CN212694051U - Laser radar system - Google Patents
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- CN212694051U CN212694051U CN202020352570.8U CN202020352570U CN212694051U CN 212694051 U CN212694051 U CN 212694051U CN 202020352570 U CN202020352570 U CN 202020352570U CN 212694051 U CN212694051 U CN 212694051U
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Abstract
The present application provides a laser radar system. The laser beam and the object reflected light pass through the beam splitting device. And the reflected light of the object enters the receiving device after passing through the beam splitting device. At this time, the laser radar system can enable the light source device (transmitting system) and the receiving device (receiving system) to form a transceiving coaxial structure through the beam splitting device, that is, the transmitting optical path and the receiving optical path are coaxial. Furthermore, the view field formed by the light source device (transmitting system) and the view field formed by the receiving device (receiving system) can be completely overlapped through the beam splitting device, a blind area does not exist, and a target echo signal is enhanced. The field of view of the transmitting system and the field of view of the receiving system are completely overlapped, and no blind area exists. When the distance between the target object and the target object is relatively close, the influence of the distance is avoided due to the fact that no blind area exists. Therefore, the reflected light of the target object (namely, the object reflected light) can be received by the receiving device, the detection performance of the laser radar system is improved, and the information of the target object is acquired more completely.
Description
Technical Field
The application relates to the technical field of radar detection, in particular to a laser radar system.
Background
The laser radar is a radar system for detecting characteristic quantities such as position, speed and the like of a target by emitting laser beams, and mainly comprises a transmitting system, a receiving system, a signal processing system and the like, wherein the transmitting system is used for emitting the laser beams to the target, and the receiving system is used for receiving optical signals reflected by the target. The method comprises the steps of transmitting a detection signal (laser beam) to a target, comparing a received signal (target echo) reflected from the target with the transmitted signal, and processing data to obtain information about the target, such as parameters of target distance, azimuth, height, speed, attitude, even shape and the like. Thus detecting, tracking and identifying the targets of airplanes, missiles and the like. Wherein, the measurement accuracy of the system is directly influenced by the design quality of the transmitting and receiving system.
However, in the conventional lidar system, the transmitting system and the receiving system are usually disposed in parallel off-axis, i.e., the optical paths of the transmitting system and the receiving system are not on the same optical axis. The echo signal of the object can be measured when the fields of view of the transmitting system and the receiving system begin to overlap. However, the optical paths of the transmitting system and the receiving system in the traditional laser radar system are not on the same optical axis, so that the overlapping area of the transmitting surface and the receiving surface is small, a target echo signal is weak, a blind zone is easily generated at a position close to a target object, the echo signal cannot be measured, the imaging quality of the target object is affected badly, and the detection performance of the traditional laser radar system is reduced.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need to provide a lidar system that can solve the problem of low detection performance caused by the off-axis parallel arrangement of the transmitting and receiving systems of the conventional lidar system.
The present application provides a laser radar system. The laser radar system comprises a light source device, a beam splitting device and a receiving device. The light source device is used for emitting laser beams. The beam splitting device is used for splitting the laser beam to form a first beam. The first light beam irradiates to a target object and is reflected by the target object to form object reflection light. And the object reflected light is split by the beam splitting device to form a third light beam. The first light beam is transmitted light of the laser beam after passing through the beam splitting device. The third light beam is the reflected light of the object reflected light after passing through the beam splitting device. The receiving device is used for acquiring the information of the target object based on the third light beam.
In one embodiment, the laser beam is split by the beam splitting device to form a second beam. The lidar system further comprises a beam absorption device. The light beam absorption device is used for absorbing the second light beam. The second light beam is the reflected light of the laser beam after passing through the beam splitting device.
In one embodiment, the beam splitting means comprises a polarizing beam splitter. The light source device is used for emitting a P-polarized laser beam. The first light beam is the light of the P-polarized laser beam after passing through the polarization beam splitter. The third light beam is light which is obtained by the object reflected light passing through the polarization beam splitter.
In one embodiment, the present application provides a lidar system. The laser radar system comprises a light source device, a polarization beam splitting device and a receiving device. The light source device is used for emitting laser beams. The polarization beam splitting device is used for splitting the laser beam to form a first beam. The first light beam irradiates to a target object and is reflected by the target object to form object reflection light. And the object reflected light forms a third light beam after passing through the polarization beam splitting device, and the first light beam and the third light beam are linearly polarized light. The receiving device is used for acquiring the information of the target object based on the third light beam.
In one embodiment, the laser beam passes through the polarization beam splitting device and then forms a second beam. The second light beam is linearly polarized light. The lidar system further comprises a beam absorption device. The light beam absorption device is used for absorbing the second light beam.
In one embodiment, the polarizing beam splitting device comprises a polarizing beam splitter. The light source device is used for emitting S-polarized laser beams. The first light beam is the light of the S-polarized laser beam after passing through the polarization beam splitter. The third light beam is light which is obtained by the object reflected light passing through the polarization beam splitter.
In one embodiment, the receiving device comprises a detecting device and a data processing device. The detection device is used for detecting the third light beam and converting the third light beam into a detection electric signal. The data processing device is used for acquiring the detection electric signal, and performing data processing on the detection electric signal to acquire the information of the target object.
In one embodiment, the lidar system further includes a projection device. The projection device is arranged on a light path of the first light beam and used for projecting the first light beam to the target object and shaping and collimating the object reflected light.
In one embodiment, the beam splitting means is a beam splitting prism or/and a beam splitting plate or/and a polarizing beam splitting prism or/and a glantylor prism.
In one embodiment, the receiving means further comprises filtering means. The filtering device is arranged on a light path of the third light beam and used for filtering ambient light, and the third light beam filtered by the filtering device is detected by the detecting device.
The application provides an above-mentioned laser radar system. The laser beam emitted by the light source device can be split by the beam splitting device. The laser beam is irradiated to the target object through the transmitted light (i.e., the first light beam) split by the beam splitting device. The reflected light of the target object (i.e., the object reflected light) is irradiated to the beam splitting means. And split by the beam splitting device. The reflected light (i.e., the third light beam) of the object reflected light after being split by the beam splitting device is received by the receiving device, and the related information of the target object can be obtained after corresponding data processing is performed based on comparison between the third light beam (the signal reflected by the target object) and the emission signal. The information of the target object may be parameters such as target distance, azimuth, height, speed, attitude, and even shape. Therefore, the target object can be detected, tracked, identified and the like.
The laser beam emitted by the light source device and the object reflected light both pass through the beam splitting device. And the reflected light of the object enters the receiving device after passing through the beam splitting device. At this time, the laser radar system may enable the light source device (transmitting system) and the receiving device (receiving system) to form a transceiving coaxial structure through the beam splitting device, that is, a transmitting optical path and a receiving optical path are coaxial. Furthermore, the field of view formed by the light source device (transmitting system) and the field of view formed by the receiving device (receiving system) can be completely overlapped through the beam splitting device, and the target echo signal is enhanced.
At the moment, the field of view of the transmitting system and the field of view of the receiving system are completely overlapped, and no blind area exists. When the distance to the target object is relatively close, the influence of the distance cannot be caused due to the absence of the blind area. Therefore, the reflected light of the target object (namely, the object reflected light) can be received by the receiving device, so that the detection performance of the laser radar system is improved, and the information of the target object is acquired more accurately.
Meanwhile, the laser radar system can enable the transmitting system and the receiving system to be coaxially arranged, does not need to carry out strict optical alignment debugging on optical devices, and is simple in process.
Drawings
FIG. 1 is a schematic diagram of a lidar system in one embodiment provided herein;
FIG. 2 is a schematic diagram of a lidar system in one embodiment provided herein;
FIG. 3 is a schematic diagram of a lidar system in one embodiment provided herein;
FIG. 4 is a schematic diagram of a lidar system in one embodiment provided herein;
FIG. 5 is a schematic diagram of a lidar system in one embodiment provided herein;
FIG. 6 is a schematic diagram of a lidar system in one embodiment provided herein;
fig. 7 is a schematic flowchart of a lidar detection method according to an embodiment of the present disclosure.
Description of the reference numerals
a target object 10;
a projection device 20;
a beam splitting device 30;
a polarizing beam splitter 310;
a polarization beam splitting device 320;
a light source device 40;
a light beam absorption device 50;
a receiving device 60;
a detection device 610;
a data processing device 620;
a filter means 630.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below by way of embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, the present application provides a lidar system 100. The laser radar system 100 includes a light source device 40, a beam splitting device 30, and a receiving device 60. The light source device 40 is used for emitting a laser beam. The beam splitting device 30 is configured to split the laser beam to form a first beam. The first light beam is irradiated to the target object 10 and reflected by the target object 10 to form object reflection light. The object reflected light is split by the beam splitting device 30 to form a third light beam. The first light beam is the transmitted light of the laser beam after passing through the beam splitting device 30. The third light beam is the reflected light of the object reflected light after passing through the beam splitting device 30. The receiving device 60 is used for acquiring the information of the target object 10 based on the third light beam.
The laser beam emitted from the light source device 40 can be split by the beam splitting device 30. The transmitted light (i.e., the first light beam) split by the beam splitting device 30 is irradiated onto the target object 10. The reflected light of the target object 10 (i.e., the object reflected light) is irradiated to the beam splitting means 30. And split by the beam splitting means 30. The reflected light (i.e., the third light beam) obtained by splitting the object reflected light by the beam splitting device 30 is received by the receiving device 60, and based on the comparison between the third light beam (the signal reflected by the target object 10, which can be understood as an echo light beam) and the laser light beam (which can be understood as an emission probe light beam) emitted by the light source device 40, after corresponding data processing, the relevant information of the target object 10 can be obtained.
The information of the target object 10 may be parameters such as target distance, orientation, height, speed, attitude, and even shape. Thereby, detection, tracking, identification, and the like of the target object 10 are realized.
The laser beam emitted from the light source device 40 and the object reflected light both pass through the beam splitting device 30. And the reflected light of the object enters the receiving device 60 after passing through the beam splitting device 30. In this case, the laser radar system 100 may enable the light source device 40 (transmitting system) and the receiving device 60 (receiving system) to form a coaxial transceiving structure, i.e., a transmitting optical path and a receiving optical path are coaxial, by the beam splitting device 30. Furthermore, the field of view formed by the light source device 40 (transmitting system) and the field of view formed by the receiving device 60 (receiving system) can be completely overlapped through the beam splitting device 30, no blind area exists, and the target echo signal is enhanced.
At the moment, the field of view of the transmitting system and the field of view of the receiving system are completely overlapped, and no blind area exists. When the distance to the target object 10 is relatively close, the influence of the distance is not caused because of no blind area. Therefore, the reflected light of the target object 10 (i.e., the object reflected light) is received by the receiving device 60, so that the detection performance of the laser radar system is improved, and the information of the target object 10 is more accurately acquired.
Meanwhile, through the laser radar system 100, the transmitting system and the receiving system can be coaxially arranged, strict optical alignment debugging on optical devices is not needed, the process is simple, optical fibers are not needed to be connected between the devices, and the cost is reduced.
In one embodiment, the laser beam is split by the beam splitting device 30 to form a second beam. The lidar system further comprises a beam absorption device 50. The light beam absorption device 50 is used for absorbing the second light beam. The second light beam is the reflected light of the laser beam after passing through the beam splitting device 30.
In this embodiment, the first light beam is light irradiated to the target object 10, and the second light beam is reflected light of the laser beam after passing through the beam splitting device 30, and is unnecessary light. The light beam absorption device 50 absorbs the unwanted light to avoid the second light beam from influencing the imaging process of the target object 10 and misleading the information of the target object 10.
In one embodiment, the beam splitting device 30 may be a beam splitting prism, a beam splitting plate, or a beam splitting device formed by any combination of the beam splitting prism, the beam splitting plate, or the like, and is used for splitting the laser beam and the object reflected light. The beam absorption means 50 is a beam terminator for absorbing unwanted light. Specifically, the light beam absorption device 50 may also be a ferrous metal material or a light absorption device with good absorption performance.
In one embodiment, the receiving device 60 includes a detecting device 610 and a data processing device 620. The detecting device 610 is used for detecting the third light beam and converting the third light beam into a detecting electrical signal. The data processing device 620 is configured to obtain the detection electrical signal, and perform data processing on the detection electrical signal to obtain information of the target object 10.
The detecting device 610 may be an Avalanche Photo Diode (APD) detector, a PIN (P-type semiconductor-impurity-N-type semiconductor), a single Photon receiver, an MPPC (Multi Pixel Photo couplers), or the like, or may be a detector composed of a single or a plurality of arrays of the above functional devices. The detecting device 610 converts the third light beam into a detecting electrical signal. The data processing device 620 includes, but is not limited to, a Central Processing Unit (CPU), an embedded Microcontroller (MCU), an embedded Microprocessor (MPU), an embedded System on Chip (SoC), a computer, or the like.
The data processing device 620 receives the detection electrical signal and performs data processing. Wherein, the data processing device 620 adopts a time-of-flight method, a phase method and/or a frequency modulated continuous wave method, etc. to determine the relevant information of the target object 10. The Time of Flight (TOF) method determines position information of the target object 10 by calculating a Time difference of laser pulses. The phase method determines the distance of the target object 10 by calculating the phase difference between the laser beam (emission probe beam) emitted from the light source device 40 and the third beam (echo beam). The Frequency Modulated Continuous Wave (FMCW) method determines the distance of the target object 10 by calculating the Frequency difference between the laser beam (emission probe beam) emitted from the light source device 40 and the third beam (echo beam).
Meanwhile, the receiving device 60 further includes a processing circuit, which is respectively connected to the detecting device 610 and the data processing device 620, and is configured to detect whether the third light beam (i.e., the object reflected light) is received, perform signal shaping, amplification, noise reduction, and the like, and transmit the processed signal to the data processing device 620.
In particular, from the third light beam received by the detection device 610, the distance of the target object 10 can be determined. For example, the distance of the target object 10 is calculated and determined according to the time difference between the laser beam emitted from the light source device 40 and the third beam reception and according to the time difference. Meanwhile, the position information of the target object 10 can be derived by simply changing the geometry according to the distance of the target object 10 and the angle of laser emission.
In one embodiment, the lidar system 100 also includes a projection device 20. The projection device 20 is disposed on an optical path of the first light beam, and is configured to project the first light beam to the target object 10, and shape and collimate the object reflected light.
The projection device 20 may be a beam expander or may be composed of an eyepiece and an objective lens, and is configured to implement long-distance projection, so as to project the first light beam onto the target object 10. Meanwhile, after the object reflected light passes through the projection device 20, shaping and collimation processing may be performed, so that the object reflected light is irradiated to the beam splitting device 30.
Referring to FIG. 2, in one embodiment, the beam splitting apparatus 30 includes a polarizing beam splitter 310. The light source device 40 is used for emitting a P-polarized laser beam. The first light beam is the transmitted light of the P-polarized laser beam after passing through the polarization beam splitter 310. The third light beam is the reflected light of the object reflected light after passing through the polarization beam splitter 310.
In this embodiment, the polarization beam splitter 310 may be a polarization beam splitter prism, a glantylor prism, or a polarization beam splitter device formed by combining with each other. The light source device 40 is used for emitting a P-polarized laser beam. When the P-polarized laser beam passes through the polarization beam splitter 310, only the P-polarized light, i.e., the first beam, exists. When the object reflected light passes through the third light beam formed by the polarization beam splitter 310, only s-polarized light exists.
At this time, the polarization beam splitter 310 and the P-polarized laser beam can prevent the formation of unnecessary light. Accordingly, the second light beam does not need to be absorbed by the light beam absorption device 50, the overall structure of the laser radar system 100 is simplified, product integration is facilitated, and cost is saved.
In one embodiment, the light source device 40 may be one or more lasers, which are used to emit laser light with the advantages of good monochromaticity, strong directivity, high brightness, and the like, and can perform real-time monitoring with high spatial and temporal resolution. Specifically, the light source device 40 may be a 905nm or 1550nm wavelength laser.
Referring to fig. 5-6, in one embodiment, lidar system 100 also includes a filter 630. The filtering device 630 is disposed on the receiving light path, that is, is used to filter the third light beam entering the detecting device 610, and filter out light except the third light beam. Light other than the third beam of light includes ambient light such as sunlight and incandescent light. Accordingly, the accuracy of recognition of the target object 10 is improved by the filter device 630, and the detection performance of the laser radar system 100 is improved.
Preferably, the filter is a bandpass filter, which only passes the laser light of a specific wavelength band and cuts the laser light outside the passband.
In one embodiment, the lidar system 100 also includes power circuitry, communication circuitry, and the like. Wherein, the power circuit and the communication circuit are respectively connected with the data processing device 620. The power supply circuit is a power supply protection circuit with voltage stabilization, reverse connection prevention and the like and a voltage conversion circuit with 12V-5V and the like. The communication circuit refers to an interface circuit for communicating with the outside, such as a Controller Area Network (CAN) interface, an Ethernet (Ethernet) interface, or the like.
Referring to fig. 3, in one embodiment, the present application provides a lidar system 100. The laser radar system 100 includes a light source device 40, a polarization beam splitting device 320, and a receiving device 60. The light source device 40 is used for emitting a laser beam. The polarization beam splitting device 320 is configured to split the laser beam to form a first beam. The first light beam is irradiated to the target object 10 and reflected by the target object 10 to form object reflection light. The object reflected light forms a third light beam after passing through the polarization beam splitting device 320, and the first light beam and the third light beam are linearly polarized light. The receiving device 60 is used for acquiring the information of the target object 10 based on the third light beam.
The laser beam emitted from the light source device 40 can be split by the polarization beam splitting device 320. The laser beam is split into two polarized lights with orthogonal polarization states by the polarization beam splitting device 320. At this time, the first light beam is linearly polarized light (P-polarized or S-polarized). The first light beam is irradiated on the target object 10 and is reflected to form the object reflection light. The third light beam formed after the object reflected light irradiates the polarization beam splitting device 320 is linearly polarized light (P polarization or S polarization). The third light beam is received by the receiving device 60, and based on the comparison between the third light beam (the signal reflected by the target object 10) and the emitted signal, the relevant information of the target object 10 is obtained after corresponding data processing.
The laser beam emitted from the light source device 40 and the object reflected light both pass through the polarization beam splitter 320. And the reflected light of the object enters the receiving device 60 after passing through the polarization beam splitting device 320. At this time, the laser radar system 100 may enable the light source device 40 (transmitting system) and the receiving device 60 (receiving system) to form a transceiving coaxial structure through the polarization beam splitting device 320, that is, a transmitting optical path and a receiving optical path are coaxial. Furthermore, the field of view formed by the light source device 40 (transmitting system) and the field of view formed by the receiving device 60 (receiving system) can be completely overlapped through the polarization beam splitting device 320, no blind area exists, and the target echo signal is enhanced.
At the moment, the field of view of the transmitting system and the field of view of the receiving system are completely overlapped, and no blind area exists. When the distance to the target object 10 is relatively close, the influence of the distance is not caused because of no blind area. Therefore, the reflected light of the target object 10 (i.e., the object reflected light) is received by the receiving device 60, so that the detection performance of the laser radar system is improved, and the information of the target object 10 is more accurately acquired.
In one embodiment, the laser beam passes through the polarization beam splitting device 320 to form a second beam. The second light beam is linearly polarized light. The lidar system 100 further comprises a beam absorption device 50. The light beam absorption device 50 is used for absorbing the second light beam.
In this embodiment, the first light beam is light irradiated to the target object 10, and the second light beam is light of the laser beam passing through the polarization beam splitter 320, and is unnecessary light. The light beam absorption device 50 absorbs the unwanted light to avoid the second light beam from influencing the imaging process of the target object 10 and misleading the information of the target object 10.
In one embodiment, the polarizing beam splitting device 320 comprises a polarizing beam splitter 310. The light source device 40 is used for emitting an S-polarized laser beam. The first beam is the light of the S-polarized laser beam after passing through the polarization beam splitter 310. The third light beam is light reflected by the object and passing through the polarization beam splitter 310.
In this embodiment, the light source device 40 is used for emitting an S-polarized laser beam. When the S-polarized laser beam passes through the polarization beam splitter 310, only the light in the S-polarized state, i.e., the first beam, exists. When the object reflected light passes through the third light beam formed by the polarization beam splitter 310, only light in the p-polarization direction exists.
In this case, the polarization beam splitter 310 and the S-polarized laser beam can prevent the formation of unnecessary light. Accordingly, the second light beam does not need to be absorbed by the light beam absorption device 50, the overall structure of the laser radar system 100 is simplified, the integration of products is facilitated, and the cost is saved.
Referring to fig. 7, in one embodiment, the present application provides a laser radar detection method, including:
emitting a laser beam by a light source device 40;
the laser beam is processed by a beam splitting device 30 to form a first beam;
irradiating the first light beam to a target object 10, and forming object reflection light by the reflection of the target object 10, and forming a third light beam by the beam splitting device 30;
collecting, converting and calculating the third light beam through a receiving device 60 to obtain information of the target object 10;
the first light beam is transmitted light of the laser light beam after passing through the beam splitting device 30, and the third light beam is reflected light of the object after passing through the beam splitting device 30; or
The first light beam and the third light beam are linearly polarized light.
In this embodiment, the beam splitting device 30 may be a beam splitting prism, a beam splitting plate, a polarization beam splitting prism or a glantylor prism, so as to split the laser beam and the object reflected light. The laser beam emitted from the light source device 40 and the object reflected light both pass through the beam splitting device 30. And the reflected light of the object enters the receiving device 60 after passing through the beam splitting device 30. In this case, the laser radar system 100 may enable the light source device 40 (transmitting system) and the receiving device 60 (receiving system) to form a coaxial transceiving structure, i.e., a transmitting optical path and a receiving optical path are coaxial, by the beam splitting device 30. Furthermore, the field of view formed by the light source device 40 (transmitting system) and the field of view formed by the receiving device 60 (receiving system) can be completely overlapped through the beam splitting device 30, no blind area exists, and the target echo signal is enhanced.
At the moment, the field of view of the transmitting system and the field of view of the receiving system are completely overlapped, and no blind area exists. When the distance to the target object 10 is relatively close, the influence of the distance is not caused because of no blind area. Thus, the reflected light of the target object 10 (i.e., the object reflected light) is received by the receiving device 60, and the information of the target object 10 is acquired more accurately.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A lidar system, comprising:
a light source device (40) for emitting a laser beam;
the beam splitting device (30) is used for splitting the laser beam to form a first beam;
the first light beam irradiates a target object (10) and is reflected by the target object (10) to form object reflection light, and the object reflection light is split by the beam splitting device (30) to form a third light beam;
the first light beam is transmitted light of the laser light beam after passing through the beam splitting device (30), and the third light beam is reflected light of the object after passing through the beam splitting device (30);
-receiving means (60) for acquiring information of the target object (10) based on the third light beam.
2. The lidar system of claim 1, wherein the laser beam is further split by the beam splitting device (30) to form a second beam, the lidar system further comprising:
-a light beam absorption means (50) for absorbing said second light beam;
the second light beam is the reflected light of the laser beam after passing through the beam splitting device (30).
3. Lidar system according to claim 1, wherein said beam splitting means (30) comprises a polarizing beam splitter (310), said light source means (40) being adapted to emit a P-polarized laser beam;
the first light beam is light of the P-polarized laser beam after passing through the polarization beam splitter (310), and the third light beam is light of the object reflected light after passing through the polarization beam splitter (310).
4. Lidar system according to claim 1, wherein the beam splitting means (30) is a beam splitting prism or/and a beam splitting plate or/and a polarizing beam splitting prism or/and a glantrier prism.
5. A lidar system, comprising:
a light source device (40) for emitting a laser beam;
the polarization beam splitting device (320) is used for splitting the laser beam to form a first beam;
the first light beam irradiates a target object (10), and is reflected by the target object (10) to form object reflection light, the object reflection light forms a third light beam after passing through the polarization beam splitting device (320), and the first light beam and the third light beam are linearly polarized light;
-receiving means (60) for acquiring information of the target object (10) based on the third light beam.
6. The lidar system of claim 5, wherein the laser beam passes through the polarization beam splitting device (320) to form a second beam, wherein the second beam is linearly polarized;
the lidar system further comprises:
a light beam absorption device (50) for absorbing the second light beam.
7. The lidar system of claim 5, wherein the polarization beam splitting device (320) comprises a polarization beam splitter (310), the light source device (40) being configured to emit an S-polarized laser beam;
the first light beam is light of the S-polarized laser beam after passing through the polarization beam splitter (310), and the third light beam is light of the object reflected light after passing through the polarization beam splitter (310).
8. Lidar system according to claim 1 or claim 5, wherein said receiving means (60) comprises detecting means (610) and data processing means (620);
the detection device (610) is used for detecting the third light beam and converting the third light beam into a detection electric signal;
the data processing device (620) is used for acquiring the detection electric signal, and performing data processing on the detection electric signal to acquire the information of the target object (10).
9. The lidar system of claim 1 or claim 5, wherein the lidar system further comprises:
and the projection device (20) is arranged on the optical path of the first light beam and is used for projecting the first light beam to the target object (10) and shaping and collimating the object reflected light.
10. The lidar system of claim 8, wherein the receiving means (60) further comprises:
and the filtering device (630) is arranged on the light path of the third light beam and is used for filtering the ambient light, and the third light beam filtered by the filtering device (630) is detected by the detecting device (610).
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| CN202020352570.8U CN212694051U (en) | 2020-03-19 | 2020-03-19 | Laser radar system |
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| CN202020352570.8U CN212694051U (en) | 2020-03-19 | 2020-03-19 | Laser radar system |
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| CN202020352570.8U Active CN212694051U (en) | 2020-03-19 | 2020-03-19 | Laser radar system |
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