CN213658965U - Receiving system of laser radar and laser radar - Google Patents
Receiving system of laser radar and laser radar Download PDFInfo
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- CN213658965U CN213658965U CN202021331570.6U CN202021331570U CN213658965U CN 213658965 U CN213658965 U CN 213658965U CN 202021331570 U CN202021331570 U CN 202021331570U CN 213658965 U CN213658965 U CN 213658965U
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Abstract
The embodiment of the utility model discloses laser radar's receiving system and laser radar. The receiving system of the laser radar comprises a receiving mirror group and a detection module which are sequentially arranged along a light propagation path; the receiving lens group comprises at least two zoom lens groups; the at least two zoom lens groups are used for moving along the light propagation direction in the zooming process so as to focus the echo light beams on the detection surface of the detection module; the echo light beam is a light beam reflected after the laser light beam emitted by the emission system irradiates on the target object. The embodiment of the utility model provides a laser radar's receiving system can shorten receiving optical system's processing cycle, reduces laser radar's cost.
Description
Technical Field
The embodiment of the utility model provides a relate to radar technical field, especially relate to a laser radar's receiving system and laser radar.
Background
The laser radar is a radar system for emitting laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is that the detection laser beams are emitted to the target through an emission optical system, then a receiving optical system receives signals reflected from the target, finally the laser radar compares the reflected signals with the emitted signals, and relevant information of the target, such as parameters of target distance, direction, height, speed, shape and the like, can be obtained after appropriate processing.
In the prior art, a transmitting optical system and a receiving optical system of a laser radar are generally designed as an integral scheme, so that the receiving optical system is designed as a fixed focus system under the condition that the transmitting optical system is fixed, and thus, the laser radar is often only suitable for specific scenes, such as: once the divergence angle of the transmitting optical system is changed, the receiving spot size of the transmitting optical system is changed, and the photosensitive surfaces with different sizes in the receiving optical system are required to be replaced to adapt to the changed spot size. However, since the processing cycle of the general optical components, such as the receiving optical system, is long and the cost is high, if the photosensitive surfaces with different sizes are replaced, the processing cycle of the receiving optical system is increased, and the cost of the laser radar is increased.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a laser radar's structural system and laser radar can shorten receiving optical system's processing cycle, reduces laser radar's cost.
In a first aspect, an embodiment of the present invention provides a receiving system of laser radar, which includes: the receiving lens group and the detection module are sequentially arranged along the light propagation path;
the receiving lens group comprises at least two zoom lens groups;
the at least two zoom lens groups are used for moving along the light propagation direction in the zooming process so as to focus the echo light beams on the detection surface of the detection module;
the echo light beam is a light beam reflected after the laser light beam emitted by the emission system irradiates on the target object.
Further, during zooming, the detection module moves along the direction of the light propagation.
Further, the receiving lens group further comprises at least one fixed lens group; the position of the fixed mirror group is fixed.
Further, the zoom lens group comprises at least one of a lens group, a single lens and a double cemented lens.
Further, the detection module comprises an avalanche photodiode, a silicon photomultiplier detector or a pin-tube photodetector.
The optical zoom lens further comprises an adjusting module, wherein the adjusting module is used for adjusting the positions of the zoom lens groups so as to enable the at least two zoom lens groups to move along the light propagation direction in the zooming process.
Further, the adjustment module comprises a motor and a connecting rod; the motor is connected with one end of the connecting rod, and the other end of the connecting rod is connected with the zoom lens group; alternatively, the first and second electrodes may be,
the adjusting module comprises a cam wheel; a cam groove is arranged in the cam wheel; the zoom lens group is provided with a cam follower; the cam groove and the cam follower are engaged.
Further, the focal length of the receiving lens group satisfies:
D＝2fβ；
wherein D is the diameter of a light spot of the echo light beam on a detection surface of the detection module; f is the focal length of the receiving lens group; beta is the divergence angle of the laser beam emitted by the emitting system.
Further, the at least two zoom lens groups include a first zoom lens group and a second zoom lens group; the distance between the first zoom lens group and the second zoom lens group satisfies the following condition:
wherein f1 is the focal length of the first zoom lens group; f2 is the focal length of the second zoom lens group; l is the distance between the first zoom lens group and the second zoom lens group; f is the focal length of the receiving lens group.
In a second aspect, the embodiment of the present invention further provides a lidar which includes a transmitting system and a first aspect arranged in sequence along a light propagation path.
The embodiment of the utility model provides a laser radar's receiving system and laser radar, through making two at least zoom lens group along the direction removal of light propagation, through adjusting the relative position between two zoom lens groups promptly in order to change the focus of receiving lens group, when solving among the prior art the divergence angle of the laser beam of emission optical system transmission and appearing changing, need change the photosurface of different sizes among the receiving system in order to adapt to the problem of the facula size that changes, enlarge receiving system's range of application, the receiving system of the laser radar that this embodiment provided both can be applicable to the detection face of same size under the different divergence angle condition through zooming, the detection face of different sizes when also being applicable to same emission optical system simultaneously; and the receiving system can be suitable for laser radars with different specifications, and does not need to be adapted to the laser radars with single specification like the traditional fixed focal length receiving system, and has higher adaptability. In addition, the receiving system can be used for preliminary evaluation of the radar scheme in the early stage, and the system specification can be determined more conveniently.
Drawings
Fig. 1 is a schematic structural diagram of a receiving system of a laser radar according to an embodiment of the present invention;
fig. 2 is a comparison diagram of a first zoom lens group and a second zoom lens group provided by the embodiment of the present invention before and after moving;
fig. 3 is a schematic diagram of a receiving system of a laser radar according to an embodiment of the present invention;
fig. 4 is a comparison diagram of a second zoom lens set and a detection module provided in the embodiment of the present invention before and after movement;
fig. 5 is a schematic structural diagram of a receiving system of another laser radar according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a receiving system of another laser radar according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a laser radar according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of a receiving system of a laser radar provided by an embodiment of the present invention, as shown in fig. 1, a receiving system 100 of a laser radar provided by an embodiment of the present invention includes: the receiving lens group 10 and the detection module 20 are arranged in sequence along the light propagation path; the receiving lens group 10 comprises at least two zoom lens groups 11 arranged in sequence along a light propagation path; the at least two zoom lens groups 11 are used for moving along the light propagation direction in the zooming process so as to focus the echo light beams on the detection surface AA of the detection module 20; the echo light beam is a light beam reflected after the laser light beam emitted by the emission system irradiates on the target object.
In this embodiment, the distance between the at least two zoom lens groups 11 is changed by moving the at least two zoom lens groups 11 along the light propagation direction, so that the focal length of the receiving lens group 10 is changed, and thus, even if the divergence angle of the laser beam emitted by the emitting system is changed, the size of the light spot reaching the detection surface AA of the detection module 20 may not be changed because the focal length of the receiving lens group 10 is changed, thereby solving the problem that the detection surface AA of the detection module 20 with different sizes in the receiving system needs to be changed to adapt to the changed light spot size when the divergence angle of the laser beam emitted by the emitting optical system is changed in the prior art, and expanding the application range of the receiving system 100. The lens group 11 moves along the light propagation direction, and can move forward along the light propagation direction, or move backward along the light propagation direction, so that the distance between the whole zoom lens group 11 and the detection surface AA of the detection module 20 changes, and the purpose of adjusting the focal length of the whole receiving system is achieved.
Illustratively, with continuing reference to fig. 1, the receiving lens assembly 10 includes two zoom lens assemblies 11 arranged in sequence along the light propagation path, the two zoom lens assemblies 11 include a first zoom lens assembly 111 and a second zoom lens assembly 112, the first zoom lens assembly 111 is movable along the light propagation direction, the second zoom lens assembly 112 is also movable along the light propagation direction, when the focal length of the first zoom lens assembly 111 is f1 and the focal length of the second zoom lens assembly 112 is f2, the focal length of the receiving system 100 satisfies:
where f is the focal length of the receiving system 100 of the laser radar, and L is the distance between the first zoom lens group 111 and the second zoom lens group 112. Therefore, the distance L between the first zoom lens group 111 and the second zoom lens group 112 can be changed by moving the first zoom lens group 111 and the second zoom lens group 112, as shown in fig. 2, wherein fig. 2 is a comparison diagram before and after the first zoom lens group and the second zoom lens group provided by the embodiment of the present invention move, and then the focal length of the receiving system 100 of the laser radar is changed. Fig. 3 is a schematic diagram of a receiving system of a laser radar according to an embodiment of the present invention, as shown in fig. 3, since the focal length of the receiving lens group 10 satisfies: d ═ 2ftan β, where D is the diameter of the spot of the echo beam on the detection plane AA; f is the focal length of the receiving lens group 10; beta is the divergence angle of the laser beam alpha emitted by the emitting system, and since the emitting angle of the general radar emitting optical system is generally small, tan beta can be approximated to beta, so the formula can be approximated to: d ═ 2f β. It can be seen that the divergence angle of the laser beam emitted by the emitting system is β, the focal length of the receiving system 100 is f, the diameter of the spot of the echo beam arriving on the detection surface of the detection module 20 via the receiving system 100 is D, when the divergence angle β of the laser beam emitted by the emitting system changes, the diameter of the spot of the echo beam on the detection plane AA changes, in particular, when the divergence angle β of the laser beam emitted by the emitting system becomes larger, the diameter of the spot of the echo beam on the detecting surface AA also becomes larger, therefore, in the present embodiment, by changing the distance L between the first zoom lens group 111 and the second zoom lens group 112, the focal length of the receiving system of the lidar is changed, even if the divergence angle of the laser beam emitted by the emitting system is changed to beta, the diameter of the spot of the echo beam on the detection surface AA is not changed by changing the focal length of the receiving system of the laser radar. In this way, the problem that when the divergence angle of the laser beam emitted by the emission optical system is changed, the detection surface AA of the detection module 20 with different sizes in the receiving system of the laser radar needs to be replaced to adapt to the changed spot size is avoided.
It can be understood that the receiving system of the laser radar provided by the embodiment can be suitable for detection surfaces with the same size under different divergence angles through zooming; meanwhile, the method is also suitable for detection surfaces with different sizes in the same emission optical system, and the embodiment is not particularly limited.
Optionally, the variable focus lens package 10 includes at least one of a lens package, a single lens and a double cemented lens. It should be noted that the present embodiment does not limit the specific structure of the zoom lens group 10.
Optionally, the detection module 20 includes an avalanche photodiode, a silicon photomultiplier (SiPM) detector, or a pin-tube photodetector.
To sum up, the embodiment of the utility model provides a receiving system of laser radar, through making two at least zoom lens group along the direction removal of light propagation, through adjusting the relative position between two zoom lens groups promptly with the focus that changes the receiving lens group, when solving among the prior art laser beam's of emission optical system transmission divergence angle and appearing changing, need change the not problem of the photosurface of unidimensional in the receiving system with the facula size that adapts to the change, enlarge receiving system's range of application.
In addition, the receiving system of the laser radar provided by the embodiment can be suitable for the laser radars with different specifications, and the traditional fixed-focal-length receiving system is not required to be only suitable for the laser radar with a single specification, so that the receiving system has high adaptability. Because the processing period of general optical parts is longer, the cost is higher, the cost for manufacturing a set of optical system is very high, and the fixed focus system is relatively rigid in scheme verification or scheme switching, the variable focus receiving system of the laser radar provided by the embodiment has more cost performance, can greatly shorten the processing period of products, and reduces the product cost.
Meanwhile, the receiving system of the laser radar provided by the embodiment can also be used for preliminary evaluation of the radar scheme in the earlier stage, and can be matched with a variable-focal-length transmitting system, so that the system specification can be more conveniently determined. The actual light spot can be seen only by trial production of a product, so that the variable-focus receiving system of the laser radar provided by the embodiment can also be used for actually testing the light spot in the early stage.
Optionally, with continued reference to fig. 1, during zooming, the detection module 20 moves in the direction of light propagation.
Exemplarily, fig. 4 is a comparison diagram before and after the second zoom lens group and the detection module provided in the embodiment of the present invention move, as shown in fig. 4, the position of the first zoom lens group 111 is fixed, the position of the second zoom lens group 112 moves, that is, the distance L between the first zoom lens group 111 and the second zoom lens group 112 changes, so the focal length of the receiving system 100 of the laser radar can also be changed, because the detection module 20 provided in this embodiment can move, so the moving direction of the second zoom lens group 112 is not limited, if the second zoom lens group 112 moves towards the direction of the detection module 20, because the position of the detection module 20 is fixed, the problem of limiting the moving direction of the second zoom lens group 112 is avoided, so that the position of the zoom lens group 11 in the receiving lens group 10 is more flexible.
It will be appreciated that since the detection module 20 comprises a detection surface, the position of the detection surface receiving the light spot can be varied by varying the position of the detection module 20.
Optionally, fig. 5 is a schematic structural diagram of a receiving system of another laser radar according to an embodiment of the present invention, and as shown in fig. 5, the receiving lens group 10 further includes at least one fixed lens group 12; the position of the fixed mirror group 12 is fixed.
In the present embodiment, by combining at least two zoom lens groups 11 and at least one fixed lens group 12, the precision of zooming can be improved.
It should be noted that, in fig. 5, only the receiving lens group 10 includes one fixed lens group 12, and the fixed lens group 12 is located on a side of the zoom lens group 11 away from the detection module 20, which is not a limitation of the present application, in other alternative embodiments, the receiving lens group 10 may further include a plurality of fixed lens groups, for example, the receiving lens group includes two zoom lens groups and three fixed lens groups to form a zoom system.
Optionally, fig. 6 is a schematic structural diagram of a receiving system of another laser radar according to an embodiment of the present invention, and as shown in fig. 6, the receiving system 100 of the laser radar further includes an adjusting module 30; the adjusting module 30 is used for adjusting the position of the zoom lens groups 11, so that at least two zoom lens groups 11 move along the light propagation direction during zooming.
Illustratively, the adjusting module 30 may include, for example, a motor and a connecting rod, the motor is connected to one end of the connecting rod, the other end of the connecting rod is connected to the zoom lens group 11, the motor may be controlled by a program, so that the motor drives the connecting rod to move, and then the connecting rod drives the zoom lens group 11 in the receiving lens group 10 to move along the direction of light propagation, thereby achieving the effect of fully automatically adjusting the focal length of the receiving system 100 of the laser radar.
Illustratively, the adjustment module 30 may include, for example, a cam wheel having a cam groove formed therein; correspondingly, the zoom lens group 11 is provided with a cam follower, the cam groove is engaged with the cam follower, the cam wheel can be rotated in a manner of manually twisting the cam wheel, and then the zoom lens group 11 is driven to move along the direction of light propagation, so that the purpose of adjusting the focal length of the receiving system 100 of the laser radar is achieved.
It is understood that the adjusting module 30 of the present embodiment includes, but is not limited to, the above examples, and those skilled in the art can set the adjusting module according to actual situations as long as the position of the zoom lens group 11 can be adjusted, so as to change the focal length of the receiving system 100 of the lidar. In other alternative embodiments, the adjustment module 30 may also include threads, etc., for example.
Based on the same inventive concept, the embodiment of the present invention further provides a laser radar, and fig. 7 is a schematic structural diagram of a laser radar provided by the embodiment of the present invention. As shown in fig. 7, the laser radar 200 includes the transmitting system 300 and the receiving system 100 of the laser radar in the above embodiment, and therefore the laser radar 200 provided by the embodiment of the present invention also has the beneficial effects described in the above embodiment, which is not repeated herein.
Wherein the emitting system 300 is used for emitting a laser beam. The laser beam emitted by the emitting system 300 irradiates a target object and then is reflected to the receiving system 100 of the laser radar, the reflected echo beam is focused to the detection module by the receiving mirror group 10 in the receiving system 100 of the laser radar, and the echo beam is converted into an electric signal by the detection module.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (7)
1. A receiving system for a lidar, comprising: the receiving lens group and the detection module are sequentially arranged along the light propagation path;
the receiving lens group comprises at least two zoom lens groups;
the at least two zoom lens groups are used for moving along the light propagation direction in the zooming process so as to focus the echo light beams on the detection surface of the detection module;
the echo light beam is a light beam reflected after the laser light beam emitted by the emission system irradiates on the target object.
2. The receiving system of claim 1, wherein said set of receiving mirrors further comprises at least one set of fixed mirrors; the position of the fixed mirror group is fixed.
3. The receiving system of claim 1, wherein the zoom lens set comprises at least one of a lens set, a single lens, and a double cemented lens.
4. The receiving system of claim 1, wherein the detection module comprises an avalanche photodiode, a silicon photomultiplier detector, or a pin-tube photodetector.
5. The receiving system according to claim 1, further comprising an adjusting module for adjusting the position of the zoom lens groups to move the at least two zoom lens groups in the direction of light propagation during zooming.
6. The receiving system of claim 5, wherein the adjustment module comprises a motor and a connecting rod; the motor is connected with one end of the connecting rod, and the other end of the connecting rod is connected with the zoom lens group; alternatively, the first and second electrodes may be,
the adjusting module comprises a cam wheel; a cam groove is arranged in the cam wheel; the zoom lens group is provided with a cam follower; the cam groove and the cam follower are engaged.
7. Lidar comprising a transmitting system and a receiving system according to any of claims 1 to 6, arranged in series along a propagation path of a light.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113985386A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Adjustable laser radar optical receiving device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113985386A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Adjustable laser radar optical receiving device |
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