CN216248307U - Laser radar system - Google Patents
Laser radar system Download PDFInfo
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- CN216248307U CN216248307U CN202122020923.1U CN202122020923U CN216248307U CN 216248307 U CN216248307 U CN 216248307U CN 202122020923 U CN202122020923 U CN 202122020923U CN 216248307 U CN216248307 U CN 216248307U
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Abstract
The application discloses laser radar system, laser radar system includes: the device comprises a transmitting and receiving device and a reflection adjusting device; the transmitting and receiving device is used for emitting a first detection light beam so that the first detection light beam scans and detects the target object along a first direction on the target object; the reflection adjusting device is used for forming a second detection light beam according to the reflected light beam of the target object, so that the second detection light beam scans and detects the target object on the target object along a second direction; wherein the first direction and the second direction intersect. By applying the technical scheme provided by the application, the static scanning and non-static scanning modes are combined, the scanning precision is high, the scanning speed is high, and the two-dimensional light beam scanning of a mixed solid state can be realized.
Description
Technical Field
The utility model relates to the technical field of laser radars, in particular to a laser radar system.
Background
Laser radar has extensive application as present comparatively advanced sensor in many fields, for example fields such as autopilot, logistics transportation, high-precision map, wisdom traffic, robot, industrial automation, unmanned aerial vehicle, survey and drawing. The laser radar is the eye of automatic driving due to the characteristics of strong anti-interference performance, clear imaging and the like, and is regarded as one of the most important sensors in automatic driving. The laser radar can be divided into four systems of laser emission, laser receiving, light beam control and information processing, and can realize the functions of real-time environment sensing and obstacle avoidance by analyzing laser signals to draw a three-dimensional point cloud picture.
The laser radar can be divided into a mechanical laser radar which integrally rotates, a semi-solid laser radar which is static in a transceiving module and rotates in a light path, and a solid laser radar according to a scanning mode. The solid-state laser radar mainly comprises a Flash laser radar, an Optical Phased Array (OPA) and the like, the Flash laser radar is short in detection distance, and limited in application scene, and the silicon-based optical phased Array technology has the advantages of being small in size, low in power consumption, low in cost, high in scanning speed and the like, can realize a chip-level laser scanning device, and has a wide application prospect.
At present, the research heat for OPA devices is higher, but the difficulty in design and process of supporting two-dimensional scanning OPA devices based on pure phase control is higher, and the wide application is difficult to be developed at the present stage. Therefore, it is desirable to provide a hybrid solid-state lidar system that implements two-dimensional scanning based on an optical phased array.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a laser radar system, which combines the static scanning and the non-static scanning, has high scanning precision and fast scanning speed, and can realize the two-dimensional beam scanning of the mixed solid state.
In order to achieve the purpose, the utility model provides the following technical scheme:
a lidar system comprising: the device comprises a transmitting and receiving device and a reflection adjusting device;
the transmitting and receiving device is used for emitting a first detection light beam so that the first detection light beam scans and detects the target object along a first direction on the target object;
the reflection adjusting device is used for forming a second detection light beam according to the reflected light beam of the target object, so that the second detection light beam scans and detects the target object on the target object along a second direction;
wherein the first direction and the second direction intersect.
Preferably, in the laser radar system described above, the first direction and the second direction are perpendicular.
Preferably, in the above laser radar system, the transmitting and receiving device is a static scanning device.
Preferably, in the above laser radar system, the static scanning device is an optical phased array or an optical chip.
Preferably, in the above laser radar system, further comprising: and the control device is electrically connected with the transmitting and receiving device and the reflection adjusting device respectively.
Preferably, in the above laser radar system, the transmitting and receiving device includes a plurality of laser transmitting units;
the control device is used for providing an electric signal to the laser emitting unit so that the laser emitting unit emits the first detection beam according to the electric signal.
Preferably, in the laser radar system, the reflection adjusting device is a non-static scanning device.
Preferably, in the laser radar system, the non-stationary scanning device is any one of a MEMS galvanometer, a mechanical galvanometer, a rotating mirror, and a prism.
Preferably, in the lidar system described above, the non-stationary scanning device has a reflective surface for reflecting light to form the second probe beam; the non-static scanning device can rotate on the basis of a rotating shaft parallel to the second direction so as to adjust the second detection light beam to scan and detect the target object on the target object along the second direction.
Preferably, in the above laser radar system, further comprising: an output device for outputting information related to the target object;
the related information includes at least one of distance, orientation, altitude, and speed.
As can be seen from the above description, in the lidar system provided in the technical solution of the present invention, the transmitting and receiving device emits the first probe beam, so that the first probe beam scans and detects the target object on the target object along the first direction, and the reflection adjusting device forms the second probe beam according to the reflected beam reflected by the target object, so that the second probe beam scans and detects the target object on the target object along the second direction, thereby realizing the scanning of the mixed solid two-dimensional beam.
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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A Photonic Integrated Circuit (PIC) chip refers to a chip fabricated using Photonic integration technology, and may also be referred to as an optical chip. The photonic integration technology can be compatible with the existing standard technology of Semiconductor CMOS (Complementary Metal-Oxide-Semiconductor), and can be integrated with a microelectronic integrated circuit, so that an integrated optical chip becomes a research hotspot and has wide application in the fields of communication, sensing, calculation, quantum, biology and the like.
In the optical phased array laser radar system, a phased array transmitter is composed of a plurality of transmitting and receiving units to form an array, the voltage loaded on different units can be changed, and then the characteristics (such as light intensity and phase) of the light waves emitted by different units are changed, so that the independent control of the light waves of each unit is realized, the mutual reinforced interference is generated in the set direction by adjusting the phase relation among the light waves radiated from each phased unit, so that high-intensity light beams are realized, and the light waves radiated from all the units in other directions are mutually cancelled, so that the radiation intensity is close to zero. Under the control of program, each phase control unit can make one or more high-intensity light beams point to realize random space domain scanning according to designed program.
Compared with the traditional mechanical scanning technology, the optical phased array scanning technology based on the integrated optical technology has three advantages: 1. the scanning speed is high: the scanning speed of the optical phased array depends on the electronic characteristics of the used materials and the structure of the device, and can generally reach over MHz magnitude. 2. The scanning precision or the pointing precision is high: the scanning accuracy of the optical phased array depends on the accuracy of the control electrical signal (generally, a voltage signal), and can be more than mu rad (one thousandth). 3. The controllability is good: the light beam pointing of the optical phased array is completely controlled by an electric signal, any pointing can be achieved within an allowed angle range, high-density scanning can be performed on an interested target area, sparse scanning can be performed on other areas, and the optical phased array is very useful for automatic driving environment perception.
In general, lidar requires scanning in both horizontal and vertical directions. Two-dimensional light beam scanning is realized by adopting an optical phased array technology, or phased arrays are carried out in two dimensions; or one dimension is scanned by an optical phased array and the other dimension is scanned by wavelength switching of the light source. In the first scheme, a two-dimensional phased array antenna array is required for phased array in two dimensions, and the number of array elements is exponentially increased along with the scale of the array (for example, N2), so that it is difficult to make an optical phased array matrix of a large array, especially the processing difficulty of an optical chip of the optical phased array of the large array and the difficulty of a corresponding control circuit are great. In the second scheme, the light source with multiple wavelengths is high in price and large in size, and the requirements of the market on low cost and small size of the laser radar are difficult to meet.
In view of this, the present application provides a laser radar system, which sends out a first probe beam through a transmitting and receiving device, so that the first probe beam scans and detects a target object on the target object along a first direction, and a reflection adjusting device forms a second probe beam according to a reflected beam reflected by the target object, so that the second probe beam scans and detects the target object on the target object along a second direction. The optical phased array/optical chip scanning and MEMS galvanometer or other modes are combined for scanning, the scanning precision is high, the scanning speed is high, and the two-dimensional light beam scanning of a mixed solid state can be realized.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention, and as shown in fig. 1, the laser radar system includes:
a transmitting and receiving device 10 and a reflection adjusting device 20;
the transmitting and receiving device 10 is configured to emit a first probe beam, so that the first probe beam scans and detects the target object 30 on the target object 30 along a first direction (which is set as a Y direction);
the reflection adjusting device 20 is configured to form a second probe beam according to a reflected beam reflected by the target object 30, so that the second probe beam scans and detects the target object 30 along a second direction (set as an X direction) on the target object 30;
wherein the first direction Y and the second direction X intersect.
Further, the first direction Y and the second direction X are perpendicular.
Based on the laser radar system shown in fig. 1, the system further includes: a control device (not shown) electrically connected to the transmitting and receiving device 10 and the reflection adjusting device 20, respectively.
Wherein the transmitting and receiving device 10 comprises a plurality of laser transmitting units. The control device can be used for providing an electric signal to the laser emitting unit so that the laser emitting unit emits a first detection beam according to the electric signal.
Specifically, the transceiver 10 is an array composed of a plurality of transceiver units, and the transceiver units can be used for emitting laser beams and receiving probe beams reflected by a target object. In this embodiment, the control device can change the electrical signals loaded on the different transmitting and receiving units, so as to change the characteristics (such as light intensity and phase) of the light waves transmitted by the different transmitting and receiving units, thereby realizing independent control of the light waves of each transmitting and receiving unit, and by adjusting the phase relationship between the light waves radiated from each transmitting and receiving unit, mutually enhanced interference is generated in a set direction, thereby realizing a high-intensity light beam. Under the control of the control device, the transmitting and receiving unit can emit one or more high-intensity detection beams to realize scanning detection in a set direction.
Further, the control device may be connected to the transceiver 10 via a power circuit to provide an electrical signal to the laser emitting unit via the power circuit.
In this embodiment of the present invention, the transceiver 10 may be a static scanning device.
Further, the static scanning device may be an optical chip that can implement solid-state beam scanning, such as an optical phased array or planar waveguide type optical splitter (PLC) chip, an FMCW array chip based on integrated optical technology, an optical switch array chip, and a liquid crystal.
In the embodiment of the present invention, the reflection adjusting device 20 may be a non-static scanning device.
Further, the non-static scanning device may be any one of a MEMS galvanometer, a mechanical galvanometer, a turning mirror, a prism, or the like, which may implement a non-solid-state beam scanner.
As shown in fig. 1, the reflection adjusting device 20 has a reflection surface B, and the reflection surface B can be used for reflecting light to form the second probe beam; the reflection adjustment device 20 can rotate based on a rotation axis parallel to the second direction X to adjust the second detection beam to scan and detect the target object 30 on the target object 30 along the second direction X.
Based on the laser radar system shown in fig. 1, the system further includes: an output device (not shown) electrically connectable to the control apparatus via a power circuit, the output device being operable to output relevant information of the target object 30, which may be at least one of distance, orientation, altitude and speed.
Specifically, firstly, the control device provides different electrical signals to the transmitting and receiving unit, and controls the transmitting and receiving unit to emit a first probe beam, so that the first probe beam scans and detects the target object 30 on the target object 30 along a first direction Y; then, the reflection surface B of the reflection adjusting device 20 controls the reflection adjusting device 20 to rotate based on a rotating shaft parallel to the second direction X through the control device according to the first reflected light beam reflected by the target object 30, so as to form a second detection light beam, so that the second detection light beam scans and detects the target object 30 on the target object 30 along the second direction X; finally, the reflecting surface B receives the second reflected light beam reflected by the target object 30, controls the reflection adjusting device 20 to be rotatable based on the rotation axis parallel to the second direction X by the control device, and emits the second reflected light beam to the transmission and reception unit, the control device determines the information about the target object 30 based on the first probe light beam and the second reflected light beam, and outputs the information about the target object 30 through the output device.
As can be seen from the above description, in the laser radar system provided in the technical solution of the present invention, the static scanning device may be used to scan the target object in the first direction Y, and the non-static scanning device may be used to scan the target object in the second direction X; the laser radar system can realize the scanning of a target object in a first dimension by utilizing the static scanning device, can realize the scanning of the target object in a second dimension by combining the non-static scanning device, has high scanning precision and high scanning speed, and can realize two-dimensional scanning on the basis of the one-dimensional optical phased array device, thereby realizing the two-dimensional light beam scanning of a mixed solid state.
The embodiments in the present description are described in a progressive manner, or in a parallel manner, or in a combination of a progressive manner and a parallel manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments can be referred to each other.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A lidar system, comprising: the device comprises a transmitting and receiving device and a reflection adjusting device;
the transmitting and receiving device is used for emitting a first detection light beam so that the first detection light beam scans and detects the target object along a first direction on the target object;
the reflection adjusting device is used for forming a second detection light beam according to the reflected light beam of the target object, so that the second detection light beam scans and detects the target object on the target object along a second direction;
wherein the first direction and the second direction intersect.
2. The lidar system of claim 1, wherein the first direction and the second direction are perpendicular.
3. The lidar system of claim 1, wherein the transceiver is a static scanning device.
4. The lidar system of claim 3, wherein the static scanning device is an optical phased array or an optical chip.
5. The lidar system of claim 1, further comprising: and the control device is electrically connected with the transmitting and receiving device and the reflection adjusting device respectively.
6. The lidar system of claim 5, wherein the transceiver comprises a plurality of laser transmitter units;
the control device is used for providing an electric signal to the laser emitting unit so that the laser emitting unit emits the first detection beam according to the electric signal.
7. The lidar system of claim 1, wherein the reflection adjustment device is a non-static scanning device.
8. The lidar system of claim 7, wherein the non-stationary scanning device is any one of a MEMS galvanometer, a mechanical galvanometer, a turning mirror, or a prism.
9. The lidar system of claim 8, wherein the non-stationary scanning device has a reflective surface for reflecting light to form the second probe beam; the non-static scanning device can rotate on the basis of a rotating shaft parallel to the second direction so as to adjust the second detection light beam to scan and detect the target object on the target object along the second direction.
10. The lidar system of claim 1, further comprising: an output device for outputting information related to the target object;
the related information includes at least one of distance, orientation, altitude, and speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122020923.1U CN216248307U (en) | 2021-08-25 | 2021-08-25 | Laser radar system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122020923.1U CN216248307U (en) | 2021-08-25 | 2021-08-25 | Laser radar system |
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| CN216248307U true CN216248307U (en) | 2022-04-08 |
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