CN213581331U - Optimization device for background light noise of laser radar - Google Patents
Optimization device for background light noise of laser radar Download PDFInfo
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- CN213581331U CN213581331U CN202022384118.2U CN202022384118U CN213581331U CN 213581331 U CN213581331 U CN 213581331U CN 202022384118 U CN202022384118 U CN 202022384118U CN 213581331 U CN213581331 U CN 213581331U
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Abstract
The utility model discloses an optimizing device of background light noise of laser radar, which comprises an optical isolation device and is made of opaque material; wherein each optical element in the transmitting optical system is installed inside the optical isolation device, and each optical element of the receiving optical system is installed outside the optical isolation device so as to isolate the transmitting optical path from the receiving optical path through the optical isolation device; the interior of the optical isolation device is additionally coated with the matting paint, so that when scattered light generated by the transmitting optical system is incident on the surface of the matting paint, the scattered light is absorbed by the matting paint. The optical isolation device is additionally arranged in the laser radar system, so that the transmitting light path and the receiving light path can be isolated, the scattered light of the transmitted light beam is prevented from being detected by the receiving optical element, the background light noise of the laser radar is effectively reduced, and the misjudgment is further reduced; the light isolation device can effectively prevent scattered light from escaping after being reflected for many times.
Description
Technical Field
The utility model belongs to the technical field of laser radar, more specifically relates to an optimization device of laser radar background light noise.
Background
The laser radar belongs to active detection equipment, and performs target detection by transmitting a detection laser signal to a target and receiving a weak laser signal returned by the target. In order to improve the detection distance and accuracy, most of receiving optical elements of the laser radar adopt high-sensitivity receiving optical elements, and can stably detect weak optical signals; however, this design also introduces a new problem, namely that weak light scattering inside the emitting element will also be detected by the receiving optical element and form a system false decision. The laser radar product has more and more perfect functions after years of development, but the structure of the laser radar product is more complicated. Each additional optical element increases a plurality of optical surfaces, and even if the optical surfaces adopt the coating technology to reduce scattering, the optical surfaces have weak light scattering intensity. After the weak scattered light is detected by the receiving optical element, the laser radar is prone to misjudge that a target exists in the vicinity, and normal target detection is affected.
The optical path systems of the laser radar are mainly divided into two types, namely a transmitting and receiving non-coaxial axis and a transmitting and receiving coaxial axis. When the transmitting light path and the receiving light path are not coaxial, the transmitting light path and the receiving light path are separated from each other, the scattered light of the optical element in the transmitting light path can not be received by the receiving light path, and the light noise generated by the laser radar does not exist. When the transmitting light path and the receiving light path share the same optical axis, the optical axis of the transmitting light path is superposed with the optical axis of the receiving light path, and the transmitting light path system is positioned in the middle of the receiving light path; moreover, the optical element through which the emitted light beam passes can generate scattered interference light due to processing defects, scattering of the material itself, and the like; when the transmitting and receiving are coaxial, the scattered interference light is easy to be received by the detector, background light noise is generated, and then the detection of a near target of the laser radar is influenced, namely a near detection blind area exists.
SUMMERY OF THE UTILITY MODEL
To prior art's above defect or improvement demand, the utility model provides a laser radar background light noise's optimization device, its aim at keeps apart transmitting optical system and receiving optical system, and the scattered light of avoiding the transmission beam is detected by receiving optical element, reduces laser radar's background light noise, solves the laser radar misjudgement problem that leads to by background light noise from this.
In order to achieve the purpose, the utility model provides an optimization device of background light noise of laser radar, which comprises an optical isolation device, and is made of opaque materials; wherein each optical element in the transmitting optical system is installed inside the optical isolation device, and each optical element in the receiving optical system is installed outside the optical isolation device, so that the transmitting optical path and the receiving optical path are isolated by the optical isolation device.
Preferably, the optical isolator is internally plated with a matting varnish so that when scattered light generated by the emission optical system is incident on the surface of the matting varnish, the scattered light is absorbed by the matting varnish.
Preferably, the emission optical system includes a first emission light source 2, a first emission lens 3, a reflecting mirror 4, a 45-degree reflecting prism 7, and a compensation lens 5, which are sequentially disposed along an emission optical path.
Preferably, the receiving optical system includes a filter 8, a first receiving lens 9, and a first receiving detector 10, which are sequentially disposed along a receiving optical path.
Preferably, a first scanning mirror 6 is further provided between the emission optical system and the reception optical system, the first scanning mirror 6 being mounted in particular after the compensation lens 5;
the detection light signal emitted by the first emission light source 2 sequentially passes through the first emission lens 3, the reflector 4, the 45-degree reflection prism 7, the compensation lens 5 and the first scanning mirror 6 and then reaches a detection target; the reflected light signal returned by the detection target passes through the first scanning mirror 6, the optical filter 8 and the first receiving lens 9 in sequence, and then is received by the first receiving detector 10.
Preferably, the optical isolation device adopts a first optical isolation device 1, the central mirror surface part of the first scanning mirror 6 is covered by the first optical isolation device 1, and the peripheral mirror surface part is uncovered, so that a certain optical path transmission space is reserved between the first scanning mirror 6 and the first optical isolation device 1.
Preferably, the emission optical system includes a second emission light source 14 and a second emission lens 15 sequentially disposed along the emission optical path.
Preferably, the receiving optical system includes a second receiving lens 12 and a second receiving detector 11 sequentially disposed along the receiving optical path.
Preferably, a second scanning mirror 16 is further disposed between the emission optical system and the receiving optical system, and the second scanning mirror 16 is specifically mounted behind the second emission lens 15;
the detection light signal emitted by the second emission light source 14 sequentially passes through the second emission lens 15 and the second scanning mirror 16, and then reaches a detection target; the reflected light signal returned by the detection target passes through the second scanning mirror 16 and the second receiving lens 12 in sequence, and is received by the second receiving detector 11.
Preferably, the optical isolation device adopts a second optical isolation device 13, the central mirror surface part of the second scanning mirror 16 is covered by the second optical isolation device 13, and the peripheral mirror surface part is uncovered, so that a certain optical path transmission space is reserved between the second scanning mirror 16 and the second optical isolation device 13.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, has following beneficial effect: the utility model provides an among the optimization device of laser radar background light noise, optical isolation device has been increased in traditional optical system, install emission optical element and set up in optical isolation device, receive optical element and install and set up outside optical isolation device, thereby keep apart emission light path and receiving light path, the scattered light of avoiding the emission beam is detected by receiving optical element, can effectively reduce laser radar's background light noise, reduce laser radar's detection blind area, reduce laser radar's erroneous judgement, especially, be fit for transmitting the coaxial laser radar of light path and receiving light path; furthermore, the interior of the optical isolation device is additionally coated with the matting paint, so that scattered light is absorbed by the matting paint when being incident on the surface of the matting paint, and the optical isolation device can be effectively prevented from escaping after the scattered light is reflected for multiple times, and further optical crosstalk is generated.
Drawings
Fig. 1 is a schematic diagram of an optimization apparatus for background light noise of a laser radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of another apparatus for optimizing background light noise of a laser radar according to an embodiment of the present invention;
the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
the device comprises a first optical isolation device 1, a first emission light source 2, a first emission lens 3, a reflecting mirror 4, a compensation lens 5, a first scanning mirror 6, a 45-degree reflecting prism 7, an optical filter 8, a first receiving lens 9, a first receiving detector 10, a second receiving detector 11, a second receiving lens 12, a second optical isolation device 13, a second emission light source 14, a second emission lens 15 and a second scanning mirror 16.
Detailed Description
In order to solve the problem of misjudgment of the laser radar caused by background light noise, aiming at a laser radar system with a transmitting light path and a receiving light path sharing the same optical axis, the utility model provides an optimization device of the background light noise of the laser radar, which is mainly characterized in that an optical isolation device is additionally arranged in the traditional laser radar system, and the optical isolation device is made of a light-tight material; wherein, each optical element among the emission optical system all installs the setting inside optical isolation device, and each optical element among the receiving optical system all installs the setting and is in optical isolation device is outside, and then the accessible optical isolation device keeps apart emission light path and receiving light path, and the scattered light of avoiding the emission beam is detected by receiving optical element, effectively reduces laser radar's background light noise, reduces the erroneous judgement.
Furthermore, in order to avoid scattered light from escaping from the optical isolation device after being reflected for multiple times and being detected by a receiving light path, further optical crosstalk is generated, the optical isolation device is additionally plated with matting paint, when the scattered light generated by the transmitting optical system enters the surface of the matting paint, the scattered light can be absorbed by the matting paint, and therefore the scattered light is prevented from escaping from the optical isolation device and being detected by the receiving light path.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in 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 invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
Example 1
As shown in fig. 1, in a typical coaxial optical path lidar system, the transmitting optical system includes a first transmitting light source 2, a first transmitting lens 3, a reflecting mirror 4, a 45-degree reflecting prism 7 and a compensating lens 5, which are sequentially arranged along a transmitting optical path, wherein the reflecting mirror 4 is generally disposed at 45 degrees to an incident direction of a probe light signal; the receiving optical system comprises an optical filter 8, a first receiving lens 9 and a first receiving detector 10 which are sequentially arranged along a receiving optical path; a first scanning mirror 6 is further disposed between the emission optical system and the receiving optical system, and is specifically installed behind the compensation lens 5, and a mirror surface of the first scanning mirror 6 is generally placed at 45 degrees to an incident direction of the probe optical signal.
As can be seen from the emitting optical path and the receiving optical path marked in fig. 1, the detection light signal emitted by the first emitting light source 2 sequentially passes through the first emitting lens 3, the reflecting mirror 4, the 45-degree reflecting prism 7, the compensating lens 5, and the first scanning mirror 6, and then reaches the detection target; the reflected light signal returned by the detection target passes through the first scanning mirror 6, the optical filter 8 and the first receiving lens 9 in sequence, and then is received by the first receiving detector 10.
In the above-mentioned transmitting optical system, because each transmitting optical element may have problems of processing defect, material scattering, etc., each transmitting optical element may generate a certain degree of optical signal scattering, and after multiple reflections, the scattered optical signal is easily received by the first receiving lens 9 and finally reaches the first receiving detector 10, which causes a certain background light noise, thereby generating interference to the echo of the detected target.
To the background light noise interference problem that coaxial optical system shown in fig. 1 exists, the embodiment of the utility model provides a light isolating device has been designed, can keep apart transmitting optical system and receiving optical system. As shown in fig. 1, a first optical isolator 1 is additionally arranged in an optical system and made of opaque materials, each transmitting optical element (including a first transmitting light source 2, a first transmitting lens 3, a reflecting mirror 4, a 45-degree reflecting prism 7 and a compensating lens 5) in the transmitting optical system is arranged in the first optical isolator 1, each receiving optical element (including an optical filter 8, a first receiving lens 9 and a first receiving detector 10) in the receiving optical system is arranged outside the first optical isolator 1, so that a transmitting light path and a receiving light path are isolated, scattered light of the transmitting light beam is ensured not to be received by the receiving light path, and generation of background noise light is effectively reduced.
Further, in order to prevent the scattered light generated by the emitting optical system from escaping the first optical isolator 1 after being reflected for multiple times and being detected by the receiving optical path, and further generating optical crosstalk, in a preferred embodiment, a matting paint is further added inside the first optical isolator 1, and when the scattered light generated by the emitting optical system enters the surface of the matting paint, the scattered light can be absorbed by the matting paint, so that the scattered light is ensured not to escape the optical isolator and be detected by the receiving optical path, and the generation of background noise light is further reduced.
The first optical isolation device 1 can be specifically manufactured into a form of an optical isolation tube or an optical isolation cover, and each emitting optical element in the emitting optical system is arranged to be roughly in a Z-shaped structure, so that the first optical isolation device 1 can be correspondingly designed into a Z-shaped structure coupled with the emitting optical system, and further, the optical path isolation is carried out more effectively.
Further, in the vicinity of the first scanning mirror 6, in order to avoid blocking the transmission signal light and the return signal light, the first optical isolation device 1 cannot completely cover the first scanning mirror 6, and a sufficient optical path transmission space should be left. With reference to fig. 1, the following can be specifically designed: first scanning mirror 6 sets up the end of first isolating device 1, just first isolating device 1 end opening, the central mirror surface part of first scanning mirror 6 by the end of first optical isolating device 1 covers, and peripheral mirror surface part is uncovered, makes first scanning mirror 6 with reserve certain light path transmission space between the first optical isolating device 1.
The utility model provides an among the above-mentioned optimizing device, increase first optical isolating device in traditional optical system, with the installation of emission optical component set up in first optical isolating device, receive optical component installation and set up outside first optical isolating device to keep apart emission light path and receipt light path, avoid the scattered light of emission beam to be detected by receiving optical component, can effectively reduce the laser radar misjudgement that background light noise interference caused; the interior of the first optical isolation device is additionally coated with the matting paint to absorb scattered light, so that the scattered light can be effectively prevented from escaping from the first optical isolation device after being reflected for multiple times and being received by a receiving light path, and the generation of background light noise is further reduced.
Example 2
As shown in fig. 2, in another typical on-axis optical path lidar system, the transmitting optical system includes a second transmitting light source 14 and a second transmitting lens 15, which are sequentially arranged along a transmitting optical path, the receiving optical system includes a second receiving lens 12 and a second receiving detector 11, which are sequentially arranged along a receiving optical path, a second scanning mirror 16 is further arranged between the transmitting optical system and the receiving optical system, the second scanning mirror 16 is specifically installed behind the second transmitting lens 15, and the mirror surface of the first scanning mirror 6 is generally placed at 45 degrees to the incident direction of the detection light signal.
As can be seen from the emitting optical path and the receiving optical path marked in fig. 2, the detection light signal emitted by the second emitting light source 14 sequentially passes through the second emitting lens 15 and the second scanning mirror 16, and then reaches the detection target; the reflected light signal returned by the detection target passes through the second scanning mirror 16 and the second receiving lens 12 in sequence, and is received by the second receiving detector 11.
In the above-mentioned transmitting optical system, because each transmitting optical element may have problems of processing defect, material scattering, etc., each transmitting optical element may generate a certain degree of optical signal scattering, and after multiple reflections, the scattered optical signal is easily received by the second receiving lens 12 and finally reaches the second receiving detector 11, which causes a certain background light noise, thereby generating interference to the echo of the detected target.
To the background light noise interference problem that coaxial optical system shown in fig. 2 exists, the embodiment of the utility model provides a light isolating device has been designed, can keep apart transmitting optical system and receiving optical system. As shown in fig. 2, a second optical isolator 13 is additionally arranged in the optical system and made of opaque material, each transmitting optical element (including a second transmitting light source 14 and a second transmitting lens 15) in the transmitting optical system is arranged in the second optical isolator 13, and each receiving optical element (including a second receiving lens 12 and a second receiving detector 11) in the receiving optical system is arranged outside the second optical isolator 13, so that the transmitting optical path and the receiving optical path are isolated, the scattered light of the transmitting light beam is ensured not to be received by the receiving optical path, and the generation of background noise light is effectively reduced.
The second optical isolation device 13 can be specifically manufactured into an optical isolation tube or an optical isolation cover, and because only two transmitting optical elements are arranged in the transmitting optical system, the second optical isolation device 13 can be correspondingly designed into a straight cylindrical structure coupled with the transmitting optical system, so that the optical path isolation is performed more effectively.
Further, in order to prevent the scattered light generated by the emitting optical system from escaping the second optical isolator 13 after multiple reflections and being detected by the receiving optical path, and further generating optical crosstalk, in a preferred embodiment, a matting paint is further added inside the second optical isolator 13, and when the scattered light generated by the emitting optical system enters the surface of the matting paint, the scattered light can be absorbed by the matting paint, so that the scattered light is ensured not to escape the optical isolator and be detected by the receiving optical path, and generation of background noise light is further reduced. The deposition design of the matting varnish is more critical to the lidar system (i.e., fig. 2) in the embodiment of the present invention because the optical path is more compact, and if the matting varnish is not deposited, the scattered light can easily escape from the second optical isolator 13 after multiple reflections and then be detected by the receiving optical path, which causes background light noise.
Further, in the vicinity of the second scanning mirror 16, in order to avoid blocking the transmission signal light and the return signal light, the second optical isolation device 13 cannot completely cover the second scanning mirror 16, and a sufficient optical path transmission space should be left. With reference to fig. 2, the following can be specifically designed: the second scanning mirror 16 is disposed at the end of the second isolation device 13, and the end of the second isolation device 13 is open, the central mirror surface portion of the second scanning mirror 16 is covered by the end of the second optical isolation device 13, and the peripheral mirror surface portion is uncovered, so that a certain optical path transmission space is reserved between the second scanning mirror 16 and the second optical isolation device 13.
The utility model provides an among the above-mentioned optimizing device, increase second optical isolating device in traditional optical system, with the installation of emission optical element set up in second optical isolating device, receive optical element installation and set up outside second optical isolating device to keep apart emission light path and receiving light path, avoid the scattered light of emission beam to be detected by receiving optical element, can effectively reduce the laser radar misjudgement that background light noise interference caused; the interior of the second optical isolation device is additionally coated with the matting paint to absorb scattered light, so that the scattered light can be effectively prevented from escaping from the second optical isolation device after being reflected for multiple times and being received by a receiving light path, and the generation of background light noise is further reduced.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The optimization device for the background light noise of the laser radar is characterized by comprising an optical isolation device, a light source and a light source, wherein the optical isolation device is made of an opaque material; wherein each optical element in the transmitting optical system is installed inside the optical isolation device, and each optical element in the receiving optical system is installed outside the optical isolation device, so that the transmitting optical path and the receiving optical path are isolated by the optical isolation device.
2. The apparatus of claim 1, wherein the optical isolator is coated with a matting varnish such that when the scattered light generated by the transmitting optical system is incident on the matting varnish, the scattered light is absorbed by the matting varnish.
3. The lidar background light noise optimization device according to claim 1, wherein the emission optical system comprises a first emission light source (2), a first emission lens (3), a reflector (4), a 45-degree reflection prism (7) and a compensation lens (5) which are arranged in sequence along an emission optical path.
4. The lidar background light noise optimization device according to claim 3, wherein the receiving optical system comprises a filter (8), a first receiving lens (9) and a first receiving detector (10) which are arranged in sequence along a receiving optical path.
5. The lidar background light noise optimization device according to claim 4, wherein a first scanning mirror (6) is further disposed between the transmitting optical system and the receiving optical system, the first scanning mirror (6) being specifically mounted behind the compensation lens (5);
the detection light signal emitted by the first emission light source (2) sequentially passes through the first emission lens (3), the reflector (4), the 45-degree reflecting prism (7), the compensation lens (5) and the first scanning mirror (6) and then reaches a detection target; and the reflected light signal returned by the detection target passes through the first scanning mirror (6), the optical filter (8) and the first receiving lens (9) in sequence and is received by the first receiving detector (10).
6. The lidar background light noise optimization device according to claim 5, wherein the optical isolation device is a first optical isolation device (1), the central mirror portion of the first scanning mirror (6) is covered by the first optical isolation device (1), and the peripheral mirror portion is uncovered, so that a certain optical path transmission space is reserved between the first scanning mirror (6) and the first optical isolation device (1).
7. The lidar background light noise optimization device of claim 1, wherein the emission optical system comprises a second emission light source (14) and a second emission lens (15) sequentially arranged along an emission optical path.
8. The lidar background light noise optimization apparatus according to claim 7, wherein the receiving optical system comprises a second receiving lens (12) and a second receiving detector (11) sequentially arranged along a receiving optical path.
9. The lidar background light noise optimization device according to claim 8, wherein a second scanning mirror (16) is further disposed between the transmitting optical system and the receiving optical system, the second scanning mirror (16) being specifically mounted behind the second transmitting lens (15);
the detection light signal emitted by the second emission light source (14) sequentially passes through the second emission lens (15) and the second scanning mirror (16) and then reaches a detection target; and the reflected light signal returned by the detection target passes through the second scanning mirror (16) and the second receiving lens (12) in sequence and is received by the second receiving detector (11).
10. The lidar background light noise optimization device of claim 9, wherein the optical isolation device is a second optical isolation device (13), the central mirror portion of the second scanning mirror (16) is covered by the second optical isolation device (13), and the peripheral mirror portion is uncovered, so that a certain optical path transmission space is reserved between the second scanning mirror (16) and the second optical isolation device (13).
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| CN202022384118.2U CN213581331U (en) | 2020-10-23 | 2020-10-23 | Optimization device for background light noise of laser radar |
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| CN202022384118.2U CN213581331U (en) | 2020-10-23 | 2020-10-23 | Optimization device for background light noise of laser radar |
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