CN219533393U

CN219533393U - Laser radar system

Info

Publication number: CN219533393U
Application number: CN202320177596.7U
Authority: CN
Inventors: 郑天航; 刘飞; 连炜林; 钟辉; 张于帅
Original assignee: Shanghai Wingtech Electronic Technology Co Ltd
Current assignee: Wingtech Communication Co Ltd
Priority date: 2023-02-06
Filing date: 2023-02-06
Publication date: 2023-08-15
Anticipated expiration: 2033-02-06

Abstract

The utility model discloses a laser radar system, which comprises a plurality of laser transmitters, semi-transparent and semi-reflective elements, reflective elements and laser receivers, wherein the plurality of laser transmitters are distributed at intervals along the arc line of an arc; the semi-transparent semi-reflecting element is positioned at one side of the plurality of laser transmitters along the emergent direction of the scanning laser beams, and part of the scanning laser beams emitted by the plurality of laser transmitters can pass through the semi-transparent semi-reflecting element and then be converged; the reflection element is positioned at one side of the semi-transparent and semi-reflective element, which is far away from the laser emitter, and can emit the converged scanning laser beam passing through the semi-transparent and semi-reflective element to the detection target, and the reflection element can also emit the feedback laser beam reflected by the detection target to the reflection element to the semi-transparent and semi-reflective element; the laser receiver is arranged in the reflecting direction of the semi-transparent and semi-reflective element and is used for receiving feedback laser beams reflected and converged by the semi-transparent and semi-reflective element. The laser radar system has a simpler structure, and can reduce the production cost of the laser radar system.

Description

Laser radar system

Technical Field

The utility model relates to the technical field of laser radars, in particular to a laser radar system.

Background

With the development of laser technology, laser scanning technology is increasingly widely applied to the fields of measurement, traffic, driving assistance, mobile robots and the like. The laser radar system is a radar system for detecting the position, speed and other characteristic quantities of a target by laser, and the working principle is that the laser beam detected is firstly emitted to the target, then the laser beam reflected from the target is received and compared with the emitted laser beam, and after proper processing, the information such as the distance, the azimuth, the height, the speed, the gesture, the even shape and the like of the target can be obtained.

Currently, the most commonly used laser radar systems comprise a single-line laser radar system and a multi-line laser radar system, wherein the single-line laser radar system utilizes single laser beam scanning, and the scanning area is small; the multi-line laser radar system scans through a plurality of laser beams, and has a large scanning range, but the multi-line laser radar system is required to be provided with a plurality of laser transmitters and a plurality of laser receivers corresponding to the plurality of laser transmitters, so that the structure of the laser radar system is complex and the production cost is high.

Disclosure of Invention

Aiming at the defects in the prior art, the embodiment of the utility model provides a laser radar system, which can simplify the structural complexity of the laser radar system and reduce the production cost of the laser radar system.

The embodiment of the utility model provides a laser radar system, which comprises:

the laser transmitters are distributed at intervals along the arc line of the arc, so that the laser transmitters can emit scanning laser beams converged in a fan shape;

the semi-transparent and semi-reflective element is positioned at one side of the plurality of laser transmitters along the emergent direction of the scanning laser beams, and part of the scanning laser beams emitted by the plurality of laser transmitters can pass through the semi-transparent and semi-reflective element and then converge;

the reflecting element is positioned at one side of the semi-transparent and semi-reflective element, which is away from the laser emitter, and can emit the converged scanning laser beam passing through the semi-transparent and semi-reflective element to a detection target, and the reflecting element can also emit the feedback laser beam reflected by the detection target to the reflecting element to the semi-transparent and semi-reflective element so that the semi-transparent and semi-reflective element can reflect and converge the received part of the feedback laser beam;

the laser receiver is arranged in the reflecting direction of the semi-transparent and semi-reflecting element and is used for receiving the feedback laser beams reflected and converged by the semi-transparent and semi-reflecting element.

In one possible configuration, the half mirror element comprises an arc-shaped half mirror recessed toward the side on which the reflecting element is located.

In one possible structure, the half-mirror element includes a plurality of half-mirrors, the plurality of half-mirrors and a plurality of laser emitters are in one-to-one correspondence, and the plurality of half-mirrors are distributed along the arc interval of the arc.

In one possible configuration, the reflective element is a turning mirror or MEMS.

In one possible configuration, the included angles between the scanning laser beams emitted by any two adjacent laser emitters are equal.

In one possible configuration, a collimating element is disposed between a plurality of the laser emitters and the transflective element to collimate the scanning laser beam.

In one possible structure, the collimating element includes a fast axis collimating mirror and a slow axis collimating mirror, and the fast axis collimating mirror and the slow axis collimating mirror are disposed at intervals along the outgoing direction of the scanning laser beam.

In one possible structure, a shaping element is arranged between the slow axis collimating mirror and the semi-transparent semi-reflective element, and the shaping element is used for condensing the scanning laser beam emitted by the slow axis collimating mirror.

In one possible configuration, the shaping element includes a first lens and a second lens, and the first lens and the second lens are disposed at intervals along an outgoing direction of the scanning laser beam.

In one possible configuration, a focusing lens is provided between the reflective element and the laser receiver.

Compared with the prior art, the utility model has at least the following beneficial effects:

in the embodiment provided by the utility model, when the laser radar system performs scanning operation, a plurality of laser transmitters emit fan-shaped scanning laser beams to the semi-transparent and semi-reflective element, due to the property of the semi-transparent and semi-reflective element, only part of the scanning laser beams emitted to the semi-transparent and semi-reflective element pass through the semi-transparent and semi-reflective element, the scanning laser beams emitted to the reflective element and converged on the reflective element, then the reflective element reflects the scanning laser beams, when the scanning laser beams are emitted to the detection target, the detection target reflects the received scanning laser beams to form feedback laser beams to the reflective element, when the feedback laser beams are emitted to the reflective element, the reflective element can emit the feedback laser beams to the semi-transparent and semi-reflective element, and finally the semi-transparent and semi-reflective element emits and semi-reflective element converges the received part of the feedback laser beams to the laser receiver so as to ensure the quality of the feedback laser beams received by the laser receiver.

It can be seen that, through a plurality of laser emitters along the arc distribution of circular arc, and set up semi-transparent semi-reflective element and reflecting element, can be with the scanning laser beam reflection to the detection target of a plurality of laser emitters outgoing, and the detection target is by scanning laser beam scanning back with scanning laser beam formation feedback laser beam reflection to reflecting element, again by reflecting element with feedback laser beam outgoing to semi-transparent semi-reflective element, feedback laser beam after semi-transparent semi-reflective element will be assembled, thereby make the feedback laser beam after assembling can be received by a laser receiver, and then can realize the multichannel transmission of laser radar system and the purpose of receiving all the way under the condition that laser radar system guaranteed the scanning area, laser radar system's complexity and manufacturing cost have been simplified to the setting quantity of laser receiver.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a lidar system according to an embodiment of the present utility model;

FIG. 2 is a second perspective view of a lidar system according to an embodiment of the present utility model;

FIG. 3 is a top view of the lidar system provided in FIG. 1;

FIG. 4 is a perspective view of a collimating element disposed in a lidar system according to an embodiment of the present utility model;

FIG. 5 is a perspective view of a shaping element in a lidar system according to an embodiment of the present utility model;

fig. 6 is a perspective view of a focusing lens in a lidar system according to an embodiment of the present utility model.

Reference numerals illustrate:

100-a lidar system; 110-a laser emitter; 111-scanning a laser beam; 112-feeding back the laser beam; 120-semi-permeable semi-reflective element; 121-a half mirror; 122-arc semi-transparent semi-reflective mirror; 130-a reflective element; 140-laser receiver; 150-collimation element; 151-a fast axis collimator lens; 152-a slow axis collimator; 160-shaping elements; 161-a first lens; 162-a second lens; 170-focusing lens.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the present utility model, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

As described in the background of the utility model, at present, the most commonly used lidar systems include a single-line lidar system and a multi-line lidar system, wherein the single-line lidar system uses a single laser beam for scanning, and the scanning area is small; the multi-line laser radar system scans through a plurality of laser beams, and has a large scanning range, but the multi-line laser radar system is required to be provided with a plurality of laser transmitters and a plurality of laser receivers corresponding to the plurality of laser transmitters, so that the complexity of the laser radar system structure and the production cost are improved.

In order to solve the technical problems mentioned in the background art, the utility model provides a radar system, a plurality of laser transmitters are distributed at intervals along an arc of an arc, part of scanning laser beams emitted by the plurality of laser transmitters can pass through a half mirror, the half mirror can also converge the plurality of scanning laser beams, a reflecting element can reflect the converged scanning laser beams passing through the half mirror to a detection target, and a reflecting element can also reflect feedback laser beams reflected by the detection target to the reflecting element to the half mirror, so that the half mirror reflects and converges the received part of feedback laser beams, and a laser receiver can receive the feedback laser beams reflected by the half mirror.

The utility model is illustrated in detail below by means of specific examples:

referring to fig. 1, an embodiment of the present utility model provides a laser radar system 100, where the laser radar system 100 includes a plurality of laser transmitters 110, a half-transmitting and half-reflecting element 120, a reflecting element 130, and a laser receiver 140, where the plurality of laser transmitters 110 are distributed at intervals along an arc of an arc, so that the plurality of laser transmitters 110 can emit a fan-shaped converging scanning laser beam 111; the half-transmitting and half-reflecting element 120 is located at one side of the plurality of laser transmitters 110 along the emitting direction of the scanning laser beams 111, and part of the scanning laser beams 111 emitted by the plurality of laser transmitters 110 can pass through the half-transmitting and half-reflecting element 120 and then converge; the reflecting element 130 is located at a side of the half-reflecting element 120 away from the laser emitter 110, the reflecting element 130 can emit the converged scanning laser beam 111 passing through the half-reflecting element 120 to the detection target, and the reflecting element 130 can also emit the feedback laser beam 112 reflected by the detection target to the reflecting element 130 to the half-reflecting element 120, so that the half-reflecting element 120 converges the received partial feedback laser beam 112 after reflecting; the laser receiver 140 is disposed in a reflecting direction of the half mirror 120, and is configured to receive the feedback laser beam 112 reflected and converged by the half mirror 120.

It should be noted that, the above-mentioned plurality of laser transmitters 110 refers to two or more laser transmitters 110, the plurality of laser transmitters 110 are distributed at intervals along the arc of the arc, that is, the plurality of laser transmitters 110 are sequentially arranged along the extending direction of the arc, and the scanning laser beams 111 emitted by the plurality of laser transmitters 110 can form a sector shape, where the diameter of the arc is not limited, and those skilled in the art can correspondingly set according to practical situations. In addition, the above-described convergence of the scanning laser beam 111 or the convergence of the feedback laser beam 112 means that the diameter of the laser beam becomes small. The feedback laser beam 112 is a laser beam after the scanning laser beam 111 is reflected by the detection target when the scanning laser beam 111 hits the detection target. The detection target is a scanning object of the lidar system 100, and when the lidar system 100 is applied to a vehicle, for example, the scanning object of the lidar system 100 is information related to safe driving such as distance information, zebra crossing information, and pedestrian information of other vehicles adjacent to the vehicle.

In this embodiment, the plurality of laser transmitters 110 are distributed at intervals along the arc of the arc, so that the scanning laser beams 111 emitted by the plurality of laser transmitters 110 are converged at the center of the arc, thereby avoiding the divergence of the scanning laser beams 111 emitted by the plurality of laser transmitters 110. The reflecting element 130 can reflect the received scanning laser beam to the periphery to scan the detection target, and the reflecting element 130 can reflect the received feedback laser beam 112 reflected to the reflecting element 130 to the half-mirror element 120, so as to ensure the quality of the feedback laser beam 112 received by the half-mirror element 120.

Thus, when the laser radar system 100 performs scanning operation, a plurality of laser transmitters 110 emit fan-shaped scanning laser beams to the half-mirror 120, only a part of the scanning laser beams 111 emitted to the half-mirror 120 can pass through the half-mirror 120 due to the property of the half-mirror 120, the scanning laser beams 111 passing through the half-mirror 120 are emitted to the reflecting element 130 and converged on the reflecting element 130, then the scanning laser beams 111 are reflected by the reflecting element 130, when the scanning laser beams 111 are emitted to a detection target, the detection target reflects the received scanning laser beams 111 to form feedback laser beams 112 to emit to the reflecting element 130, and when the feedback laser beams 112 are emitted to the reflecting element 130, the reflecting element 130 can emit the feedback laser beams 112 to the half-mirror 120, and finally the half-mirror 120 emits and converges the received part of the feedback laser beams 112 to the laser receiver 140, so as to ensure the quality of the feedback laser beams 112 received by the laser receiver 140.

It can be seen that, through the distribution of the arc lines of the plurality of laser transmitters 110 along the arc line, and the arrangement of the semi-transparent semi-reflective element 120 and the reflective element 130, the scanning laser beam 111 emitted by the plurality of laser transmitters 110 can be reflected to the detection target, and the detection target is scanned by the scanning laser beam 111 and then forms the feedback laser beam 112 to reflect to the reflective element 130, and then the reflective element 130 emits the feedback laser beam 112 to the semi-transparent semi-reflective element 120, and the feedback laser beam 112 after passing through the semi-transparent semi-reflective element 120 is converged, so that the converged feedback laser beam 112 can be received by one laser receiver 140, and further, the purposes of multi-path emission and one path reception of the laser radar system 100 can be realized under the condition that the laser radar system 100 guarantees the scanning area, the number of the laser receiver 140 is reduced, and the complexity and the production cost of the laser radar system 100 are simplified.

Illustratively, the plurality of laser transmitters 110 is four laser transmitters 110.

In order to achieve the convergence of the half mirror 120, in some possible embodiments, referring to fig. 2, the half mirror 120 includes an arc-shaped half mirror 122, and the arc-shaped half mirror 122 is recessed toward the side where the reflecting element 130 is located.

The arc-shaped half mirror 122 may be referred to as an arc-shaped half mirror 121 or may be referred to as a spherical half mirror 121.

Since the half mirror 120 is an arc-shaped half mirror 122, and the arc-shaped half mirror 122 is recessed toward the side where the reflecting element 130 is located, the scanning laser beam 111 passing through the arc-shaped half mirror 122 will be converged, and the converged scanning laser beam 111 will be emitted to the reflecting element 130, and the feedback laser beam 112 reflected by the arc-shaped half mirror 122 will be converged and emitted to the laser receiver 140.

It can be seen that by providing an arc-shaped half mirror 122, the structure and the mounting process of the half mirror 120 can be simplified on the premise of converging the scanning laser beam 111 or the feedback laser beam 112.

In another possible embodiment, referring to fig. 1, the half mirror 120 includes a plurality of half mirrors 121, the plurality of half mirrors 121 are in one-to-one correspondence with the plurality of laser emitters 110, and the plurality of half mirrors 121 are spaced along an arc of a circular arc.

The plurality of half mirrors 121 refers to two or more half mirrors 121, and when the number of laser emitters 110 is 4, for example, the number of half mirrors 121 is also 4.

Because a plurality of half mirror 121 and a plurality of laser emitter 110 one-to-one, and a plurality of half mirror 121 follow the pitch arc interval distribution of circular arc, therefore, the scanning laser beam 111 that any one laser emitter 110 was launched will be launched rather than on a corresponding half mirror 121, from this, can be according to the specific setting correspondence of a plurality of laser emitter 110 nimble the setting position of adjusting every half mirror 121 to make a plurality of half mirror 121 can be applicable to a plurality of application occasions, the suitability is stronger.

It should be further noted that, the plurality of half mirrors 121 are spaced along the arc of the circular arc, and it should be understood that the arc is parallel or approximately parallel to the arc formed by the plurality of laser emitters 110.

Since the reflective element 130 is capable of reflecting the received scanned laser beam 111 around, or the reflective element 130 is capable of feeding back the surrounding feedback laser beam 112 to the transflective element 120, in order to enable the reflective element 130 to achieve the above-mentioned effect, in some possible embodiments the reflective element 130 is a turning mirror or MEMS (Micro-Electro-Mechanical System, micro-electromechanical system).

The turning mirror is an optical conversion element, and can refract or reflect an incident light beam in a specific manner and time sequence, so that deflection of the incident light beam is realized. Specifically, the rotary mirror comprises a rotary driving piece and a plurality of reflecting surfaces, and the reflecting surfaces are sequentially connected in a tail-end mode.

Since the turning mirror is an optical conversion element, the structure of the reflection element 130 is simplified and the cost of the reflection element 130 is saved while the reflection of the scanning laser beam 111 to the periphery is ensured.

Because the MEMS has a small size, light weight, low power consumption, good durability, low price, stable performance, etc., when the reflective element 130 is a MEMS, the volume of the lidar system 100 can be reduced, the power consumption of the lidar system 100 can be reduced, and the stability of the lidar system 100 can be ensured.

In some possible embodiments, referring to fig. 3, the included angles between the scanned laser beams 111 emitted by any two adjacent laser emitters 110 in the plurality of laser emitters 110 are equal.

By making the included angles between the scanning laser beams 111 emitted from any two adjacent laser emitters 110 in the plurality of laser emitters 110 equal, the uniformity of the emission of the scanning laser beams 111 can be improved, thereby improving the scanning effect of the scanning laser beams 111.

In some possible embodiments, referring to fig. 4, a collimating element 150 is disposed between the plurality of laser emitters 110 and the transflective element 120 to collimate the scanning laser beam 111.

The collimating element may be a collimating lens or a collimating transparent film.

Since the collimator 150 can collimate the scanning laser beam 111, the converging effect of the scanning laser beam 111 can be improved, thereby further improving the scanning effect of the scanning laser beam 111.

In some possible embodiments, referring to fig. 4, the collimating element 150 includes a fast axis collimating mirror 151 and a slow axis collimating mirror 152, and the fast axis collimating mirror 151 and the slow axis collimating mirror 152 are spaced apart along the exit direction of the scanning laser beam 111.

The fast axis is a direction parallel to the optical axis of the scanning laser beam 111, and the slow axis is a direction perpendicular to the optical axis of the scanning laser beam 111.

Thus, by arranging the fast axis collimator 151 and the slow axis collimator 152 at intervals along the emission direction of the scanning laser beam 111, the scanning laser beam 111 can be collimated in the optical axis direction of the scanning laser optical axis and in the direction perpendicular to the optical axis, respectively, and the converging effect of the scanning laser beam 111 can be further improved.

Optionally, the fast axis collimator 151 and the slow axis collimator 152 include a plurality of fast axis collimator 151 and a plurality of slow axis collimator 152 respectively corresponding to the plurality of laser emitters 110 one by one, so as to ensure the collimation of the scanning laser beam 111 emitted by each laser emitter 110.

In some possible embodiments, referring to fig. 5, a shaping element 160 is disposed between the slow axis collimator 152 and the transflective element 120, and the shaping element 160 is configured to focus the scanning laser beam 111 emitted from the slow axis collimator 152.

The shaping element 160 may be a focusing lens 170 or a focusing transparent film.

Thus, by providing the shaping element 160, the scanning laser beam 111 emitted from the slow axis collimator mirror 152 can be condensed, and the quality of the scanning laser beam 111 can be improved.

In some possible embodiments, referring to fig. 5, the shaping element 160 includes a first lens 161 and a second lens 162, the first lens 161 and the second lens 162 being disposed at intervals along the exit direction of the scanning laser beam 111.

It should be noted that, the first lens 161 and the second lens 162 may be the same or different, and may be selected by those skilled in the art according to actual needs.

Thus, by providing the first lens 161 and the second lens 162, the light collection of the scanning laser beam 111 by the shaping element 160 can be further improved, and the quality of the scanning laser beam 111 can be further improved.

Optionally, the first lens 161 and the second lens 162 include a plurality of lenses, and the plurality of first lenses 161 and the plurality of second lenses 162 are respectively in one-to-one correspondence with the plurality of laser emitters 110, so that shaping of the scanning laser beam 111 emitted by each laser emitter 110 is ensured.

In some possible embodiments, referring to fig. 6, a focusing lens 170 is provided between the reflective element 130 and the laser receiver 140.

Thus, by providing the focusing lens 170 between the reflecting element 130 and the laser receiver 140, the focusing effect of the feedback laser beam 112 incident on the laser receiver 140 can be improved, thereby ensuring the quality of the feedback laser beam 112 received by the laser receiver 140 and further ensuring the scanning accuracy of the laser radar system 100.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims

1. A lidar system, comprising:

the laser transmitters are distributed at intervals along the arc line of the arc, so that the laser transmitters can emit fan-shaped converging scanning laser beams;

2. The lidar system of claim 1, wherein the transflective element comprises an arcuate half mirror that is recessed toward a side on which the reflective element is located.

3. The lidar system of claim 1, wherein the half mirror comprises a plurality of half mirrors, wherein the plurality of half mirrors are in one-to-one correspondence with the plurality of laser transmitters, and wherein the plurality of half mirrors are distributed at intervals along an arc of an arc.

4. The lidar system according to claim 1, wherein the reflecting element is a turning mirror or a MEMS.

5. The lidar system of claim 1, wherein the angles between the scanned laser beams emitted by any two adjacent ones of the plurality of laser emitters are equal.

6. The lidar system according to any of claims 1 to 5, wherein a collimating element is arranged between a plurality of the laser emitters and the transflective element for collimating the scanning laser beam.

7. The lidar system of claim 6, wherein the collimating element comprises a fast axis collimating mirror and a slow axis collimating mirror, and wherein the fast axis collimating mirror and the slow axis collimating mirror are spaced apart along the exit direction of the scanning laser beam.

8. The lidar system according to claim 7, wherein a shaping element is arranged between the slow axis collimator and the semi-transparent semi-reflective element, and the shaping element is used for condensing the scanning laser beam emitted from the slow axis collimator.

9. The lidar system of claim 8, wherein the shaping element comprises a first lens and a second lens, the first lens and the second lens being spaced apart along an exit direction of the scanning laser beam.

10. The lidar system according to any of claims 1 to 5, wherein a focusing lens is arranged between the reflecting element and the laser receiver.