 may be a double-clad fiber or a multi-clad fiber, in which the core is used for emitting light beams and the cladding is used for receiving light beams. The emitted light beam propagates from the core of the transmit-receive fiber 101 to the beam collimator 102.

The beam collimator 102 is configured to collimate and output the emission beam in the transceiver fiber 101 to the beam scanning device 103. The received light beam from the light beam scanning device 103 passes through the beam collimator 102 and enters the cladding of the transmitting/receiving fiber 101.

Alternatively, the optical beam scanning device 103 may be configured to:

determining a scanning amplitude according to a set scanning field angle;

Illustratively, the scanning field angle of the laser transceiver scanner 10 may be changed by adjusting the scanning amplitude of one or more devices in the optical beam scanning apparatus 103. Accordingly, a scanning field angle may be given as a system parameter, and a person skilled in the art may determine a scanning amplitude according to the set scanning field angle.

Illustratively, the scanning frequency or frame rate of the laser transceiver scanner 10 may be varied by adjusting the scanning frequency of one or more devices in the optical beam scanning apparatus 103. Accordingly, a scan frequency or a frame frequency may be given as a system parameter, and a person skilled in the art may determine the scan frequency according to the set scan frequency or the set frame frequency.

The beam scanning device 103 may be of the reflective, transmissive or micro-mechanical type, or may be a combination of different types.

Alternatively, when the optical beam scanning apparatus 103 is of the reflective type, the optical beam scanning apparatus 103 may include one or more mirrors. The reflector can be one or more of a combination of a polyhedron rotating mirror, a mechanical vibrating mirror, a micro-electro-mechanical system vibrating mirror, a voice coil quick reflector or a piezoelectric quick reflector.

In general, the optical beam scanning device 103 may include two mirrors, which are referred to as a fast axis scanning device (e.g., the fast mirror in fig. 2) and a slow axis scanning device (e.g., the slow mirror in fig. 2) for convenience of description, and as shown in fig. 2, the fast axis scanning device and the slow axis scanning device are arranged in a set order, wherein the fast axis scanning device implements line scanning;

the slow axis scanning device implements frame scanning.

Further, the optical beam scanning apparatus 103 may include a plurality of mirrors, illustratively, a polygon mirror and one or more galvanometers, as shown in FIG. 3 for the case of one polygon mirror and two galvanometers. In particular, the field angle and the scanning frequency of the scanning can be changed by adjusting the number of the facets of the polygon mirror, for example, by increasing the number of the facets of the polygon mirror, the size of each facet is reduced, the field angle of the scanning is reduced, but the scanning frequency is increased; and vice versa.

When the fast mirror uses the polygon mirror, a plurality of receiving and transmitting optical fibers can simultaneously scan a plurality of surfaces of the polygon mirror corresponding to the receiving and transmitting optical fibers. One or more transmitting and receiving optical fibers can be used, and each transmitting and receiving optical fiber corresponds to one surface of the polyhedral rotary mirror; or the plurality of receiving and transmitting optical fibers simultaneously correspond to one surface of the polyhedral rotary mirror; or a combination of the two. Each surface of the polyhedron rotating mirror corresponds to one slow mirror, so that the simultaneous scanning of a plurality of surface rotating mirrors is realized, the field range of scanning is improved, and typically, two surfaces in front of the fast mirror are provided with one slow mirror respectively.

When the fast mirror is a polygon mirror, it may be a four-side equal-difference tilting angle mirror (as shown in fig. 2A), and the tilting angles are 0 degree, 5 degrees, 10 degrees, and 15 degrees, respectively. When single optic fibre receiving and dispatching laser perpendicular to pivot, first face reflection laser contained angle 0 degree, second face 10 degrees, third face 20 degrees, the fourth face is 30 degrees. When a plurality of optical fibers transmit and receive, laser can be inserted between the scanning angles of different surfaces, for example, when five optical fibers transmit and receive, the scanning angle resolution can be improved from 5 degrees to 1 degree. Or a four-side equal differential tilt angle rotating mirror (as shown in fig. 2B), the tilt angles are-5 degrees, 0 degrees, 5 degrees and 10 degrees respectively. When the single optical fiber receiving and transmitting laser is perpendicular to the rotating shaft, the first surface reflects the laser at an included angle of-10 degrees, the second surface reflects the laser at 0 degree, the third surface reflects the laser at 10 degrees, and the fourth surface reflects the laser at 20 degrees. When a plurality of optical fibers transmit and receive, laser can be inserted between the scanning angles of different surfaces, for example, when five optical fibers transmit and receive, the scanning angle resolution can be improved from 5 degrees to 1 degree.

Fig. 2C shows a laser transceiver scanner with different tilt mirrors.

The laser transceiver scanner 10 of fig. 3 may include one or more transceiver fibers 101, and those skilled in the art can determine the specific structure of the laser transceiver scanner 10 as needed in the implementation.

In the laser transceiver scanner 10, the transceiver optical fiber 101 corresponding to one surface of the polygon mirror may be one or more, and the transceiver optical fibers 101 may be arranged in a straight line or may be arranged in any other suitable manner and correspond to the same slow mirror. Illustratively, as shown in fig. 4, the plurality of transceiver fibers 101 may be spaced apart from each other, and accordingly, the transmission light beams or the reception light beams may have a fixed tilt angle therebetween.

Alternatively, when the optical beam scanning apparatus 103 is of the transmissive type, the optical beam scanning apparatus 103 may include one or more transmissive mirrors. The transmission mirror may be one or a combination of electrically controllable wedges, gratings, electro-optic crystal devices, liquid crystal devices, or optical waveguide devices.

In general, the optical beam scanning device 103 may include two transmission mirrors, which are referred to as a fast axis scanning device and a slow axis scanning device for convenience of description, and the fast axis scanning device and the slow axis scanning device are set in a set order as shown in fig. 5, wherein,

the fast axis scanning device realizes line scanning;

the slow axis scanning device implements frame scanning.

Optionally, the end of the transceiver optical fiber 101 is configured with a mechanical micro-motion device for performing translational micro-motion on the end of the transceiver optical fiber 101.

Optionally, the beam collimator 102 is configured with a mechanical micro-motion device for performing translational micro-motion on the beam collimator 102.

Illustratively, as shown in fig. 6 and 7, the above-described mechanical jiggle device may be used to:

the end of the transceiver fiber 101 is subjected to translational micromotion, or the beam collimator 102 is subjected to translational micromotion, and if necessary, the end of the transceiver fiber 101 and the beam collimator 102 can be simultaneously subjected to translational micromotion.

The embodiment of the utility model discloses technical scheme, every receiving and dispatching optic fibre 101 all possesses the ability of beam transmission and receipt, can realize the coaxial receiving and dispatching of light beam, improves the SNR, has reduced the degree of difficulty of beam scanning, and the problem of the optical axis mark school inefficiency when having solved production. The combined use of the plurality of transceiver fibers 101 can improve the measurement resolution or the measurement field of view, or both. Meanwhile, in the laser transceiver scanner 10, there is no other moving structure except the reflection-type beam scanning device 103, and the service life and reliability are significantly improved compared with the existing mechanical rotary laser radar. The reflective beam scanning device 103 can flexibly adjust and set the scanning field angle or the scanning range, and the technical indexes such as the scanning frequency and the like dynamically in real time according to the needs, and is convenient to implement and deploy. Moreover, the laser transceiver scanner 10 has a simple system structure, a small size, and is easy to install and maintain.

The embodiment of the present invention also discloses a coaxial transceiving imaging device, comprising a controller, a laser, an emitting fiber, a receiving fiber, a coaxial transceiver, a receiver, and at least one laser transceiving scanner 10 as described above, wherein,

the controller is used for controlling the laser to generate an emission beam;

a laser for outputting the emission beam to an emission fiber;

an emission optical fiber for outputting the emission light beam to the laser transceiver scanner 10;

a receiving optical fiber for receiving the receiving light beam from the laser transceiver scanner 10;

a coaxial transceiver for transmitting the emission light beam to the laser transceiver scanner 10 via a transceiver fiber; the return light transmitted by the laser transceiver scanner 10 is received via the transceiver optical fiber and transmitted to the receiver via the receiving optical fiber.

And the receiver is used for detecting the received light beam received by the receiving optical fiber.

Optionally, the coaxial transceiver imaging apparatus may include at least one laser transceiver scanner 10, in which case the coaxial transceiver imaging apparatus may further include:

In general, coaxial transceivers, in practicing the deployment process, may include an inner mounting portion and an outer mounting portion, and in particular,

the internal mounting part can be mainly used for realizing the functions of generating, transmitting, splitting, separating the emitted light beam from the received light beam, receiving and detecting the received light beam and the like. The device comprises a controller, a laser and one or more paths of receiving and transmitting optical fibers, wherein when the paths are multiple, an optical fiber beam splitter can be matched for use so as to divide one path of laser into multiple paths, and the optical fiber can be used for transmitting, receiving, coaxial transceivers and the like. The controller controls the laser to generate a light beam, the light beam is transmitted in the optical fiber, enters the optical fiber beam splitter to split the beam and then reaches the receiving and transmitting optical fiber. The interior mounting portion can be mounted within the platform without the need for a window, and without direct exposure to the external environment.

The external mounting portion may be formed by one or more laser transceiver scanners 10, and the laser transceiver scanners 10 and the internal mounting portion may be connected by transceiver fibers 101. The laser transceiver scanner 10 is mainly used to emit a transmission beam and receive a reception beam, and can realize scanning at a certain field angle by using the beam scanning device 103. The exterior mounting portion may be mounted to a side wall of the platform, such as a side, roof, front, or rear of a windshield of an automobile, and may be exposed to the exterior environment, or may not be directly exposed to the exterior environment with the aid of a corresponding optical window.

It is to be understood that the present invention is not limited to the procedures and structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A laser transceiver scanner, comprising: a transmitting and receiving optical fiber, a beam collimator and a beam scanning device, wherein,

the beam collimator is used for collimating and outputting the emission beams emitted from the transceiving optical fibers to the beam scanning device and outputting the receiving beams from the beam scanning device to the transceiving optical fibers;

the beam scanning device is used for emitting the emission beams from the beam collimator to a plurality of directions and outputting the receiving beams from the plurality of directions to the beam collimator.

2. The scanner of claim 1, wherein said optical beam scanning means comprises a fast axis scanning means and a slow axis scanning means arranged in a set order, wherein,

the fast axis scanning device realizes line scanning;

the slow axis scanning device implements frame scanning.

3. The scanner of claim 2, wherein said fast axis scanning means and said slow axis scanning means comprise:

4. A scanner according to claim 3, wherein the fast axis scanning means comprises a polygon mirror and, in use, at least one of the faces:

each receiving and transmitting optical fiber corresponds to one surface of the polyhedral rotary mirror respectively; and/or a plurality of the receiving and transmitting optical fibers simultaneously correspond to one surface of the polyhedral rotary mirror.

5. The scanner of claim 1, wherein said transceiver fiber end is configured with a mechanical micro-motion device, said mechanical micro-motion device configured to:

6. The scanner of claim 1, wherein said beam collimator is configured with a mechanical micro-motion device, said mechanical micro-motion device configured to:

and carrying out translational micromotion on the beam collimator.

7. The scanner of claim 1, wherein said beam scanning device is a polygon mirror, said polygon mirror having different facet angles.

8. A coaxial transceiver imaging device comprising a controller, a laser, a coaxial transceiver, a receiver, and at least one laser transceiver scanner as claimed in any one of claims 1 to 7, wherein the controller is adapted to control the laser to produce an emission beam;

the laser is used for outputting the emission light beam to the emission optical fiber;

the coaxial transceiver is used for transmitting the emission light beam to the laser transceiver scanner through a transceiver optical fiber; receiving the return light transmitted by the laser transceiving scanner through the transceiving optical fiber and transmitting the return light to the receiver through a receiving optical fiber;

the receiver is used for detecting the received light beam received by the receiving optical fiber.

9. The imaging apparatus of claim 8, wherein said imaging apparatus includes at least one of said laser transceiver scanners, said imaging apparatus further comprising: