CN216117999U - Mixed solid-state laser radar - Google Patents
Mixed solid-state laser radar Download PDFInfo
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- CN216117999U CN216117999U CN202122167594.3U CN202122167594U CN216117999U CN 216117999 U CN216117999 U CN 216117999U CN 202122167594 U CN202122167594 U CN 202122167594U CN 216117999 U CN216117999 U CN 216117999U
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Abstract
The utility model discloses a hybrid solid-state laser radar, wherein the laser radar comprises: n groups of laser transmitters and laser receivers; the first polyhedral prism is provided with N reflecting surfaces, the N reflecting surfaces have the same or different inclination angle differences, and the total inclination angle difference is M1 degrees; the second polyhedral prism has the same structure as the first polyhedral prism, the total inclination angle difference is M2 degrees, and the second polyhedral prism is arranged above the first polyhedral prism in a mirror symmetry manner; and the motor control module is used for controlling the first polyhedral prism and the second polyhedral prism to implement different rotation modes. The laser emitted by each laser emitter is reflected twice by the combination of the two rotating mirrors in different rotating modes and different inclination reflecting surfaces, N two-dimensional scanning lights with 360/N degrees of horizontal field of view and 2 × M1 degrees of vertical field of view are formed after one period, and three-dimensional scanning lights with 360 degrees of horizontal field of view and 2 degrees of vertical field of view (M1 degrees + M2 degrees) are formed in one period after the combination.
Description
Technical Field
The utility model relates to the field of laser radars, in particular to a hybrid solid-state laser radar.
Background
Laser radars in the prior art mainly include three major categories, namely mechanical vehicle-mounted laser radars, hybrid solid-state vehicle-mounted laser radars and all-solid-state vehicle-mounted laser radars.
The first type of mechanical vehicle-mounted laser radar has the advantages of mature technology, excellent detection performance, high resolution and 360-degree view field, but because the resolution in the vertical direction is in direct proportion to the number of the laser transmitters and the receivers, each transmitter and each receiver must be precisely aligned, assembled and calibrated in a mass production process, the workload is high, the product yield is low, and the cost is high.
The second type of mixed solid-state vehicle-mounted laser radar controls the laser beam direction to complete scanning by rotating the mirror or the polyhedral prism, and the main technology adopts the micro MEMS scanning mirror to control the laser beam direction to complete scanning.
In the third category, there are two types of all-solid-state lidar, one is an Optical Phased Array (OPA) scheme, and the technology of the optical phased array is adopted to control the laser beam without any moving parts; and the second is floodlight (Flash) imaging LiDAR, light beam steering is not needed, the whole scene can be illuminated by flashing once, and reflected light rays are detected by a two-dimensional array image sensor similar to a digital camera. The all-solid-state laser radar has no moving part inside, can be produced into chips, can greatly reduce the cost in mass production, but has immature technology and short distance measurement, can only scan one direction, and realizes that a plurality of spliced angles of view of 360 degrees are needed.
Laser radar and laser radar control method utility model CN107703510A discloses a laser radar and laser radar control method, adopt vertical galvanometer and rotatory polygon mirror cooperation to accomplish three-dimensional scanning, adopt a transmitter to realize vertical direction scanning through the galvanometer, replace a plurality of transmitters in order to seek the complexity of reduction cost and structure, but because unmanned driving requires 0.1 degree and refresh frequency 10 frames or more to laser radar horizontal resolution, and the measuring distance will reach 200m, every time of sweeping 0.1 degree according to this technical requirement horizontal direction is 27 mus, and each time and measuring time at least 2 mus, can only measure 13 times in the vertical direction, namely vertical resolution can only accomplish 2.2 degrees, so can not reach the technical parameter requirement of first type multi-transmitter/receiver laser radar, can't replace completely.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides a hybrid solid-state laser radar to solve the problems of high cost, low resolution and the like.
A hybrid solid-state lidar according to an embodiment of a first aspect of the utility model, comprising: n groups of laser transmitters and laser receivers are respectively used for transmitting and receiving detection laser, wherein N is more than or equal to 2; the first polyhedral prism is provided with N reflecting surfaces or refracting surfaces, the N reflecting surfaces or refracting surfaces correspond to the positions of the N groups of laser transmitters and laser receivers one by one and are used for reflecting or refracting detection laser transmitted by the laser transmitters to a second polyhedral prism and reflecting or refracting detection laser returned by the second polyhedral prism to the laser receivers, and the N reflecting surfaces or the N refracting surfaces have the same or different inclination angle differences, and the inclination angle differences sum to M1 degrees; the N groups of laser transmitters and laser receivers are arranged on the peripheral side of the first polyhedral prism in a circumferentially equally-divided manner; the second polyhedral prism has the same structure as the first polyhedral prism, has a total inclination angle difference of M2 degrees, is arranged above the first polyhedral prism in a mirror symmetry manner, and is used for reflecting or refracting the detection laser reflected or refracted by the first polyhedral prism to a detected region and reflecting the detection laser reflected and returned by the detected region to the first polyhedral prism; the motor control module is used for controlling the first polyhedral prism and the second polyhedral prism to implement different rotation modes; the motor control module comprises a first motor control module and a second motor control module, and is used for controlling the continuous rotation and the intermittent rotation of the first polyhedral prism and the second polyhedral prism respectively.
The hybrid solid-state lidar according to the first embodiment of the utility model has at least the following beneficial effects: the laser emitted by each laser emitter is reflected twice by the combination of the two rotating mirrors in different rotating modes and different inclination reflecting surfaces, N two-dimensional scanning lights with 360/N degrees of horizontal field of view and 2 × M1 degrees of vertical field of view are formed after one period, and three-dimensional scanning lights with 360 degrees of horizontal field of view and 2 degrees of vertical field of view (M1 degrees + M2 degrees) are formed in one period after the combination. The whole machine is provided with only two horizontal rotating prisms, the structure is simple, the horizontal rotating mirrors are divided into N reflecting surfaces with different inclination angles and are combined in different rotating modes to form two-dimensional scanning light in N directions, N MEMS galvanometers are replaced, and the cost is greatly reduced.
According to some embodiments of the first aspect of the present invention, the exit direction of the laser emitter is provided with a collimating lens.
According to some embodiments of the first aspect of the present invention, the laser receiver is provided with a focusing lens in an incident direction.
According to some embodiments of the first aspect of the present invention, the laser receiver is provided with a focusing lens in an incident direction, and the focusing lens and the collimating lens are the same lens.
According to some embodiments of the first aspect of the present invention, a first mirror is provided between the laser emitter and the corresponding reflective surface of the first polygonal prism, the first mirror being obliquely arranged for vertically reflecting the horizontally emitted detection laser light to the first polygonal prism.
According to a second aspect of the present invention, a scanning method for a hybrid solid state lidar is applied to the hybrid solid state lidar, and includes the following steps:
n laser transmitters transmit detection laser;
controlling the second polyhedral prism to correspondingly rotate for 360/N degrees and stay once the first polyhedral prism rotates for one circle, and implementing alternate intermittent rotation;
the first polyhedral prism reflects or refracts the detection laser emitted by the laser emitter to form N two-dimensional scanning lights with a horizontal field of view of 360/N degrees and a vertical field of view of 2M 1 degrees, and the two-dimensional scanning lights are sent to the second polyhedral prism;
the second polyhedral prism reflects or refracts the detection laser sent by the first polyhedral prism, and when the second polyhedral prism rotates for a circle, three-dimensional scanning light with a horizontal view field of 360 degrees and a vertical view field of 2 degrees (M1 degrees + M2 degrees) is formed;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
According to a third aspect of the present invention, a scanning method for a hybrid solid state lidar is applied to the hybrid solid state lidar, and includes the following steps:
n laser transmitters transmit detection laser;
after the first polyhedral prism and the second polyhedral prism are controlled to synchronously rotate for one rotation, the first polyhedral prism continues to rotate at the original speed, the second polyhedral prism finishes speed reduction within 360 DEG/N and accelerates to return to the original rotating speed, the second polyhedral prism and the first polyhedral prism form dislocation of 360 DEG/N and then continue to rotate at the same speed, and the first polyhedral prism and the second polyhedral prism are reset after N rotations are circulated;
the detection laser emitted by the laser emitter is reflected or refracted to the second polyhedral prism through the first polyhedral prism and then reflected or refracted again to form two-dimensional scanning light with N different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
A scanning method for a hybrid solid-state lidar according to an embodiment of a fourth aspect of the present invention is applied to the hybrid solid-state lidar, and includes the following steps:
n laser transmitters transmit detection laser;
controlling the first polyhedral prism and the second polyhedral prism to rotate at a certain speed ratio, and refracting or reflecting the detection laser emitted by the laser emitter to the second polyhedral prism through the first polyhedral prism for reflecting or refracting again to form N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic optical diagram of a system according to an embodiment of the first aspect of the present invention;
FIG. 2 is a top view of a lidar embodying the first aspect of the present invention;
FIG. 3 is a front view of a lidar embodying the first aspect of the present invention;
FIG. 4 is a front view of a lidar constructed in accordance with an embodiment of the fourth aspect of the present invention;
fig. 5 is a front view of another embodiment of the lidar of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 3, a hybrid solid-state lidar according to an embodiment of a first aspect of the present invention includes:
n groups of laser transmitters 100 and laser receivers 500, which are respectively used for transmitting and receiving detection laser, where N is greater than or equal to 2, N is preferably 10 in this embodiment, and the laser receivers 500 are APD or SIPM sensors;
the first polygonal prism 200 is provided with N reflecting surfaces, N reflecting surfaces of the first polygonal prism 200 are in one-to-one correspondence with the positions of the N groups of laser emitters 100 and laser receivers 500, and are used for reflecting the detection laser emitted by the laser emitters 100 to the second polygonal prism 300 and reflecting the detection laser returned by the second polygonal prism 300 to the laser receivers 500, and N reflecting surfaces of the N reflecting surfaces have the same or different inclination angle differences, and the total inclination angle difference is M1 °, namely the difference between included angles between adjacent reflecting surfaces and a horizontal plane, so that compared with N reflecting surfaces of the N reflecting surfaces without inclination angle differences, the resolution of the prism in a vertical view field can be improved by N times;
a second polygonal prism 300 having the same structure as the first polygonal prism 200, having a total inclination angle difference of M2 ° and being mirror-symmetrically disposed above the first polygonal prism 200, and configured to reflect the detection laser light reflected by the first polygonal prism 200 to the detected region and reflect the detection laser light reflected and returned by the detected region to the first polygonal prism 200;
and a motor control module for controlling the first polyhedral prism 100 and the second polyhedral prism 200 to implement different rotation modes.
It can be seen that, in the present embodiment, the laser emitted by each laser emitter is reflected twice by the combination of the two rotating mirrors in different rotating manners and different inclination reflecting surfaces, after one period, N two-dimensional scanning lights with a horizontal field of view of 360/N degrees and a vertical field of view of 2 × M1 ° are formed, and after the two-dimensional scanning lights are combined, three-dimensional scanning lights with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 ° + M2 °) are formed in one period. The whole machine is provided with only two horizontal rotating prisms, the structure is simple, the horizontal rotating mirrors are divided into N reflecting surfaces with different inclination angles and are combined in different rotating modes to form two-dimensional scanning light in N directions, N MEMS galvanometers are replaced, and the cost is greatly reduced.
Further, the inclination angle difference may not necessarily be increased or decreased by a fixed angle difference, and a combination of different intervals of the scanning locus may be formed by setting different angle differences.
In some embodiments of the first aspect of the present invention, the motor control module includes a first motor control module 401 and a second motor control module 402 for controlling the continuous rotation and the intermittent rotation of the first polygonal prism 200 and the second polygonal prism 300, respectively, and since the second polygonal prism 300 is symmetrically arranged with respect to the mirror image of the first polygonal prism 200, one may be selected to be the continuous rotation and the other to be the intermittent rotation.
Further, in some embodiments of the first aspect of the present invention, the first motor control module 401 and the second motor control module 402 are both provided with code discs and code readers 403 for reading scales of the code discs to achieve the collection of the rotation angle, so as to accurately control the rotation of the first polyhedral prism 200 and the second polyhedral prism 300.
Preferably, in some embodiments of the first aspect of the present invention, N groups of the laser transmitters 100 and the laser receivers 500 are disposed on the periphery of the first polygonal prism 200 in a manner of equally dividing the circumference, and are assembled together in the housing 600 of the laser radar, as shown in fig. 2 and 3, N single-transmitting and single-receiving modes divide the horizontal direction into N two-dimensional scanning lights by reflection or refraction of N surfaces of the polygonal prism a and the polygonal prism B, the N laser transmitters 100 transmit synchronously to improve the resolution, and the single-transmitting and single-receiving mode ensures a simple structure, easy assembly, fewer components, and simple assembly, thereby greatly reducing the cost.
Further, in some embodiments of the first aspect of the present invention, the collimating lens 710 is disposed in the emitting direction of the laser emitter 100, so that the laser beam can be corrected by constraint, and divergence can be reduced.
In some embodiments of the first aspect of the present invention, a first reflector 800 is disposed between the laser emitter 100 and the corresponding reflective surface of the first polygonal prism 200, and the first reflector is obliquely disposed to horizontally reflect the vertically emitted detection laser to the first polygonal prism 200, and this 90-degree light path turning design can save the occupied space of the product, so that the structure is more compact.
In addition, in some embodiments of the first aspect of the present invention, the laser receiver 500 is provided with a focusing lens 720 in the incident direction, so as to facilitate clearer imaging.
Further, in some embodiments of the first aspect of the present invention, a second mirror 900 is disposed between the laser receiver 500 and the corresponding reflection surface of the first polygonal prism 200, and the second mirror 900 is obliquely disposed to vertically reflect the horizontally transmitted detection laser to the laser receiver 500, and in the same way, the 90-degree light path turning design can save the occupied space of the product, so that the structure is more compact. In addition, in order to avoid blocking the outgoing of the detection laser, the second reflecting mirror is provided with a through hole for the outgoing detection laser to pass through.
The present invention further includes a second aspect embodiment of the same utility model concept as the first aspect embodiment, that is, a scanning method of a hybrid solid state laser radar, applied to the hybrid solid state laser radar, including the following steps:
n laser transmitters transmit detection laser;
controlling the second polyhedral prism to correspondingly rotate for 360/N degrees and stay once the first polyhedral prism rotates for one circle, and implementing alternate intermittent rotation;
the first polyhedral prism reflects the detection laser emitted by the laser emitter to form N two-dimensional scanning lights with a horizontal field of view of 360/N degrees and a vertical field of view of 2M 1 degrees, and the two-dimensional scanning lights are sent to the second polyhedral prism;
the second polyhedral prism reflects the detection laser sent by the first polyhedral prism, and when the second polyhedral prism rotates for a circle, three-dimensional scanning light with a horizontal view field of 360 degrees and a vertical view field of 2 degrees (M1 degrees + M2 degrees) is formed;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
The present invention further includes a third aspect of the same inventive concept as the first aspect, that is, a scanning method of a hybrid solid state laser radar, applied to the hybrid solid state laser radar, including the following steps:
n laser transmitters transmit detection laser;
after the first polyhedral prism and the second polyhedral prism are controlled to synchronously rotate for one rotation, the first polyhedral prism continues to rotate at the original speed, the second polyhedral prism finishes speed reduction within 360 DEG/N and accelerates to return to the original rotating speed, the second polyhedral prism and the first polyhedral prism form dislocation of 360 DEG/N and then continue to rotate at the same speed, and the first polyhedral prism and the second polyhedral prism are reset after N rotations are circulated;
the detection laser emitted by the laser emitter is reflected to the second polyhedral prism through the first polyhedral prism and is reflected again, and N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees are formed;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
Compared with the second polyhedron prism in the second aspect, which rotates intermittently and continuously, the second polyhedron prism rotates continuously to form N horizontal lines, each surface of the second polyhedron prism rotates one surface synchronously and deflects according to the inclination angle difference because of the different inclination angles, and the intermittent second polyhedron prism deflects N times because of the N angle differences, so that the vertical scanning field of view is enlarged.
As shown in fig. 4, in the fourth embodiment of the present invention, which is a catadioptric mode, the second polygonal prism uses a refractive prism instead of the reflective prism of the above embodiments, and only the positions of the laser receiver and the laser emitter need to be adjusted, and the collimating lens and the focusing lens are replaced by a two-in-one lens, so that the corresponding scan control method is consistent with the second embodiment of the third aspect, and the same effect can be achieved. The method specifically comprises the following steps:
n laser transmitters transmit detection laser;
controlling the first polyhedral prism and the second polyhedral prism to rotate at a certain speed ratio, and refracting detection laser emitted by the laser emitter to the second polyhedral prism through the first polyhedral prism for reflecting again to form two-dimensional scanning light with N different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
As shown in fig. 5, in another embodiment of the fourth aspect of the present invention, which is another catadioptric mode, the second polygonal prism uses a reflective prism instead of the refractive prism of the above embodiments, and only the positions of the laser receiver and the laser emitter need to be adjusted, and the collimating lens and the focusing lens are replaced by two-in-one lenses, so that the corresponding scanning control method is consistent with the second embodiment of the third aspect, and the same effect can be achieved. The method specifically comprises the following steps:
n laser transmitters transmit detection laser;
controlling the first polyhedral prism and the second polyhedral prism to rotate at a certain speed ratio, reflecting detection laser emitted by the laser emitter to the second polyhedral prism through the first polyhedral prism for refractions again, and forming N two-dimensional scanning lights with different angles in a horizontal view field of 360/N degrees;
three-dimensional scanning light with a horizontal field of view of 360 degrees and a vertical field of view of 2(M1 degrees + M2 degrees) is formed after N turns is formed through dislocation change combination of the second polyhedral prism and the first polyhedral prism;
the three-dimensional scanning light irradiates to a detected area, and then the detection laser is reflected and transmitted back to the laser receiver to be received through the second polyhedral prism and the first polyhedral prism in sequence.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A hybrid solid state lidar characterized by: comprises that
N groups of laser transmitters and laser receivers are respectively used for transmitting and receiving detection laser, wherein N is more than or equal to 2;
the first polyhedral prism is provided with N reflecting surfaces or refracting surfaces, the N reflecting surfaces or refracting surfaces correspond to the positions of the N groups of laser transmitters and laser receivers one by one and are used for reflecting or refracting detection laser transmitted by the laser transmitters to a second polyhedral prism and reflecting or refracting detection laser returned by the second polyhedral prism to the laser receivers, and the N reflecting surfaces or the N refracting surfaces have the same or different inclination angle differences, and the inclination angle differences sum to M1 degrees; the N groups of laser transmitters and laser receivers are arranged on the peripheral side of the first polyhedral prism in a circumferentially equally-divided manner;
the second polyhedral prism has the same structure as the first polyhedral prism, has a total inclination angle difference of M2 degrees, is arranged above the first polyhedral prism in a mirror symmetry manner, and is used for reflecting or refracting the detection laser reflected or refracted by the first polyhedral prism to a detected region and reflecting or refracting the detection laser reflected and returned by the detected region to the first polyhedral prism;
the motor control module is used for controlling the first polyhedral prism and the second polyhedral prism to implement different rotation modes; the motor control module comprises a first motor control module and a second motor control module, and is used for controlling the continuous rotation and the intermittent rotation of the first polyhedral prism and the second polyhedral prism respectively.
2. The hybrid solid-state lidar of claim 1, wherein: and a collimating lens is arranged in the emergent direction of the laser emitter.
3. The hybrid solid-state lidar of claim 1, wherein: and a focusing lens is arranged in the incident direction of the laser receiver.
4. The hybrid solid-state lidar of claim 2, wherein: and a focusing lens is arranged in the incident direction of the laser receiver, and the focusing lens and the collimating lens are the same lens.
5. The hybrid solid-state lidar of claim 1, 2, or 4, wherein: and a first reflector is arranged between the laser emitter and the corresponding reflecting surface of the first polyhedral prism, and the first reflector is obliquely arranged to vertically reflect the horizontally emitted detection laser to the first polyhedral prism.
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| CN202122167594.3U CN216117999U (en) | 2021-09-07 | 2021-09-07 | Mixed solid-state laser radar |
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