CN215813347U - Transmitting module and laser radar - Google Patents
Transmitting module and laser radar Download PDFInfo
- Publication number
- CN215813347U CN215813347U CN202122063502.7U CN202122063502U CN215813347U CN 215813347 U CN215813347 U CN 215813347U CN 202122063502 U CN202122063502 U CN 202122063502U CN 215813347 U CN215813347 U CN 215813347U
- Authority
- CN
- China
- Prior art keywords
- light
- light beam
- divergence angle
- equal
- laser radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model discloses a transmitting module and also discloses a laser radar comprising the transmitting module, wherein the transmitting module comprises a light source part, a light compression part and a light diffusion part which are sequentially arranged; the light source component is used for emitting a first light beam; the light compression piece is used for reducing the divergence angle of the first light beam in the first direction to form a second light beam; the light diffusion piece is used for diffusing a divergence angle of the second light beam in a second direction to form an emergent light beam, the emergent light beam irradiates the target object, the first direction is a vertical direction or a horizontal direction, and the second direction is a horizontal direction or a vertical direction. According to the utility model, through the design of the light compression piece and the light diffusion piece, the divergence angle is compressed in the first direction, so that the light energy is more concentrated, and the divergence angle is expanded in the second direction, so that the illumination range is wider, and the distance measurement performance of the laser radar is effectively improved.
Description
Technical Field
The utility model relates to the field of optical instruments, in particular to a transmitting module and a laser radar for realizing distance measurement by using the transmitting module.
Background
The laser radar is a radar system which emits laser beams to detect characteristic quantities such as position, speed and the like of a target, and is widely used in automobiles nowadays to provide hardware support for automatic driving.
TOF (time of flight), time of flight technique, the range finding range of current TOF range unit is little, does not satisfy the scene application of autopilot.
SUMMERY OF THE UTILITY MODEL
Aiming at the defect that the ranging range of the existing TOF ranging device is small, the utility model provides the transmitting module with a larger view field range and the laser radar applying the transmitting module.
In order to solve the technical problem, the utility model is solved by the following technical scheme:
the utility model provides a transmission module for illuminate the target, including light source spare, light compression spare and the light diffusion spare that sets gradually:
the light source part is used for emitting a first light beam, and the first light beam sequentially passes through the light compression part and the light diffusion part to be emitted to the target object;
wherein:
the light compression piece is used for reducing the divergence angle of the first light beam in the first direction to form a second light beam, and the second light beam forms a first linear light spot;
the light diffusing piece is used for diffusing the divergence angle of the second light beam in the second direction to form an emergent light beam, the emergent light beam irradiates the target object, and the emergent light beam forms a second line light spot, wherein compared with the first line light spot, the second line light spot is longer in length and larger in illuminating range.
When the first direction is a vertical direction, the second direction is a horizontal direction, and when the first direction is a horizontal direction, the second direction is a vertical direction;
the second direction is used for indicating the distance measurement dimension, the transmitting module and the target object are positioned on the same plane, and the first direction is perpendicular to the plane;
taking an automatic driving scene as an example, when the transmitting module is positioned at the vehicle head, the second direction is the horizontal direction, when the first light beam passes through the light compression piece, the divergence angle in the horizontal direction is unchanged, and the divergence angle in the vertical direction is compressed to form a second light beam; when the second light beam passes through the light diffusion piece, the divergence angle in the vertical direction is unchanged, and the divergence angle in the horizontal direction is diffused, so that the divergence angle in the vertical direction of the emergent light beam is smaller, the divergence angle in the horizontal direction is larger, when the emergent light beam irradiates on a target object, a linear light spot with a longer length is formed, and the illuminated range is wider.
Use automatic carwash scene as an example, the distance measuring sensor that the transmission module place is located car washing device top for measure vehicle height, the second direction is the vertical direction this moment, namely, the divergence angle of horizontal direction is compressed, and the divergence angle of vertical direction is diffused, when measuring vehicle height, is convenient for measure width or length of measuring.
This scheme makes first light beam carry out the plastic respectively in two dimensions, through the compression to the divergence angle on the first direction for light energy is more concentrated, and reinforcing range finding distance is through the expansion to the divergence angle on the second direction, makes the scope of illuminating wider, satisfies in the autopilot scene to range finding distance and range finding width's needs.
As an implementable embodiment:
the optical compression part comprises a plurality of cylindrical lenses, the cylindrical lenses are arranged at intervals, the first light beam sequentially passes through the cylindrical lenses to form the second light beam, and the optical axes of the cylindrical lenses are overlapped.
As an implementable embodiment:
the interval between the adjacent cylindrical lenses is less than or equal to 0.1 mm.
As an implementable embodiment:
the equivalent focal length of the light compression piece is greater than or equal to 3mm and less than or equal to 4mm, and the divergence angle of the second light beam in the first direction is less than or equal to 0.6 degrees.
The size of the divergence angle of the second light beam in the first direction depends on the resolution ratio of the laser radar, namely, the transmitting module provided by the scheme is suitable for the laser radar with the resolution ratio within 0.6 degrees, and a person skilled in the art can design the light compression piece according to actual needs to ensure that the divergence angle of the second light beam in the first direction is matched with the resolution ratio.
As an implementable embodiment:
the optical compression piece comprises two cylindrical lenses, namely a first cylindrical lens and a second cylindrical lens, and a first light beam sequentially passes through the first cylindrical lens and the second cylindrical lens to form a second light beam;
the focal lengths of the first cylindrical lens and the second cylindrical lens are both greater than or equal to 5mm and less than or equal to 6 mm.
As an implementable embodiment:
the divergence angle of the outgoing light beam in the second direction is 120 ° or more.
The divergence angle of the outgoing beam in the second direction depends on the horizontal field angle of the laser radar, that is, the transmitting module provided by the scheme is suitable for the laser radar with the horizontal field angle of more than or equal to 120 degrees, and a person skilled in the art can select the light diffusing part according to the actual application to enable the divergence angle of the outgoing beam in the second direction to be matched with the horizontal field angle.
As an implementable embodiment:
the distance between the light source and the light compression piece is more than or equal to 250 μm and less than or equal to 350 μm.
As an implementable embodiment:
the light source device is a vertical cavity surface emitting laser array.
In actual use, each row of emission lasers are sequentially lightened, light beams emitted by each row of emission lasers pass through the light compression part and the light diffusion part to form a line of light spots on a target object, and the positions of the line of light spots correspond to the positions of the emission lasers in each row, so that the object space view field is lightened in a subarea mode, and light beam scanning of the object space view field is realized.
The utility model also provides a laser radar which comprises a transmitting module and a receiving module which are connected by signals;
the emission module is any one of the emission modules.
The outgoing beam of the emitting module is emitted to a target object and reflected to the receiving module by the target object, the resolution of the receiving module determines the size of the divergence angle of the outgoing beam in the first direction, and the horizontal field angle of the receiving module determines the size of the divergence angle of the outgoing beam in the second direction.
As an implementable embodiment:
the receiving module comprises a light filtering piece, a photosensitive unit and a distance measuring unit, the photosensitive unit is connected with the distance measuring unit through signals, and the distance measuring unit is connected with the transmitting module through signals:
the reflected light of the target object enters the photosensitive unit through the light filtering piece, the photosensitive unit generates a reflected light signal and sends the reflected light signal to the distance measuring unit;
and the distance measuring unit receives the reflected light signal and obtains the distance information between the target object and the laser radar.
The light filtering piece is used for eliminating the interference of ambient light and other light sources, and only reflected light corresponding to the emergent module enters the photosensitive unit through the light filtering piece, so that the space imaging and ranging performance is ensured.
Due to the adoption of the technical scheme, the utility model has the remarkable technical effects that:
according to the utility model, through the design of the light compression piece and the light diffusion piece, the divergence angle is compressed in the first direction, so that the light energy is more concentrated, and the divergence angle is expanded in the second direction, so that the illumination range is wider, and the distance measurement performance of the laser radar is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a transmitter module according to the present invention;
FIG. 2 is a schematic view of a light spot formed by the first light beam in example 1;
FIG. 3 is a schematic view of a light spot formed by the second light beam in example 1;
FIG. 4 is a schematic view of a spot formed by an outgoing beam in example 1;
FIG. 5 is a schematic diagram of light spots corresponding to the light source of 40 rows formed by the exit module.
Detailed Description
The present invention will be described in further detail with reference to examples, which are illustrative of the present invention and are not to be construed as being limited thereto.
Embodiment 1, a transmission module, is used for illuminating object 400, as shown in fig. 1, the transmission module includes light source 100, light compression 200, light diffusion 300 that set gradually:
a light source device 100 for emitting a first light beam, in this embodiment, a vertical cavity surface emitting laser array (VCSEL array light source) is used; the divergence angle of each emitting laser in this embodiment is 25 deg., and when all emitting lasers are lit, a circular spot is formed as shown in fig. 2, where x in fig. 2 denotes the divergence angle in the second direction and y denotes the divergence angle in the first direction.
In the actual use process, a person skilled in the art can set the number of rows and columns of the emitting lasers in the light source device 100 according to actual needs, and can select emitting lasers with different divergence angles according to actual needs.
A light compression member 200, located between the light source 100 and the object 400, wherein a distance between the light source 100 and the light compression member 200 is greater than or equal to 250 μm and less than or equal to 350 μm, and the light compression member 200 is used for reducing a divergence angle of the first light beam in a first direction to form a second light beam;
the light diffusing element 300 is located between the light compressing element 200 and the target object 400, a distance between the light compressing element 200 and the light diffusing element 300 is greater than or equal to 0.1mm, the light diffusing element 300 is used for diffusing a divergence angle of the second light beam in a second direction to form an emergent light beam, the emergent light beam irradiates the target object 400, the first direction is a vertical direction or a horizontal direction, and the second direction is a horizontal direction or a vertical direction.
The first light beam of light source outgoing has certain divergence angle, and there is the waste in light energy, and limits place laser radar's range finding performance, and prior art is make full use of light energy, often compresses the light source divergence angle through convex lens to reinforcing range finding distance, but this scheme will reduce the width of range finding.
Laser radar in the autopilot scene, the first direction of transmitted laser is the vertical direction, the second direction is the horizontal direction, not only need the laser to have longer irradiation distance, in order to in time detect the place ahead and drive the vehicle, still need have great range finding scope, with the vehicle distribution on the discernment adjacent lane, this embodiment is through the design to light compression piece 200 and light diffusion piece 300, compress the divergence angle on the first direction, make light energy more concentrated, enlarge the divergence angle on the second direction, make the scope of illuminating wider, thereby effectively improve place laser radar's range finding performance.
A person skilled in the art can set the divergence angle of the second light beam in the first direction according to actual needs, for example, the transmitting module disclosed in this embodiment needs to cooperate with the receiving module with a resolution of 0.6 °, so that the divergence angle of the second light beam in the first direction is compressed to be within 0.6 °.
The optical compression element 200 comprises a plurality of cylindrical lenses, each cylindrical lens is arranged at intervals (the interval between every two adjacent cylindrical lenses is less than or equal to 0.1 mm.), the first light beam sequentially passes through each cylindrical lens to form the second light beam, and the optical axes of the cylindrical lenses are overlapped;
the number of the cylindrical lenses can be set by a person skilled in the art according to actual needs, so that the divergence angle of the obtained second light beam in the first direction can meet the needs;
in this embodiment, the equivalent focal length of the optical compression element 200 is greater than or equal to 3mm and less than or equal to 4mm, referring to fig. 1, the optical compression element 200 in this embodiment includes two cylindrical lenses, which are a first cylindrical lens 210 and a second cylindrical lens 220, the focal lengths of the first cylindrical lens 210 and the second cylindrical lens 220 are both greater than or equal to 5mm and less than or equal to 6mm, the first light beam sequentially passes through the first cylindrical lens 210 and the second cylindrical lens 220 to form a second light beam, as shown in fig. 3, the light spot formed by the second light beam is a linear light spot, that is, a first linear light spot, and the first linear light spot corresponds to each row of emission lasers one to one.
In this embodiment, the light diffuser 300 is an optical diffuser, and a substrate of the optical diffuser is etched with an irregular micro-nano structure, wherein the substrate is a glass substrate or a plastic substrate; the optical diffusion sheet adjusts a divergence angle of a light beam incident thereto based on a principle of diffuse reflection of light.
A person skilled in the art can set a divergence angle of the outgoing light beam in the second direction according to actual needs, and select a suitable light diffusion sheet based on the divergence angle, for example, the emitting module disclosed in this embodiment needs to cooperate with a receiving module with a horizontal field angle of 120 °, so that the divergence angle of the obtained outgoing light beam in the second direction is diffused to 120 °, and a line spot formed by the outgoing light beam in this embodiment is as shown in fig. 4.
In summary, in this embodiment, by designing the light compression element 200 and the light diffusion element 300, a single row of VCSEL light sources are shaped from the original 25 ° × 25 ° to 120 ° × 0.6 °, as shown in fig. 5, when the VCSEL array light sources have 40 rows, all VCSEL light sources are spliced to form a field range of 120 ° × 45 ° to illuminate the target 400, which effectively improves the ranging performance.
Embodiment 2, a laser radar, including a transmitting module and a receiving module connected by signals;
the transmission module is the transmission module described in embodiment 1.
The receiving module comprises a light filtering piece, a photosensitive unit and a distance measuring unit, the photosensitive unit is connected with the distance measuring unit through signals, and the distance measuring unit is connected with the transmitting module through signals:
the reflected light of the target object 400 enters the photosensitive unit through the optical filter, the photosensitive unit generates a reflected light signal and sends the reflected light signal to the distance measuring unit;
the ranging unit receives the reflected light signal to obtain distance information between the target object 400 and the laser radar.
The working process of ranging based on the laser radar is as follows:
1. and (3) emitting:
each line emission laser instrument is lighted in proper order to the light source spare 100 of transmission module, and when present line emission laser instrument was lighted:
the front emitting laser generates a first light beam and emits the first light beam to the light compression piece 200, and the vertical divergence angle of the first light beam is compressed to 0.6 degrees by the light compression piece 200 to form a second light beam;
the second light beam enters the light diffusion member 300, and the horizontal divergence angle of the second light beam is diffused to 120 degrees by the light diffusion member 300 to form an emergent light beam;
the emergent beam is emitted to the target 400, and a corresponding linear light spot is formed on the target 400.
2. Reflection:
the emergent beam is incident on the surface of the target 400 and is reflected by the target 400 to the receiving module, and the receiving module performs the following operations:
the reflected light formed by the target 400 is incident on a filter, which is an optical filter and is used for eliminating the interference of ambient light and other light sources;
the filtered reflected light enters the photosensitive unit, and is collected and processed by the photosensitive unit to obtain corresponding reflected light signals;
and sending the reflected light signal to the ranging unit, wherein the ranging unit obtains the distance information between the target object 400 and the laser radar based on the TOF ranging principle.
The laser radar provided by the embodiment is based on a solid-state optical scanning scheme, and compared with the traditional mechanical laser radar, the laser radar has the advantages of small size and low cost, and all parts in the laser radar provided by the embodiment are fixed, so that the reliability and stability are high, and the laser radar is easy to realize; compared with the existing MEMS laser radar, the laser radar provided by the embodiment does not need to adjust the angle of the light source through a micro mirror, and is high in reliability and stability; compared with the existing OPA laser radar, the laser radar provided by the embodiment has high technical maturity, is composed of ready-made and available components, is easy to realize, does not need to consume a large amount of time cost and capital cost, and has feasibility of mass production; compared with the existing FLASH laser radar, the laser radar provided by the embodiment has strong ranging capability, can reach a ranging range of hundreds of meters, and is better suitable for the scene application of automatic driving.
It should be noted that:
while preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the utility model.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the shape of the components, the names of the components, and the like. All equivalent or simple changes of the structure, the characteristics and the principle of the utility model which are described in the patent conception of the utility model are included in the protection scope of the patent of the utility model. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the utility model as defined in the accompanying claims.
Claims (10)
1. A transmitting module is used for illuminating a target and is characterized by comprising a light source part, a light compression part and a light diffusion part which are sequentially arranged;
the light source component is used for emitting a first light beam;
the light compression piece is used for reducing the divergence angle of the first light beam in the first direction to form a second light beam;
the light diffusion piece is used for diffusing a divergence angle of the second light beam in a second direction to form an emergent light beam, the emergent light beam irradiates the target object, the first direction is a vertical direction or a horizontal direction, and the second direction is a horizontal direction or a vertical direction.
2. The transmitter module of claim 1, wherein:
the optical compression piece comprises a plurality of cylindrical lenses, the cylindrical lenses are arranged at intervals, and the first light beam sequentially passes through the cylindrical lenses to form the second light beam.
3. The transmitter module of claim 2, wherein:
the interval between the adjacent cylindrical lenses is less than or equal to 0.1 mm.
4. The transmitter module of claim 3, wherein:
the equivalent focal length of the light compression piece is greater than or equal to 3mm and less than or equal to 4mm, and the divergence angle of the second light beam in the first direction is less than or equal to 0.6 degrees.
5. The transmitter module of claim 4, wherein:
the optical compression piece comprises two cylindrical lenses, namely a first cylindrical lens and a second cylindrical lens, and a first light beam sequentially passes through the first cylindrical lens and the second cylindrical lens to form a second light beam;
the focal lengths of the first cylindrical lens and the second cylindrical lens are both greater than or equal to 5mm and less than or equal to 6 mm.
6. The transmitter module of claim 4 or 5, wherein:
the divergence angle of the outgoing light beam in the second direction is 120 ° or more.
7. The transmitter module of any of claims 1 to 5, wherein:
the distance between the light source and the light compression piece is more than or equal to 250 μm and less than or equal to 350 μm.
8. The transmitter module of any of claims 1 to 5, wherein:
the light source device is a vertical cavity surface emitting laser array.
9. The utility model provides a laser radar, includes the transmission module and the receiving module that the signal links to each other, its characterized in that:
the transmitter module of any one of claims 1 to 8.
10. The lidar of claim 9, wherein:
the receiving module comprises a light filtering piece, a photosensitive unit and a distance measuring unit, the photosensitive unit is connected with the distance measuring unit through signals, and the distance measuring unit is connected with the transmitting module through signals:
the reflected light of the target object enters the photosensitive unit through the light filtering piece, the photosensitive unit generates a reflected light signal and sends the reflected light signal to the distance measuring unit;
and the distance measuring unit receives the reflected light signal and obtains the distance information between the target object and the laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122063502.7U CN215813347U (en) | 2021-08-30 | 2021-08-30 | Transmitting module and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122063502.7U CN215813347U (en) | 2021-08-30 | 2021-08-30 | Transmitting module and laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215813347U true CN215813347U (en) | 2022-02-11 |
Family
ID=80153331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122063502.7U Active CN215813347U (en) | 2021-08-30 | 2021-08-30 | Transmitting module and laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215813347U (en) |
-
2021
- 2021-08-30 CN CN202122063502.7U patent/CN215813347U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9004691B2 (en) | Head-up display device using a concave cylindrical lens for projecting image on screen | |
| CN111722241A (en) | Multi-line scanning distance measuring system and method and electronic equipment | |
| KR20170135415A (en) | Scanning lidar having optical structures with transmission receiving single lens | |
| CN110531369B (en) | Solid-state laser radar | |
| CN109581323B (en) | Micro-electromechanical laser radar system | |
| CN215526114U (en) | Laser radar transmitting device and laser radar | |
| CN215813347U (en) | Transmitting module and laser radar | |
| CN113740869A (en) | Transmitting module and laser radar | |
| CN216694839U (en) | Optical system suitable for curved surface measurement | |
| CN114235344B (en) | Debugging device and method for laser resonant cavity mirror | |
| CN112098975B (en) | Line scanning light source generating device for SPAD scheme | |
| CN114488080A (en) | Light homogenizing sheet, light emitting unit for laser radar and laser radar | |
| CN211741559U (en) | Dual-wavelength multi-line laser radar device | |
| CN200989965Y (en) | Bar code machine optical structure | |
| CN211505892U (en) | Structured light module, three-dimensional scanning device, and electronic device | |
| CN211478651U (en) | TOF imaging apparatus | |
| CN214151270U (en) | Light path zooming device, optical module and laser radar | |
| CN201203668Y (en) | Emission optical system for laser distance-measuring instrument | |
| CN211717443U (en) | Lens device and laser projection device | |
| CN111077507A (en) | Multi-line laser radar, manufacturing method thereof and light path adjusting method | |
| WO2024045520A1 (en) | Laser radar | |
| CN220438538U (en) | Beam splitting assembly and lidar system | |
| CN219285418U (en) | Laser radar | |
| CN214151039U (en) | Laser radar | |
| CN218032948U (en) | Illumination and detecting system and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A transmitting module and laser radar Effective date of registration: 20221118 Granted publication date: 20220211 Pledgee: Bank of Hangzhou Limited by Share Ltd. science and Technology Branch Pledgor: Hangzhou Luowei Technology Co.,Ltd. Registration number: Y2022980022421 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |