CN214151038U - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN214151038U CN214151038U CN202022997289.2U CN202022997289U CN214151038U CN 214151038 U CN214151038 U CN 214151038U CN 202022997289 U CN202022997289 U CN 202022997289U CN 214151038 U CN214151038 U CN 214151038U
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Abstract
The utility model provides a laser radar, which comprises a light emitting device, a polarization beam splitting device, a light beam adjusting device, a scanning device and a light receiving device, wherein the light emitting device is suitable for emitting a detection light beam for detecting a target; the polarization beam splitting device is suitable for reflecting the detection light beam and transmitting the echo light beam which is subjected to polarization state adjustment and focusing treatment by the light beam adjusting device; the light beam adjusting device is suitable for carrying out focusing processing and polarization state adjustment on the detection light beam reflected by the polarization beam splitting device and the echo light beam reflected by the scanning device; a scanning device adapted to reflect the probe beam focused by the beam adjusting device and adjusted in polarization state to scan the target and reflect an echo beam reflected by the target; and the light receiving device is suitable for receiving the echo light beam transmitted by the polarization beam splitting device. The utility model provides a laser radar can reduce cost on the basis of guaranteeing laser radar detection precision and detection distance requirement to reduce laser radar's volume.
Description
Technical Field
The utility model relates to an environmental perception technical field especially relates to a laser radar.
Background
The laser radar is an important sensor for sensing information around a vehicle, and is a guarantee for the safety and intelligence of the vehicle with an automatic driving function.
Because the lidar needs to be installed on an automobile and the detected information of the lidar directly influences the safety of the automobile in the driving process, the lidar needs to meet the requirements of small size, high reliability, high imaging frame frequency, high resolution, long-distance measurement and the like.
And among the prior art, in order to guarantee laser radar's performance, can realize through the mode that sets up more optical device or directly set up more laser radar to cause laser radar's volume great, consequently, need rationally design laser radar, make it satisfy the light path transmission requirement and survey the precision on the basis, the structure is more miniaturized.
Therefore, how to reduce the size of the laser radar based on the requirements of the detection precision and the detection distance of the laser radar becomes a technical problem which needs to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model provides a laser radar, on the basis of guaranteeing laser radar detection precision and detection distance requirement, reduce cost to reduce laser radar's volume.
In order to solve the above problem, an embodiment of the present invention provides a laser radar, including light emitting device, polarization beam splitting device, light beam adjusting device, scanning device and light receiving device, wherein:
the light emitting device is suitable for emitting a detection light beam for detecting the target;
the polarization beam splitter is suitable for reflecting the detection light beam and transmitting an echo light beam subjected to polarization state adjustment and focusing processing by the light beam adjusting device;
the light beam adjusting device is suitable for carrying out focusing processing and polarization state adjustment on the probe light beam reflected by the polarization beam splitting device and the echo light beam reflected by the scanning device;
the scanning device is suitable for reflecting the probe beam which is subjected to focusing processing and polarization state adjustment by the beam adjusting device so as to scan the target, and reflecting the echo beam reflected by the target;
the light receiving device is suitable for receiving the echo light beam transmitted by the polarization beam splitting device.
Optionally, the beam modification apparatus comprises a lens and a wave plate, wherein:
the lens is suitable for carrying out focusing processing on the detection light beam reflected by the polarization beam splitting device and the echo light beam subjected to polarization state adjustment by the wave plate;
the wave plate is suitable for adjusting the polarization state of the probe beam focused by the lens and the echo beam reflected by the scanning device.
Optionally, the included angle between the plane of the lens and the plane of the wave plate is in a range of 3-15 °.
Optionally, the scanning device is arranged at a front focal point of the lens.
Optionally, the light emitting device includes a plurality of laser emitters, and an included angle between a plane where the plurality of laser emitters and the detection beam are located and a vertical plane is in a range of 0 ° to 15 °.
Optionally, the method further comprises:
the first reflector is suitable for reflecting the detection light beam which is focused and processed by the light beam adjusting device and adjusted in the polarization state to the scanning device, and reflecting the echo light beam reflected by the scanning device to the light beam adjusting device.
Optionally, the number of the light emitting device, the polarization beam splitting device, the light beam adjusting device, the first reflecting mirror and the light receiving device is two, and the light emitting device, the polarization beam splitting device, the light beam adjusting device, the first reflecting mirror and the light receiving device are symmetrically arranged with respect to the scanning device.
Optionally, a plane on which the probe beams reflected by the two first reflecting mirrors to the scanning device jointly lie has an angle in a range of 15 ° to 25 ° with a normal of the scanning device when in the initial position.
Optionally, the probe beam reflected by the scanning device when the scanning device is in the initial position is parallel to a beam propagation plane, where the beam propagation plane is a plane where a beam propagation path of the probe beam reflected by the polarization beam splitting device, focused by the beam adjusting device, and adjusted in polarization state is located.
Optionally, the method further comprises:
and the second reflecting mirror is suitable for reflecting the detection light beam reflected by the polarization beam splitting device to the light beam adjusting device and reflecting the echo light beam subjected to focusing processing and polarization state adjustment by the light beam adjusting device to the polarization beam splitting device.
Optionally, the method further comprises:
and the linear polarizer is suitable for polarizing the detection light beam emitted by the light emitting device and irradiating the detection light beam to the polarization light splitting device.
Optionally, the method further comprises:
and the optical fiber is suitable for irradiating the detection light beam emitted by the light emitting device to the polarization light splitting device after light beam adjustment.
Optionally, the method further comprises:
and the optical filter is suitable for filtering the echo light beam transmitted by the polarization beam splitter and irradiating the filtered echo light beam to the light receiving device.
Optionally, the method further comprises:
and the beam expanding device is suitable for expanding the detection range of the probe beam reflected by the scanning device and the receiving range of the echo beam reflected by the target.
Compared with the prior art, the embodiment of the utility model provides a technical scheme has following advantage:
the embodiment of the utility model provides a laser radar, include: the light emitting device emits a detection light beam for detecting a target, the polarization beam splitting device reflects the detection light beam to the light beam adjusting device to perform focusing processing and polarization state adjustment, and then irradiates the detection light beam to the scanning device, the scanning device reflects the detection light beam which is subjected to focusing processing and polarization state adjustment through the light beam adjusting device to scan the target, after the detection light beam irradiates the target, an echo light beam generated by the target by reflecting the detection light beam irradiates the scanning device, the scanning device reflects the echo light beam to the light beam adjusting device, the light beam adjusting device further performs focusing processing and polarization state adjustment on the echo light beam, then irradiates the polarization beam splitting device, and after the echo light beam is transmitted through the polarization beam splitting device, the echo light beam irradiates the light receiving device and is received by the light receiving device. It can be seen that the embodiment of the utility model provides a laser radar, use through polarization beam splitting device and light beam adjusting device, make the optical device that the propagation of detecting beam used and echo beam's propagation used can be the same, thereby utilize the same optical device can realize detecting beam and echo beam's propagation simultaneously, the coaxial light path of polarization has been realized, the optical device who uses has been reduced, on the basis of guaranteeing laser radar detection precision and detection distance requirement, and can reduce cost, and can reduce laser radar's volume.
In an alternative scheme, the light beam adjusting device comprises a lens and a wave plate, and the lens is suitable for carrying out focusing processing on the detection light beam reflected by the polarization beam splitting device and the echo light beam subjected to polarization state adjustment by the wave plate; and the wave plate is suitable for adjusting the polarization state of the probe beam subjected to the focusing processing by the lens and the echo beam reflected by the scanning device. Therefore, in the process of transmitting the detection light beam, the detection light beam reflected by the polarization light splitting device is focused by the lens firstly, and then is subjected to polarization state adjustment by the wave plate, so that the stray light beam reflected by the surface of the lens is still a light beam without being subjected to polarization state adjustment.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a block diagram illustrating an optical apparatus of a laser radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an optical device of a laser radar and a schematic optical path propagation diagram of a probe beam according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of the optical device of the lidar shown in FIG. 2 and the optical path propagation of the echo beam;
fig. 4 is a schematic structural diagram of a laser radar provided in an embodiment of the present invention;
FIG. 5 is an exploded view of the lidar shown in FIG. 4;
fig. 6 is an enlarged schematic view of an optical fiber of a laser radar according to an embodiment of the present invention;
fig. 7 is another schematic structural diagram of a laser radar according to an embodiment of the present invention;
fig. 8 is a schematic partial cross-sectional view of the lidar shown in fig. 4.
Detailed Description
For the volume that reduces lidar, the embodiment of the utility model provides a lidar, including light emitting device, polarization beam splitting device, light beam adjusting device, scanning device and light receiving arrangement, wherein:
the light emitting device is suitable for emitting a detection light beam for detecting the target;
the polarization beam splitter is suitable for reflecting the detection light beam and transmitting an echo light beam subjected to polarization state adjustment and focusing processing by the light beam adjusting device;
the light beam adjusting device is suitable for carrying out focusing processing and polarization state adjustment on the probe light beam reflected by the polarization beam splitting device and the echo light beam reflected by the scanning device;
the scanning device is suitable for reflecting the probe beam which is subjected to focusing processing and polarization state adjustment by the beam adjusting device so as to scan the target, and reflecting the echo beam reflected by the target;
the light receiving device is suitable for receiving the echo light beam transmitted by the polarization beam splitter
Therefore, when the target is detected, the light emitting device emits a detection light beam for detecting the target, the polarization beam splitting device reflects the detection light beam to the light beam adjusting device to perform focusing processing and polarization state adjustment, and then irradiates to the scanning device, the scanning device reflects the detection light beam which is subjected to focusing processing and polarization state adjustment through the light beam adjusting device to scan the target, after the detection light beam irradiates to the target, the target irradiates to the scanning device again an echo light beam generated by reflection of the detection light beam, the scanning device reflects the echo light beam to the light beam adjusting device, the light beam adjusting device further performs focusing processing and polarization state adjustment on the echo light beam, and then irradiates to the polarization beam splitting device, and the echo light beam is transmitted by the polarization beam splitting device, irradiates to the light receiving device and is received by the light receiving device.
It can be seen that the embodiment of the utility model provides a laser radar, use through polarization beam splitting device for the optical device that the propagation of detecting beam used is the same with the optical device that propagation of echo light beam used, thereby utilize the same optical device can realize detecting beam and echo light beam's propagation simultaneously, polarization coaxial light path has been realized, the optical device who uses has been reduced, on the basis of guaranteeing laser radar detection precision and detection distance requirement, can reduce cost, and can reduce laser radar's volume.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that the indication of the direction or the positional relationship referred to in the present specification is based on the direction or the positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and it is not intended to indicate or imply that the indicated device must have a specific direction, be configured in a specific direction, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 to 3, fig. 1 is a block diagram illustrating an optical device of a laser radar according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of an optical device of a laser radar and a schematic optical path propagation diagram of a probe beam according to an embodiment of the present invention; fig. 3 is a schematic diagram of the structure of the optical device of the laser radar shown in fig. 2 and a schematic diagram of the optical path propagation of the echo beam.
As shown in fig. 1-3, the laser radar provided by the embodiment of the present invention includes a light emitting device 1, a polarization beam splitter 2, a light beam adjusting device 3, a scanning device 4, and a light receiving device 5, wherein: a light emitting device 1 adapted to emit a probe beam for detecting an object; a polarization beam splitter 2 adapted to reflect the probe beam and transmit the echo beam subjected to polarization state adjustment and focusing processing by the beam adjuster 3; a light beam adjusting device 3 adapted to perform focusing processing and polarization state adjustment on the probe light beam reflected by the polarization splitting device 2 and the echo light beam reflected by the scanning device 4; a scanning device 4 adapted to reflect the probe beam focused and adjusted in polarization state by the beam adjusting device 3 to scan the target and reflect an echo beam reflected by the target; and the light receiving device 5 is suitable for receiving the echo light beams transmitted by the polarization splitting device 2.
It should be noted that the light emitting device 1, the polarization splitting device 2, the light beam adjusting device 3, the scanning device 4, and the light receiving device 5 are not limited to specific positions as long as the transmission requirement of the light beam can be ensured. Of course, in one embodiment, the light emitting device 1, the polarization beam splitting device 2, the beam adjusting device 3, the scanning device 4, and the light receiving device 5 may be disposed as close as possible to reduce the volume of the laser radar from a structural point of view.
In addition, the light beam adjusting device 3 is only required to be capable of realizing the adjustment of the polarization state and the focusing processing of the light beam, and the number of the photoelectric devices included therein is not limited.
As shown in fig. 4 and 5, fig. 4 is a schematic structural diagram of a laser radar according to an embodiment of the present invention; fig. 5 is an exploded view of the lidar shown in fig. 4, except for the light emitting device 1, the polarization beam splitting device 2, the light beam adjusting device 3, the scanning device 4, and the light receiving device 5, the lidar provided in the embodiment of the present invention further includes a mechanical structure 12 for installing each device (including the light emitting device 1, the polarization beam splitting device 2, the light beam adjusting device 3, the scanning device 4, and the light receiving device 5), and a control device 11 for controlling and processing signals of the light emitting device 1, the light receiving device 5, and the scanning device 4, and specifically, the control device 11 may be a circuit board.
The polarization beam splitter 2 can reflect or transmit laser with different polarization states, and is matched with the light beam adjusting device 3 for adjusting the polarization states of the detection light beam and the echo light beam together, so that the realization of a polarization coaxial light path can be ensured. Since the light beam is continuously dispersed during the propagation process, the dispersed light beam may affect the distance measuring capability of the laser radar, and therefore, the light beam adjusting device 3 also needs to have a focusing function.
Specifically, the polarization Beam Splitter 2 may be a Polarization Beam Splitter (PBS), or may be a polarization Beam Splitter; the light emitting device 5 may be a semiconductor laser including a Vertical Cavity Surface Emitting Laser (VCSEL) or an Edge Emitting Laser (EEL) to reduce cost on the premise of ensuring detection resolution.
Specifically, the scanning device 24 may be a galvanometer, which is driven by the driving device to rotate, so that the probe beam scans the target in the three-dimensional space, and receives the echo beam reflected by the target in the three-dimensional space.
In one embodiment, the light emitting device 5 may include a plurality of laser emitters, such as 4 or more, and the angle between the plane of the laser emitters and the vertical plane is in the range of 0 ° to 15 °, so as to improve the detection coverage and the detection resolution.
It is easily understood that the plane on which the plurality of laser transmitters and the probe beam are located is a plane passing through each laser transmitter, and the vertical plane is a plane parallel to the irradiation direction of the probe beam emitted from each laser transmitter, among the vertical planes when the laser radar is placed in accordance with the probe position.
Thus, when environment detection is performed, please refer to the optical path transmission shown in fig. 1-3, the light emitting device 1 emits a detection beam for detecting an object and irradiates the detection beam to the polarization beam splitting device 2, the polarization beam splitting device 2 respectively transmits and reflects light beams with different polarization states in the detection beam, wherein the reflected detection beam irradiates the beam adjusting device 3 along the direction of arrow a in fig. 1 and 2 (the transmitted portion passes through the polarization beam splitting device 2 and stops detection of an object), the beam adjusting device 3 performs focusing processing and polarization state adjustment on the detection beam and then irradiates the scanning device 4, the scanning device 4 reflects the reflected detection beam, the reflected scanning beam irradiates the environment to scan the object, the object reflects the detection beam, generates an echo beam and irradiates the scanning device 4, refer to the optical path transmission shown in fig. 1 and 3, the echo light beam irradiates to the light beam adjusting device 3 along the arrow B, and the light beam adjusting device 3 performs focusing processing and polarization state adjustment on the echo light beam, so that the light beam reflected by the polarization splitting device 2 undergoes polarization state adjustment twice, the polarization state changes, and the light beam irradiates to the polarization splitting device 2 again, and can be transmitted and irradiate to the light receiving device 5.
Since, when using the polarization beam splitter 2 for splitting, not only part of the light beam is reflected to generate the detection light beam, but also part of the light beam is transmitted through the polarization beam splitter 1 along the propagation direction of the light beam, in order to reduce the influence of the transmitted light beam on the detection result of the lidar, in one embodiment, a light absorbing device or a light absorbing material may be disposed in the propagation path of the transmitted light beam.
Therefore, the embodiment of the utility model provides a laser radar, use through polarization beam splitting device and light beam adjusting device, make the optical device that the propagation of detecting beam used and echo beam's propagation used can be the same, thereby utilize the same optical device can realize detecting beam and echo beam's propagation simultaneously, the coaxial light path of polarization has been realized, the optical device who uses has been reduced, on the basis of guaranteeing laser radar environment detection precision and detection distance requirement, and can reduce cost, and can reduce laser radar's volume.
However, in order to facilitate the setting of scanning device 4, realize carrying out reasonable overall arrangement to each device, improve lidar's compact structure nature, further reduce lidar's volume, in another kind of specific implementation, the embodiment of the utility model provides a lidar can also include first speculum 6, is suitable for to reflect through the detecting beam of light beam adjusting device 3 focus processing and polarization state adjustment to scanning device 4, and reflects the echo light beam of reflection through scanning device 4 to light beam adjusting device 3.
As shown in fig. 2 to 5, when the first reflecting mirror 6 is provided, the scanning device 4 can be disposed in the space above the other optical devices (the light emitting device 1, the polarization splitting device 2, the beam adjusting device 3, and the light receiving device 5) by appropriately setting the inclination state and the inclination angle of the first reflecting mirror 6, so that the space of the laser radar can be more fully utilized, and the increase in the size of the laser radar due to the fact that each device is disposed on the same plane is avoided.
Thus, when detecting a target, the light emitting device 1 emits a detection light beam for detecting the target, the detection light beam passes through the polarization beam splitting device 2 and the light beam adjusting device 3 and then irradiates to the first reflecting mirror 6, the detection light beam is reflected to the scanning device 4 through the first reflecting mirror 6, the scanning device 4 further reflects the detection light beam, the reflected scanning light beam irradiates to the environment to scan the target, the target reflects the detection light beam, an echo light beam is generated and irradiates to the scanning device 4, the echo light beam irradiates to the first reflecting mirror 6 through the scanning device 4, then the echo light beam is reflected to the light beam adjusting device 3 through the first reflecting mirror 6, and the echo light beam passes through the polarization beam splitting device 2 and then transmits to the light receiving device 5.
Of course, in order to further reduce the size of the lidar, in another embodiment, a second reflecting mirror 7 may be further provided, and the second reflecting mirror 7 is adapted to reflect the probe beam reflected by the polarization beam splitting device 2 to the beam adjusting device 3, and reflect the echo beam focused and polarization-state-adjusted by the beam adjusting device 3 to the polarization beam splitting device 2.
The setting of second mirror 7 can change the direction of detecting beam and echo beam transmission to can adjust the relative position between beam adjusting device 3 and the polarization beam splitting device 2, make the rationality that each device set up in laser radar improve, thereby make laser radar's compactedness improve, further reduce laser radar's volume.
In order to improve the quality of the light beam for detection, in another specific implementation, an embodiment of the present invention provides a laser radar that may further include: and the linear polarizer 8 is suitable for performing polarization processing on the detection light beam emitted by the light emitting device 1 and irradiating the detection light beam to the polarization beam splitting device 2.
It is easily understood that the linear polarizer 8 first polarizes the probe beam emitted from the light emitting device 1, and the polarized probe beam is irradiated to the polarization beam splitting device 2, so that the linear polarizer 8 is disposed between the light emitting device 1 and the polarization beam splitting device 2.
The linear polaroid 8 can be arranged to polarize the light beam emitted by the light emitting device 1, so that the light beam perpendicular to the polarization angle of the linear polaroid 8 is obtained, and the quality and the detection effect of the detection light beam for scanning are improved.
In order to reduce the divergence angle of the probe beam, in another specific embodiment, as shown in fig. 2 and fig. 6, fig. 6 is an enlarged schematic view of an optical fiber of the laser radar provided in the embodiment of the present invention, the laser radar provided in the embodiment of the present invention may further include: the optical fiber 9 is used for irradiating the detection beam emitted by the light emitting device 1 to the polarization beam splitting device 2 after beam adjustment.
It is easy to understand that the optical fiber 9 may be disposed between the light emitting device 1 and the polarization splitting device 2.
The optical fiber 9 can perform beam adjustment processing on the light beam emitted by the light emitting device 1, so as to reduce the divergence angle of the probe light beam and improve the quality and detection effect of the probe light beam for scanning.
Of course, in another embodiment, the optical fiber 9 and the linear polarizer 8 may be disposed at the same time to achieve more comprehensive processing of the probe beam.
In order to improve lidar's performance, improve the quality of the echo light beam that light receiving arrangement 5 received, in a specific implementation mode, the embodiment of the utility model provides a lidar can also include: and a filter (not shown in the figure) adapted to filter the echo light beam transmitted by the polarization splitting device 2 and irradiate the filtered echo light beam to the light receiving device 5.
The filter can be arranged to filter the light beam transmitted by the polarization beam splitter 2, so as to reduce the influence of the unnecessary light beam (stray light beam) on the detection effect.
In order to further improve the detection range of the laser radar, in a specific implementation manner, please refer to fig. 7, fig. 7 is another schematic structural diagram of the laser radar provided in an embodiment of the present invention, as shown in the drawing, the laser radar provided in an embodiment of the present invention includes a beam expanding device 10, which is suitable for expanding the detection range of the detection beam reflected by the scanning device 4 and the receiving range of the echo beam reflected by the target.
Through the processing of beam expanding device 10 to the detecting beam, the detection range that the detecting beam can shine is bigger for the echo light beam that can also receive from the target reflection in wider scope simultaneously, realize expanding detection range and receiving range.
In order to improve the field range of the laser radar, in particular, with continued reference to fig. 1, the light emitting device 1, the polarization splitting device 2, the light beam adjusting device 3, the first reflecting mirror 6 and the light receiving device 5 of the laser radar provided by the embodiment of the present invention may be two in number and symmetrically arranged with respect to the scanning device 4.
It should be noted that the symmetrical arrangement with respect to the scanning device 4 described herein means a symmetrical arrangement with respect to a plane formed by the horizontal direction and the vertical direction in which the center of the scanning device 4 is located in the probe beam outgoing direction of the laser radar, that is, the structure shown in fig. 1 and 2.
Therefore, the field ranges of the two groups of devices can be obtained, a larger field range can be obtained through field splicing, and the detection range of the laser radar is improved.
Of course, when the laser radar is further provided with the linear polarizing plate 8, the light beam 9, or the optical filter, the linear polarizing plate 8, the light beam 9, or the optical filter may be provided in two, respectively, and symmetrically provided with respect to the scanning device.
In order to ensure the effect after splicing the images corresponding to the fields of view detected by the two sets of devices, in a specific embodiment, the two first reflecting mirrors 6 of the laser radar provided by the embodiment of the present invention reflect the plane where the detection beams of the scanning device 4 are located together, and the included angle range between the plane and the normal line of the scanning device 4 when the scanning device is located at the initial position is 15-25 °.
It is easy to understand that the plane where the two first reflecting mirrors 6 reflect the detection beams of the scanning device 4 together is the plane formed by the two detection beams; the initial position of the scanning device 4 is a position at which the scanning device 4 is not driven to rotate.
If the included angle of the common plane of the detection beams reflected to the scanning device 4 by the two first reflecting mirrors 6 on the normal of the scanning device 4 at the initial position is too large, the coverage area covered by the detection beams is easily discontinuous, and the spliced pattern is irregular; if the included angle is too small, the overlapping degree of the range covered by the detection beams is high, and interference occurs between different detection beams to influence the detection effect.
In order to enable the beam adjusting apparatus 3 to perform the functions of focusing and polarization state adjustment on the probe beam and the echo beam, please refer to fig. 8, and fig. 8 is a schematic partial cross-sectional view of the laser radar shown in fig. 4. The embodiment of the utility model provides a laser radar's beam adjusting device 3 can include lens 31 and wave plate 32, wherein lens 31 is suitable for the echo beam that carries out the polarization state adjustment to the detecting beam of 2 reflection of polarization beam splitting devices and through wave plate 32 and carries out the focus treatment; the wave plate 32 is adapted to perform polarization state adjustment on the probe beam focused by the lens 31 and the echo beam reflected by the scanning device 4.
The lens 31 is located in front of the wave plate 32 in the propagation path of the probe beam, and the lens 31 is located behind the wave plate 32 in the propagation path of the echo beam.
In one embodiment, the wave plate 32 may be an 1/4 wave plate, so that the light beam reflected by the polarization beam splitter 2 passes through the wave plate 7, the polarization direction is changed, and the light beam is irradiated to the polarization beam splitter 2 and then transmitted to the light receiving device 5.
In a specific embodiment, the lens 31 and the wave plate 32 may be disposed in a common mounting seat, and by disposing a spacer between the two, the two are fixed, and the adaptability of the lens 31 and the wave plate 32 to the environment is improved, the risk of fracture is reduced, and the reliability is improved.
It is easy to understand that, in addition to the function of focusing or adjusting the polarization state of the light beam, the optical devices such as the lens 31 and the wave plate 32 inevitably have the function of reflecting the light beam on the surface thereof, and on the propagation path of the probe light beam, the surface of the lens 31 reflects the light beam to generate a first stray light beam, and the reflected light beam is irradiated to the polarization beam splitter 2, whereas since the lens 31 is located in front of the wave plate 32, the first stray light beam is not adjusted in the polarization state by the wave plate 32, and the reflected light beam irradiated to the polarization beam splitter 2 is not transmitted from the polarization beam splitter 2 and does not affect the light beam received by the light receiving device 5.
Thus, in the detection beam transmission process, the detection beam reflected by the polarization beam splitter 2 is firstly focused by the lens 31, and then is subjected to polarization state adjustment by the wave plate 32, so that the stray light beam reflected by the surface of the lens 32 is still a light beam without polarization state adjustment, and when the stray light beam irradiates the polarization beam splitter 2, the stray light beam cannot be transmitted from the polarization beam splitter 2, and therefore the detection precision cannot be influenced due to the fact that the stray light beam reflected by the surface of the lens 31 is included in the light beam received by the light receiving device 5, and the detection accuracy of the laser radar is improved.
However, it is easy to understand that, in order to further reduce the generation of stray light beam in the laser radar, the detection light beam after the polarization state change is avoided being reflected by the surface of the wave plate 32, and the polarization beam splitting device 2 is received by the light receiving device 5, which affects the detection accuracy of the laser radar, in a specific embodiment, the embodiment of the present invention provides a laser radar in which the stray light beam generated by the reflection of the surface of the wave plate 32 by the lens 31 is at a certain angle with the plane of the wave plate 32, so that the stray light beam after the polarization state change can deflect at a certain angle, and the deflected stray light beam cannot return along the original transmission path of the detection light beam, and thus cannot be received by the light receiving device 5.
The included angle between the plane where the lens 31 of the laser radar is located and the plane where the wave plate 32 is located can be set to be 3-15 degrees, and for the included angle range, when the included angle is too large, the size of a light path can be increased, and when the included angle is too small, the effect of reducing stray light cannot be achieved.
It should be noted that, the included angle between the plane where the lens 31 is located and the plane where the wave plate 32 is located described herein means that both the plane where the lens 31 is located and the plane where the wave plate 32 is located are planes perpendicular to the base of the laser radar, and the included angle between the two planes is in space.
In order to further improve the accuracy of the laser radar detection, the distance between the polarization beam splitter 2 and the light emitting device 1 and the distance between the polarization beam splitter 2 and the light receiving device 5 may be shortened, in one embodiment, no lens is required to be arranged between the light emitting device 1 and the polarization beam splitter 2 in the propagation path of the probe beam, and no lens is required to be arranged between the light receiving device 5 and the polarization beam splitter 2 in the propagation path of the echo beam, that is, the number of lenses is 1 along the propagation path of the probe beam or the echo beam.
Thus, on one hand, because no lens is needed to be arranged between the light emitting device 1 and the polarization splitting device 2, and the distance between the light emitting device 1 and the polarization splitting device 2 is short, the alignment reliability between the polarization splitting device 2 and the light emitting device 1 can be improved, meanwhile, no lens is needed to be arranged between the light receiving device 5 and the polarization splitting device 2, the distance between the light receiving device 5 and the polarization splitting device 2 can be shortened, the alignment reliability between the polarization splitting device 2 and the light receiving device 5 is improved, and the detection precision is improved; on the other hand, on the propagation path along the probe light beam or the echo light beam, the number of the lenses is 1, and on the basis of ensuring the light beam propagation requirement, the number of the used optical devices can be reduced, the optical path is shortened, and the detection precision is further improved.
In addition, other optical devices, such as the above-described linear polarizing plate 8, optical fiber 9, and filter, may be provided between the polarization beam splitter 2 and the light emitting device 1 and between the light receiving device 5 and the polarization beam splitter 2, so that the alignment reliability and the detection accuracy of the laser radar can be improved even if the number of lenses is reduced.
However, when the light emitting device 1 includes a plurality of laser emitters, the detection beams emitted by the laser emitters do not overlap due to the arrangement positions of the laser emitters, so that the detection beams emitted by the laser emitters cannot be fully irradiated to the center of the scanning device 4 after passing through the beam adjusting device 3, which results in a decrease in detection accuracy, and for this reason, in one embodiment, the scanning device 4 is arranged at the front focal point of the lens 31.
It is easily understood that the front focus of the lens 31 described herein refers to a point where the probe beam is converged after being irradiated to the lens 31, and of course, as shown in fig. 1, when the scanning device 4 is disposed above the lens 31, the front focus of the lens 31 may be located above the lens 31, that is, as the probe beam after passing through the lens 31 propagates, the transmission direction is changed by passing through the first reflecting mirror 6, the point where convergence is formed in the transmission optical path after passing through the first reflecting mirror 6 is located above the lens 31, that is, the front focus is located above the lens 31, and when the scanning device 4 is disposed, the scanning device 4 is disposed at a corresponding position.
By arranging the scanning device 4 at the front focus of the lens 31, a telecentric light path is formed between the scanning device 4 and the lens 31, and the detection light beams emitted by the laser emitters can irradiate the center of the scanning device 4 after passing through the lens 31, so that the detection accuracy of the laser radar is improved.
In another kind of specific implementation, in order to realize the design and the control of detection range conveniently, the embodiment of the utility model provides a laser radar can make the detecting beam and the beam propagation plane parallel of reflection when scanning device 4 is in the initial position, wherein, the beam propagation plane is the plane at the beam propagation path place that detecting beam reflected through polarization beam splitting device 2, beam adjusting device 3 focus is handled and polarization state adjusts.
Therefore, the accuracy of controlling the scanning angle of the scanning device can be improved, and the detection precision of the laser radar can be improved.
Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (14)
1. A lidar comprising a light emitting device, a polarization splitting device, a beam adjusting device, a scanning device, and a light receiving device, wherein:
the light emitting device is suitable for emitting a detection light beam for detecting the target;
the polarization beam splitter is suitable for reflecting the detection light beam and transmitting an echo light beam subjected to polarization state adjustment and focusing processing by the light beam adjusting device;
the light beam adjusting device is suitable for carrying out focusing processing and polarization state adjustment on the probe light beam reflected by the polarization beam splitting device and the echo light beam reflected by the scanning device;
the scanning device is suitable for reflecting the probe beam which is subjected to focusing processing and polarization state adjustment by the beam adjusting device so as to scan the target, and reflecting the echo beam reflected by the target;
the light receiving device is suitable for receiving the echo light beam transmitted by the polarization beam splitting device.
2. The lidar of claim 1, wherein the beam shaping device comprises a lens and a wave plate, wherein:
the lens is suitable for carrying out focusing processing on the detection light beam reflected by the polarization beam splitting device and the echo light beam subjected to polarization state adjustment by the wave plate;
the wave plate is suitable for adjusting the polarization state of the probe beam focused by the lens and the echo beam reflected by the scanning device.
3. Lidar as defined in claim 2 wherein the angle between the plane of said lens and the plane of said wave plate is in the range of 3 ° to 15 °.
4. Lidar as defined in claim 2 wherein said scanning means is disposed at a front focal point of said lens.
5. The lidar of claim 4, wherein the light emitting means comprises a plurality of laser emitters, the plurality of laser emitters being disposed at an angle in the range of 0 ° to 15 ° to a vertical plane in which the probe beam is disposed.
6. The lidar of claim 1, further comprising:
the first reflector is suitable for reflecting the detection light beam which is focused and processed by the light beam adjusting device and adjusted in the polarization state to the scanning device, and reflecting the echo light beam reflected by the scanning device to the light beam adjusting device.
7. The lidar of claim 6, wherein the number of the light emitting means, the polarization beam splitting means, the beam adjusting means, the first reflecting mirror, and the light receiving means is two and is symmetrically disposed with respect to the scanning means.
8. The lidar of claim 7, wherein a plane in which the probe beams reflected by the two first mirrors to the scanning device together lie is at an angle in the range of 15 ° to 25 ° to a normal to the scanning device when in an initial position.
9. The lidar of any of claims 1-8, wherein the probe beam reflected by the scanning device in the initial position is parallel to a beam propagation plane, wherein the beam propagation plane is a plane of a beam propagation path of the probe beam reflected by the polarization beam splitting device, focused by the beam adjusting device, and adjusted in polarization state.
10. The lidar of any of claims 1-8, further comprising:
and the second reflecting mirror is suitable for reflecting the detection light beam reflected by the polarization beam splitting device to the light beam adjusting device and reflecting the echo light beam subjected to focusing processing and polarization state adjustment by the light beam adjusting device to the polarization beam splitting device.
11. The lidar of any of claims 1-8, further comprising:
and the linear polarizer is suitable for polarizing the detection light beam emitted by the light emitting device and irradiating the detection light beam to the polarization light splitting device.
12. The lidar of any of claims 1-8, further comprising:
and the optical fiber is suitable for irradiating the detection light beam emitted by the light emitting device to the polarization light splitting device after light beam adjustment.
13. The lidar of any of claims 1-8, further comprising:
and the optical filter is suitable for filtering the echo light beam transmitted by the polarization beam splitter and irradiating the filtered echo light beam to the light receiving device.
14. The lidar of any of claims 1-8, further comprising:
and the beam expanding device is suitable for expanding the detection range of the probe beam reflected by the scanning device and the receiving range of the echo beam reflected by the target.
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