CN212965407U - Laser radar system - Google Patents
Laser radar system Download PDFInfo
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- CN212965407U CN212965407U CN202021557115.8U CN202021557115U CN212965407U CN 212965407 U CN212965407 U CN 212965407U CN 202021557115 U CN202021557115 U CN 202021557115U CN 212965407 U CN212965407 U CN 212965407U
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Abstract
The application relates to a laser radar system comprising: a laser source; the laser source is used for emitting a laser beam; a receiving device; the receiving device comprises a polarization separator; a detection device; the detection device comprises a first detector and a second detector; the first detector is arranged on a transmission light path of the polarization separator; the second detector is arranged on the reflected light path of the polarization separator; the laser beam irradiates a target object and is reflected by the target object to form object reflection light, and the object reflection light is separated by the polarization separator to form a transmission beam and a reflection beam; the transmitted beam is projected to a first detector; the reflected beam is projected at a second detector. This application can be after the light of separation diffuse reflection object reflection and the light of specular reflection object reflection, and the signal that signal intensity is high and signal intensity is low is surveyed respectively to accessible first detector and second detector, realizes surveying low reflectivity object and specular reflection object simultaneously, improves laser radar system's whole dynamic range.
Description
Technical Field
The application relates to the technical field of photoelectric information, in particular to a laser radar system.
Background
With the development of detection and ranging technology, lidar systems have emerged. The process of measuring object information through laser radar system can be at present, the object that awaits measuring is lighted by laser to reflect laser, the reverberation of object carries the positional information of object, and receives the reverberation through the receiving lens among the laser radar system, realizes photoelectric conversion through the detector, obtains the signal of telecommunication, and gives digital circuit with the signal of telecommunication transmission, utilizes data circuit to read and take notes.
In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: in a conventional laser radar system, when a detector performs photoelectric conversion, in order to ensure that the detector is not saturated and is limited by a damage threshold of the detector and a dynamic range of a reading circuit, a diffuse reflector signal is often unrecognized because sufficient signal-to-noise ratio and contrast cannot be obtained, and the problem of information loss or even incapability of resolving exists.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a laser radar system capable of improving the overall dynamic range.
In order to achieve the above object, embodiments of the present application provide a laser source; the laser source is used for emitting a laser beam;
a receiving device; the receiving device comprises a polarization separator;
a detection device; the detection device comprises a first detector and a second detector; the first detector is arranged on a transmission light path of the polarization separator; the second detector is arranged on the reflected light path of the polarization separator;
the laser beam irradiates a target object and is reflected by the target object to form object reflection light, and the object reflection light is separated by the polarization separator to form a transmission beam and a reflection beam; the transmitted beam is projected to a first detector; the reflected beam is projected at a second detector.
In one embodiment, the receiving device further comprises a receiving lens;
the object reflected light sequentially passes through the receiving lens and the polarization separator to form a transmitted beam and a reflected beam.
In one embodiment, the number of the receiving shots is 1 or more.
In one embodiment, the receiving device further comprises a receiving lens;
the object reflected light sequentially passes through the polarization separator and the receiving lens to form a transmitted beam and a reflected beam.
In one embodiment, the number of receiving shots is 2;
any receiving lens and the first detector are sequentially arranged on a transmission light path of the polarization separator; and the other receiving lens and the second detector are sequentially arranged on the reflection light path of the polarization separator.
In one embodiment, the polarization separator is a polarization splitting prism.
In one embodiment, the polarization separator is a glan thompson prism.
In one embodiment, the polarization separator is a glantt prism.
In one embodiment, the laser source is a linearly polarized laser source.
In one embodiment, the lidar system further includes a sampling circuit; the sampling circuit is respectively and electrically connected with the first detector and the second detector.
One of the above technical solutions has the following advantages and beneficial effects:
the laser source is used for emitting laser beams, the target object reflects the laser beams to obtain object reflected light, the polarization separator in the receiving device separates the object reflected light to obtain transmitted light beams and reflected light beams, so that the polarization difference of different types of reflected light of the object can be utilized to separate the light in different polarization directions, the first detector is arranged on a transmission light path of the polarization separator, the second detector is arranged on a reflected light path of the polarization separator, after the light reflected by the diffuse reflection object and the light reflected by the specular reflection object are separated, the first detector and the second detector can be used for respectively detecting signals with high signal intensity and signals with low signal intensity, the simultaneous detection of low-reflectivity objects and the specular reflection object is realized, and the whole dynamic range of the laser radar system is improved.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular description of preferred embodiments of the application, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the subject matter of the present application.
FIG. 1 is a first schematic block diagram of a lidar system in one embodiment;
FIG. 2 is a second schematic block diagram of a lidar system in an embodiment;
fig. 3 is a third schematic block diagram of a lidar system in an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "disposed," "transmitted light path," "reflected light path," "transmitted light beam," "reflected light beam," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The inventors have found that in the detection process of conventional lidar systems, it is often the case that both specular and diffuse objects are present in the field of view. Since the specular reflection object reflects only in a specific reverse direction, the reflected light of the specular reflection object received by the detector is strong. And the diffuse reflection object reflects towards all directions, and the reflected light of the diffuse reflection object received by the detector is weaker. At this time, the signals received by the detector are signals with high signal intensity reflected by the specular reflection object and signals with low signal intensity reflected by the diffuse reflection object.
Therefore, the application provides a laser radar system, the polarization difference of usable object different grade type reverberation separates the light of different polarization directions through receiving arrangement, and then can separate the light of diffuse reflection object reflection's light and specular reflection object reflection to detect the signal that signal intensity is high and the signal that signal intensity is low respectively through the detector, realize surveying low reflectivity object and specular reflection object simultaneously, improve laser radar system's whole dynamic range.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. 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.
In one embodiment, as shown in fig. 1, there is provided a lidar system comprising:
a laser source 110; the laser source 110 is for emitting a laser beam;
a receiving device 120; the receiving device 120 includes a polarization separator 121;
a detection device; the detecting means comprises a first detector 131 and a second detector 133; the first detector 131 is disposed on the transmission light path of the polarization separator 121; the second detector 133 is disposed on the reflected light path of the polarization separator 121;
the laser beam irradiates a target object and is reflected by the target object to form object reflection light, and the object reflection light is separated by the polarization separator to form a transmission beam and a reflection beam; the transmitted beam is projected at the first detector 131; the reflected beam is projected at a second detector 133.
Specifically, the lidar system includes a laser source 110, a receiving device 120, and a detection device. Wherein the laser source 110 is adapted to emit a laser beam. Further, the laser beam emitted from the laser source 110 may have a specific polarization, which may be achieved by selecting a specific polarization laser source or adjusting the emitted laser using a polarizer.
When the laser beam is projected to the target object, the target object reflects the laser beam emitted from the laser source 110 to form an object reflection light. Specifically, the reflected light received by the receiving device 120 is obtained by overlapping the reflected light of a plurality of objects in the field of view, and may include two types of reflective optical fibers: (1) the mirror surface reflects the reflected light of the object; (2) the diffuse reflection object reflects light rays.
The polarization separator 121 in the receiving device 120 transmits or reflects the reflected light according to the polarization difference of the different types of reflected light, that is, transmits any one of the types of reflected light and reflects another type of reflected light to obtain a transmitted light beam and a reflected light beam, so that the reflected light of the specular reflection object and the reflected light of the diffuse reflection object in the reflected light can be separated.
After the polarization separator 121 separates the reflected light of the specular reflection object from the reflected light of the diffuse reflection object, the first detector 131 is disposed on the transmission light path of the polarization separator 121, so that the transmission light beam can be identified by the first detector 131; by disposing the second detector 133 on the reflected light path of the polarization separator 121, the reflected light beam can be identified by the second detector 133. The first detector 133 and the second detector 133 are used for performing photoelectric conversion and obtaining electric signals, so that whether a target object exists in the view field and the position of the target object in the view field can be determined according to the electric signals obtained through conversion, and both the diffuse reflector signal and the specular reflector signal can obtain sufficient signal-to-noise ratio and contrast ratio, so that the diffuse reflector object and the specular reflector object in the view field can be identified, and the overall dynamic range of the laser radar system is improved.
It should be noted that the number of detectors in the lidar system is not limited to 2, and those skilled in the art may select a corresponding number and a corresponding arrangement manner of detectors according to actual conditions and design requirements.
In the above laser radar system, the laser source 110 is used to emit a laser beam, the target object reflects the laser beam to obtain an object reflected light, the polarization separator 121 in the receiving device 120 separates the object reflected light to obtain a transmitted beam and a reflected beam, so that the polarization difference of different types of reflected light of the object can be utilized, light of different polarization directions is separated, a first detector 131 is disposed on a transmission light path of the polarization separator 121, a second detector 133 is disposed on a reflection light path of the polarization separator 121, after light reflected by the diffuse reflection object and light reflected by the specular reflection object are separated, a signal with high signal intensity and a signal with low signal intensity can be respectively detected by the first detector 131 and the second detector 133, so that a low-reflectivity object and the specular reflection object can be simultaneously detected, and the whole dynamic range of the laser radar system is improved.
In one embodiment, the receiving device 120 further includes a receiving lens 123;
the object reflected light sequentially passes through the receiving lens 123 and the polarization separator 121 to form a transmitted beam and a reflected beam.
Specifically, the receiving device 120 includes a receiving lens 123 and a polarization separator 121, the receiving lens 123 is configured to receive light reflected by an object, the object-emitted light is collected by the receiving lens 123, and is transmitted to the polarization separator 121 through the receiving lens 123, the polarization separator 121 separates the object-reflected light to obtain a transmitted light beam and a reflected light beam, so that the reflected light of the diffuse reflection object and the reflected light of the specular reflection object can be transmitted along different optical paths, and the transmitted light beam is received by the first detector 131, and the reflected light beam is received by the second detector 133, so that the reflected light of the diffuse reflection object and the reflected light of the specular reflection object can be detected by the first detector 131 and the second detector 133, respectively.
In one embodiment, as shown in fig. 2, the number of the receiving lenses 123 is 1 or more.
Specifically, the number of the receiving lenses 123 in the receiving device 120 may be 1 or more, and when the number of the receiving lenses 123 is plural, the receiving and collecting of the light emitted from the object may be realized by a combination of plural lenses. When the number of the receiving lenses 123 is 1, the object reflected light is collected by the receiving lenses 123 and then separated by the polarization separator 121, the first detector 131 is disposed on the transmission light path of the polarization separator 121, and the second detector 133 is disposed on the reflection light path of the polarization separator 121, that is, the receiving lenses 123, the polarization separator 121, and the first detector 131 are sequentially disposed. After the polarization separator 121 separates the reflected light of the diffuse reflection object from the reflected light of the specular reflection object, the transmitted light beam of the polarization separator 121 can be detected by the first detector 131, and the reflected light beam of the polarization separator 121 can be detected by the second detector 133, so that the transmitted light beam and the reflected light beam of the polarization separator 121 can be subjected to photoelectric conversion by the corresponding independently arranged detectors, two types of reflected light can be detected by the two detectors, and thus the diffuse reflection object and the specular reflection object can both obtain sufficient signal-to-noise ratio and contrast, and the diffuse reflection object and the specular reflection object are identified, thereby improving the overall dynamic range of the laser radar system.
In one embodiment, the receiving device 120 further includes a receiving lens 123;
the light reflected by the object is projected to the first detector 131 and the second detector 133 through the polarization separator 121 and the receiving lens 123, respectively.
Specifically, the receiving device 120 includes a receiving lens 123 and a polarization separator 121, the polarization separator 121 transmits or reflects light reflected by an object, so that the reflected light of a diffuse reflection object and the reflected light of a specular reflection object can be transmitted along different optical paths, the receiving lens 123 is used to collect a transmitted light beam and a reflected light beam, and the transmitted light beam and the reflected light beam are subjected to photoelectric conversion by the first detector 131 and the second detector 133, so that the reflected light of the diffuse reflection object and the reflected light of the specular reflection object can be detected respectively, the overall dynamic range of the laser radar system can be improved, and a low-reflectivity object and a specular reflection object can be detected simultaneously.
In one embodiment, as shown in fig. 3, the number of receiving lenses 123 is 2;
any receiving lens 123 and the first detector 131 are sequentially arranged on the transmission light path of the polarization separator 121; another receiving lens 123 and a second detector 133 are sequentially disposed on the reflected light path of the polarization separator 121.
Specifically, any one of the receiving lens 123 and the first detector 131 is sequentially disposed on the transmission light path of the polarization separator 121, and the other one of the receiving lens 123 and the second detector 133 is sequentially disposed on the reflection light path of the polarization separator 121. That is, in the transmission optical path of the polarization separator 121, any one of the receiving lenses 123, and the first detector 131 are sequentially disposed, and in the reflection optical path of the polarization separator 121, the other receiving lens 123, and the second detector 133 are sequentially disposed.
After the polarization separator 121 separates the reflected light of the diffuse reflection object and the reflected light of the specular reflection object, the transmission beam is collected by the receiving lens 123 disposed on the transmission optical path, and the transmission beam is photoelectrically converted by the first detector 131. The receiving lens 123 arranged on the reflection light path collects the reflection light beams, and performs photoelectric conversion on the reflection light beams through the second detector 133, so that the transmission light beams and the reflection light beams can be collected and converted through the corresponding receiving lens 123 and the corresponding detector respectively, and the detection of the two types of reflection light beams respectively is realized, so that the diffuse reflector signals and the specular reflector signals can both obtain sufficient signal-to-noise ratio and contrast, the diffuse reflection objects and the specular reflection objects are identified, and the whole dynamic range of the laser radar system is improved.
In one embodiment, polarization separator 121 is a polarization splitting prism.
In one embodiment, the polarization separator 121 is a glan thompson prism.
In one embodiment, the polarization separator 121 is a glantt prism.
It should be noted that the polarization splitter 121 includes, but is not limited to, a polarization splitting prism, a glan thompson prism, and a glan tetter prism, and those skilled in the art can select a corresponding type of polarization splitting device according to actual conditions and design requirements to separate the reflected light of the specular reflection object from the reflected light of the diffuse reflection object.
In one embodiment, the laser source 110 is a linearly polarized laser source.
Specifically, the laser source 110 is a linearly polarized laser source, i.e., the laser source 110 may be configured to emit linearly polarized light. When the laser light emitted from the laser source 110 is linearly polarized light and is s-polarized light or p-polarized light, the diffuse reflection light has the polarization characteristic of natural light, and the specular reflection light is still linearly polarized light. In this case, there is a polarization difference between the light reflected by the diffuse reflection object and the light reflected by the specular reflection object, so that the light with different polarization directions in the received reflected light can be separated by the receiving device 120, and the separated laser light is detected by the corresponding detectors, so that the diffuse reflection object and the specular reflection object in the field of view can be identified at the same time.
When the linearly polarized laser source emits a beam of linearly polarized laser, which may be s-polarized laser or p-polarized laser, the linearly polarized laser illuminates the diffuse reflection object or the specular reflection object, and the reflected lights of the two objects are collected and separated by the receiving device 120, so that the reflected lights of the diffuse reflection object and the specular reflection object can be identified by the corresponding detectors, and the diffuse reflection object and the specular reflection object in the field of view can be identified at the same time.
In one embodiment, the lidar system further includes a sampling circuit; the sampling circuit is electrically connected to the first detector 131 and the second detector 133, respectively.
Specifically, the sampling circuits are electrically connected to the first detector 131 and the second detector 133, respectively. The first detector 131 and the second detector 133 are both configured to perform photoelectric conversion on the received optical signal to obtain an electrical signal, and transmit the converted electrical signal to the sampling circuit, and the sampling circuit reads and records the electrical signal, so that the electrical signal can be processed and whether an object and the position of each object exist in the field of view can be determined according to the processed result.
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 utility model. 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 laser source; the laser source is used for emitting a laser beam;
a receiving device; the receiving device comprises a polarization separator;
a detection device; the detection device comprises a first detector and a second detector; the first detector is arranged on a transmission light path of the polarization separator; the second detector is arranged on a reflection light path of the polarization separator;
the laser beam irradiates a target object and is reflected by the target object to form object reflection light, and the object reflection light is separated by the polarization separator to form a transmission beam and a reflection beam; the transmitted beam is projected at the first detector; the reflected beam is projected at the second detector.
2. The lidar system of claim 1, wherein the receiving means further comprises a receiving lens;
and the object reflected light sequentially passes through the receiving lens and the polarization separator to form the transmitted light beam and the reflected light beam.
3. The lidar system of claim 2, wherein the number of the receiving lenses is 1 or more.
4. The lidar system of claim 1, wherein the receiving means further comprises a receiving lens;
and the object reflected light sequentially passes through the polarization separator and the receiving lens to form the transmitted light beam and the reflected light beam.
5. The lidar system of claim 4, wherein the number of receiving lenses is 2;
any receiving lens and the first detector are sequentially arranged on a transmission light path of the polarization separator; and the other receiving lens and the second detector are sequentially arranged on a reflection light path of the polarization separator.
6. The lidar system of any of claims 2 to 5, wherein the polarization separator is a polarization splitting prism.
7. The lidar system of any of claims 2 to 5, wherein the polarization separator is a Glan Tompson prism.
8. The lidar system of any of claims 2 to 5, wherein the polarization separator is a Glansted prism.
9. Lidar system according to any of claims 1 to 5, wherein the laser source is a linearly polarized laser source.
10. The lidar system of any of claims 1 to 5, further comprising a sampling circuit; the sampling circuit is respectively and electrically connected with the first detector and the second detector.
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| CN202021557115.8U CN212965407U (en) | 2020-07-30 | 2020-07-30 | Laser radar system |
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| CN202021557115.8U CN212965407U (en) | 2020-07-30 | 2020-07-30 | Laser radar system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024026742A1 (en) * | 2022-08-02 | 2024-02-08 | 探维科技(北京)有限公司 | Laser radar and feature information acquisition method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024026742A1 (en) * | 2022-08-02 | 2024-02-08 | 探维科技(北京)有限公司 | Laser radar and feature information acquisition method |
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