WO2020094129A1 - Système de radar laser et radar laser - Google Patents

Système de radar laser et radar laser Download PDF

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Publication number
WO2020094129A1
WO2020094129A1 PCT/CN2019/116718 CN2019116718W WO2020094129A1 WO 2020094129 A1 WO2020094129 A1 WO 2020094129A1 CN 2019116718 W CN2019116718 W CN 2019116718W WO 2020094129 A1 WO2020094129 A1 WO 2020094129A1
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WIPO (PCT)
Prior art keywords
lens
laser
curved surface
receiving
group
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PCT/CN2019/116718
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English (en)
Chinese (zh)
Inventor
刘波
熊剑鸣
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深圳市速腾聚创科技有限公司
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Publication of WO2020094129A1 publication Critical patent/WO2020094129A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone

Definitions

  • the invention relates to the technical field of laser radar, in particular to a laser radar system.
  • lidar systems have been widely used in various measurement fields, such as navigation and positioning technology, engineering ranging technology, and road traffic.
  • the working principle of the lidar system is to first emit a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, the relevant information of the target can be obtained, such as the target distance , Orientation, altitude, speed, attitude, and even shape.
  • the transmitting and receiving optical paths of the laser radar are often affected by various factors such as structure and external environment, which affects the measurement accuracy of the lidar.
  • a lidar system in a first aspect, includes:
  • Laser emitting device and laser receiving device in which:
  • the laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object;
  • the laser receiving device is used to receive echo laser light reflected from the target object;
  • the laser receiving device includes a laser receiver and a receiving optical mirror group, and the receiving optical mirror group is used to correct reflection from the target object
  • the receiving optical lens group includes a receiving end lens, the receiving end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is cylinder.
  • the receiving optical mirror group further includes: the receiving optical mirror group further includes: a first adjusting mirror group; the first adjusting mirror group is used to focus the echo laser light.
  • the first adjustment lens group includes: a first positive lens group and / or a first negative lens group.
  • the corresponding first adjustment lens group has a negative refractive power; if the receiving end lens is a negative lens, the corresponding first adjustment lens The diopter of the group is positive.
  • the receiving optical lens group includes: a first positive lens, a negative lens, and a second positive lens, the first positive lens is a spherical lens, the negative lens is a biconcave lens, and the second positive lens is a receiving end lens; the first The positive lens and the negative lens form an adjustment lens group, the negative lens is located at the exit end of the first positive lens, and the second positive lens is located at the exit end of the negative lens.
  • the generatrix of the receiving lens is perpendicular to the alignment of the receiving lens, the alignment of the receiving lens is parallel to the horizontal plane, and the axis of symmetry of the receiving lens is the same as the first Adjust the optical axis of the mirror group to coincide;
  • the echo laser passes through the first adjusting mirror group, the second curved surface of the receiving end lens and the first curved surface of the receiving end lens in sequence.
  • the absolute value of the radius of the first curved surface of the receiving end lens is greater than the radius of the second curved surface of the receiving end lens.
  • the radius of curvature of the first curved surface of the receiving lens is infinite.
  • the radius of curvature of the first curved surface is a negative value.
  • a lidar system includes: a laser emitting device and a laser receiving device, wherein:
  • the laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object;
  • the laser emitting device includes a laser emitter and an emitting optical mirror group;
  • the emitting optical mirror group is used to correct the outgoing laser light
  • the emitting optical lens group includes an emitting end lens, the emitting end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface;
  • the laser receiving device is used to receive echo laser light reflected from the target object.
  • the emitting optical mirror group further includes: a second adjusting mirror group; the second adjusting mirror group is used to collimate the outgoing laser light.
  • the second adjustment lens group includes: a second positive lens group and / or a second negative lens group.
  • the corresponding second adjustment lens group has a 1 diopter negative; if the emitting end lens is a negative lens, the corresponding second adjustment The lens group has a positive diopter.
  • the second adjustment lens group includes a second positive lens and a second negative lens
  • the second positive lens is a spherical mirror, and the second negative lens is a double concave lens;
  • the second negative lens is located at the exit end of the second positive lens, and the emission end lens is located at the exit end of the second negative lens.
  • the generatrix of the transmitting end lens is perpendicular to the collimating line of the transmitting end lens, the collimating line of the transmitting end lens is parallel to the horizontal plane, and the symmetry axis of the transmitting end lens is the same as the second The optical axes of the adjusting mirror groups coincide; the outgoing laser light is sequentially projected onto the target object through the second adjusting mirror group, the first curved surface of the emitting end lens, and the second curved surface of the emitting end lens.
  • the absolute value of the radius of curvature of the first curved surface of the emitting end lens is greater than the radius of curvature of the second curved surface of the emitting end lens.
  • the radius of curvature of the first curved surface of the emitting end lens is infinite.
  • the radius of curvature of the first curved surface of the emitting end lens is a negative value.
  • a lidar includes the lidar system according to any one of the above aspects.
  • a lidar system provided by the present application includes: a laser emitting device and a laser receiving device, wherein the laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object; the laser receiving device is used to receive reflection from the target object
  • the laser receiving device includes a laser receiver and a receiving optical lens group, the receiving optical lens group is used to correct the spot size of the echo laser light reflected from the target object, and it includes a receiving end lens, and the receiving end lens includes a A curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface;
  • the above-mentioned lidar system uses a receiving lens at a curved surface to correct the spot shape of the echo laser at the receiving end , Can cancel the aberration effect of the cylindrical shell of the lidar system when transmitting the echo laser, thereby improving the detection accuracy of the lidar system for the target object.
  • FIG. 1 is a schematic structural diagram of a lidar system provided by an embodiment
  • FIG. 2 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • FIG. 3 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • 5 is a light spot diagram provided by an embodiment
  • FIG. 6 is a light spot diagram provided by an embodiment
  • FIG. 7 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • FIG. 8 is a schematic structural view of a receiving optical mirror group provided by an embodiment
  • FIG. 9 is a schematic structural view of a receiving optical mirror group provided by an embodiment
  • FIG. 10 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • FIG. 11 is a schematic structural diagram of a laser receiving device provided by an embodiment
  • FIG. 12 is a schematic structural diagram of a laser receiving device provided by an embodiment
  • FIG. 13 is a schematic structural diagram of a laser receiving device provided by an embodiment
  • FIG. 14 is a schematic structural diagram of a lidar system provided by an embodiment
  • 15 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment
  • 16 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment
  • 17 is a schematic structural diagram of a laser emitting device provided by an embodiment
  • FIG. 18 is a schematic structural diagram of a laser emitting device provided by an embodiment
  • 19 is a schematic structural diagram of a laser emitting device provided by an embodiment.
  • FIG. 1 is a schematic structural diagram of a lidar system provided by an embodiment.
  • the lidar system includes: a laser emitting device 10 and a laser receiving device 11.
  • the laser emitting device 10 is used to emit outgoing laser light and project the outgoing laser light to a target object 12;
  • the laser receiving device 11 is used to Receiving the echo laser reflected from the target object 12,
  • the laser receiving device 11 includes a laser receiver 111 and a receiving optical mirror group 112, the receiving optical mirror group 112 is used to correct the spot size of the echo laser reflected from the target object 12;
  • the optical lens group 112 includes a receiving end lens 1122.
  • the receiving end lens 1122 includes a first curved surface and a second curved surface, and at least one of the first curved surface and the second curved surface is a cylindrical surface.
  • the aforementioned laser receiver 111 is a photodetector, which is used to convert the received echo laser into a corresponding electrical signal for analysis, so as to obtain detection information related to the target object 12.
  • the receiver may specifically select an APD detector, a SPAD detector, a SIPM detector, an MPPC detector, etc., which is not limited in this embodiment.
  • the receiving optical lens group 112 is a lens set capable of focusing the echo laser, and various types of lenses can be specifically selected, for example, spherical lenses, aspheric lenses, cylindrical lenses, and the like.
  • the lenses included in the receiving optical lens group 112 are sequentially arranged on the incident optical path of the laser receiver 111 to focus the incident light beam of the laser receiver 111 so that the laser receiver 111 can receive the light spot
  • the smaller echo laser can also correct the spot shape of the echo laser to eliminate the aberration effect of the cylindrical lidar system shell on the echo laser, thereby improving the detection accuracy of the laser receiver 111.
  • the receiving optical lens group 112 in this embodiment includes a receiving end lens 1122, and the receiving end lens 1122 includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface to offset the column
  • the effect of aberration brought by the outer shell of the shape-shaped lidar system further reduces the spot size of the echo laser light received by the laser receiver 111 and improves the focusing energy.
  • the radius of curvature of the first curved surface and the radius of curvature of the second curved surface of the receiving end lens 1122 may be determined according to actual application requirements.
  • any of the components of the laser emitting device 10 and the laser receiving device 11 described above can be arranged in a cavity accommodated in a housing of the lidar system, wherein the housing can be a cylindrical shaped optical glass device, which is a closed
  • the structure of the cavity is not only dustproof in practical applications, but also can filter out-of-boundary stray light to reduce the influence of external stray light on the internal optical path transmission of the lidar system, thereby affecting the detection of the lidar system Precision.
  • the cylindrical shell will bring aberration effects to the outgoing laser and the received echo laser of the lidar system, thereby affecting the detection accuracy of the lidar system. It is precisely because of this application that this application proposes to use the receiving end lens, and It is placed on the incident light path of the laser receiver to eliminate the aberration effect caused by the cylindrical housing.
  • the working principle of the lidar system described in this embodiment is: when the lidar system needs to scan the target object 12 in the surrounding detection field of view, so as to realize the detection of the target object 12, the laser emitting device 10 in the lidar system emits the emitted laser light, and The outgoing laser light is projected onto the target object 12.
  • the receiving optical mirror group 112 focuses the echo laser transmitted through the housing to the laser receiver 111, and uses the receiving end therein
  • the lens 1122 corrects the spot shape of the echo laser to cancel the aberration effect of the lidar system housing on the echo laser.
  • the laser receiver 111 receives the focused and corrected echo laser, it analyzes the received echo laser to obtain detection information related to the target object 12 to realize the detection of the target object 12.
  • the lidar system provided in the above embodiment includes: a laser emitting device and a laser receiving device, wherein: the laser emitting device is used to emit the emitted laser light and project the emitted laser light to the target object; the laser receiving device is used to receive the reflected light from the target object Echo laser; the laser receiving device includes a laser receiver and a receiving optical lens group, the receiving optical lens group is used to correct the spot size of the echo laser light reflected from the target object, and it includes a receiving end lens, and the receiving end lens includes a first The curved surface and the second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface.
  • the receiving optical system correcting the spot size of the echo laser reflected on the target object includes adjusting the size of the spot size and adjusting the shape of the spot size.
  • the above-mentioned lidar system uses a receiving lens with a curved surface as a cylinder, which can adjust the shape of the spot of the echo laser, thereby canceling the cylindrical housing of the lidar system when transmitting the echo laser.
  • the influence of aberrations improves the matching degree of the spot shape of the echo laser and the laser detector, thereby improving the detection accuracy of the above-mentioned lidar system to the target object.
  • FIG. 2 is a schematic structural diagram of a receiving optical mirror set provided by an embodiment. As shown in FIG. 2, the receiving optical mirror group 112 further includes: a first adjusting mirror group 1121; the first adjusting mirror group 1121 is used to focus the echo laser.
  • the first adjustment lens group 1121 is a lens set capable of focusing the echo laser in various directions (vertical and horizontal), and may specifically include various types of lenses, for example, spherical lenses, aspherical lenses, spherical cylinders, and the like.
  • the lenses included in the first adjustment lens group 1121 are sequentially arranged on the incident optical path of the receiving end lens 1122, so that the reflected laser light reflected from the target object 12 can be focused on the receiving end lens 1122,
  • the receiving end lens 1122 can further correct the spot shape of the echo laser to eliminate the aberration effect of the lidar system housing on the echo laser.
  • the working principle of the receiving optical mirror group 112 described in this embodiment is: when the reflected laser light reflected from the target object 12 is transmitted to the receiving optical mirror group 112 through the lidar system casing, the first adjusting mirror group 1121 in the receiving optical mirror group 112 can convert the echo laser Focus on the receiving end lens 1122, and then the receiving end lens 1122 further corrects the spot shape of the focused echo laser beam, so that the spot of the echo laser beam can be completely transmitted to the laser receiver 111, reducing Astigmatism effect. In order to enable the laser receiver 111 to receive as many echo lasers as possible, thereby improving the detection distance and detection accuracy.
  • the specific receiving end lens 1122 may be selected as a spherical lens.
  • the receiving end lens 1122 is a spherical lens, and when the spherical lens generating line is perpendicular to the generating line of the housing, the refractive power of the spherical lens is negative.
  • the first The diopter of the adjustment lens set 1121 is positive.
  • the diopter of the spheroid lens is positive. According to the size requirements of the light spot, the diopter of the first adjustment lens group 1121 can be positive or negative.
  • the specific receiving end lens 1122 may be a cylindrical mirror.
  • the refractive power of the first adjustment lens group 1121 is positive.
  • the first adjustment lens group 1121 includes: a first positive lens group and / or a first negative lens group.
  • the first positive lens group includes at least one positive lens, and the first negative lens group includes at least one negative lens; the positive lens or the negative lens may be specifically one of a spherical lens, an aspheric lens, and a cylindrical lens.
  • the positive lens is a lens with a positive refractive power, and the positive lens satisfies the following conditions: assuming the radius of curvature of the two surfaces of the lens to be R1 and R2, if R1> 0 and R2> 0, then R1 ⁇ R2; if R1 > 0 and R2 ⁇ 0, the lens power is positive; if R1 ⁇ 0 and R2 ⁇ 0, then R1 ⁇ R2.
  • the above-mentioned negative lens is a lens with a negative refractive power.
  • the negative lens satisfies the following conditions: if R1> 0 and R2> 0, then R1> R2; if R1 ⁇ 0 and R2> 0, the lens power is negative; if R1 ⁇ 0 and R2 ⁇ 0, then R1> R2.
  • the first adjusting mirror group 1121 may include only the first positive lens group; optionally, the first adjusting mirror group 1121 may also include only the first negative lens group; optionally, the first The adjustment lens group 1121 may also include a first positive lens group and a first negative lens group at the same time.
  • lens combination modes for the receiving optical mirror group 112 there are various types of lens combination modes for the receiving optical mirror group 112, specifically the following combination modes, and the following embodiments describe these multiple combination modes.
  • the first combination method is: As shown in FIG. 3, if the receiving lens 1122 is a positive lens, the first adjustment lens group 1121 includes a positive lens 1121-1 and a negative lens 1121-2, wherein the positive lens 1121-1 is a spherical mirror
  • the negative lens 1121-2 is a biconcave lens, and the negative lens 1121-2 is located at the exit end of the positive lens 1121-1, and the receiving lens 1122 is located at the exit end of the negative lens 1121-2.
  • the spot pattern of 0 field angle as shown in FIG. 5 detected by the laser radar system of the laser radar system shows that the spot size of the echo laser received by the laser radar system proposed in this application has been reduced and the shape is more regular, so that the laser receiving The detection surface of the detector is more matched with the shape of the light spot, so that the laser receiver 111 can receive as many echo lasers as possible, thereby improving the detection distance and detection accuracy.
  • the positive lens 1121-1 is a spherical mirror, the distance between the positive lens 1121 and the lidar system housing can be reduced, thereby compressing the volume of the lidar system.
  • the receiving end lens 1122 may be a spherical lens, a cylindrical mirror, and other positive lenses whose at least one curved surface is a cylindrical surface, which is not limited herein.
  • the second combination method is: As shown in FIG. 7, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-3 and a positive lens 1121-4, where the negative lens 1121-3 is a spherical mirror, The positive lens 1121-4 is a biconvex lens, and the positive lens 1121-4 is located at the exit end of the negative lens 1121-3, and the receiving end lens 1122 is located at the exit end of the positive lens 1121-4.
  • the negative lens 1121-3 may also be a spherical lens.
  • the third combination method is: As shown in FIG. 8, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-5 and a negative lens 1121-6, wherein the negative lens 1121-5 is a spherical mirror
  • the negative lens 1121-6 is a spherical mirror
  • the receiving lens 1122 is located at the exit end of the negative lens 1121-5
  • the negative lens 1121-6 is located at the exit end of the receiving lens 1122.
  • the negative lens 1121-5 may also be a spherical lens.
  • the fourth combination method is: As shown in FIG. 9, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-7 and a negative lens 1121-8, wherein the negative lens 1121-7 is a double The concave lens, the negative lens 1121-8 is a spherical mirror, and the negative lens 1121-7 is located at the exit end of the receiving end lens 1122, the negative lens 1121-8 is located at the exit end of the negative lens 1121-7, the receiving end lens 1122 is located at the lidar system shell The nearest place.
  • the fifth combination method is: As shown in FIG. 10, if the receiving lens 1122 is a positive lens, the first adjustment lens group 1121 includes a positive lens 1121-9 and a negative lens 1121-10, wherein the positive lens 1121-9 is a double The convex lens, the negative lens 1121-10 is a spherical mirror, and the positive lens 1121-9 is located at the exit end of the receiving end lens 1122, and the negative lens 1121-10 is located at the exit end of the positive lens 1121-9.
  • the above embodiment provides a combination of multiple lenses in the receiving optical lens group 112, and the included receiving end lens 1122 can be set at any position.
  • the above embodiment only provides a few examples of the receiving end lens 1122. This is a placement example, but it does not represent all the arrangement of the receiving end lens 1122.
  • the above-mentioned receiving optical mirror group 112 is only an exemplified form and provides three lens combination forms. In practical applications, the receiving optical mirror group 112 may include more than three lens combination forms. This is not limited in this embodiment.
  • the generating line of the receiving lens 1122 is perpendicular to the alignment of the receiving lens 1122, and the receiving line of the lens 1122 is parallel
  • the symmetry axis of the receiving lens 1122 coincides with the optical axis of the first adjusting mirror group 1121; the echo laser passes through the first adjusting mirror group 1121, the second curved surface 1122-02 of the receiving lens 1122 and the receiving lens 1122 in sequence The first surface 1122-01.
  • the absolute value of the radius of curvature of the first curved surface 1122-01 of the receiving end lens 1122 is greater than the radius of curvature of the second curved surface 1122-02 of the receiving end lens 1122.
  • the radius of curvature of the first curved surface 1122-01 of the receiving end lens 1122 is infinite.
  • the above-mentioned curved surface of infinite radius of curvature is a plane.
  • the radius of curvature of the second curved surface 1122-02 of the receiving lens 1122 may be a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1122-01 is greater than the radius of curvature of the second curved surface 1122-02 . (In Fig. 12, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
  • the radius of curvature of the first curved surface 1122-01 of the lens 1122 at the receiving end is a negative value.
  • the above-mentioned negative surface is a concave surface.
  • the radius of curvature of the second curved surface 1122-02 of the receiving end lens 1122 is a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1122-01 is greater than the radius of curvature of the second curved surface 1122-02. (In FIG. 13, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
  • the lidar system includes: a laser emitting device 10 and a laser receiving device 11.
  • the laser emitting device 10 is used to emit outgoing laser light and project the outgoing laser light to a target object 12;
  • the laser emitting device 10 includes a laser emitter 101 and the emitting optical lens group 102, the emitting optical lens group 102 is used to correct the spot size of the outgoing laser light;
  • the emitting optical lens group 102 includes an emitting end lens 1022, and the emitting end lens 1022 includes a first curved surface and a second curved surface, the first curved surface and At least one of the second curved surfaces is a cylindrical surface;
  • the laser receiving device 11 is used to receive the echo laser reflected from the target object 12. It can be understood that the emitting optical mirror group 102 is used to correct the spot size of the outgoing laser light, which specifically includes: collimating the outgoing laser light and adjusting the spot shape of the outgoing laser light.
  • the laser emitting device 10 may include one or more laser emitters 101, and the laser emitting device 10 may also include an array of emitters.
  • the laser emitter 101 is mostly used, which may include, but not limited to, semiconductor lasers, fiber lasers, solid-state lasers, solid-state lasers in LEDs, vertical cavity surface emitting lasers, laser diode laser emitters, etc. This embodiment is not limited.
  • the above-mentioned emitting optical lens group 102 is a lens set capable of collimating the outgoing laser light and projecting the outgoing laser light to the target object 12 at a certain angle, and various types of lenses can be specifically selected, for example, a spherical lens, an aspheric lens, a cylinder Surface lens, spherical lens, etc.
  • the lenses included in the emitting optical mirror group 102 are sequentially arranged on the exit optical path of the laser emitter 101 to collimate the exit laser of the laser emitter 101.
  • the transmitting optical lens group 102 in this embodiment includes a transmitting-end lens 1022.
  • the transmitting-end lens 1022 includes a first curved surface and a second curved surface. At least one of the first curved surface and the second curved surface is a cylindrical surface to cancel the cylindrical shape
  • the lidar of the lidar system gives the aberration effect of the laser beam.
  • the working principle of the lidar system described in this embodiment is: when the lidar system needs to scan the target object 12 in the surrounding detection field of view, so as to realize the detection of the target object 12, the laser emitting device 10 in the lidar system emits the emitted laser light and emits the optical
  • the transmitting end lens in the mirror group 102 pre-shapes and collimates the outgoing laser beam, so that when the outgoing laser beam is transmitted to the target object 12 through the outer lid of the lidar system, it can counteract the aberration effect of the outer lidar lid on the outgoing laser beam .
  • the target object 12 When the outgoing laser is projected to the target object 12, the target object 12 further transmits the echo laser to the laser receiving device 11 through the outer shell of the lidar system. After receiving the echo laser, the laser receiving device 11 analyzes the received echo Laser, to obtain the detection information related to the target object 12, so as to improve the detection accuracy of the target object 12.
  • the above-mentioned lidar system uses a lens with a curved surface as the emitting end to shape and collimate the outgoing laser at the emitting end, which can offset the aberration effect of the cylindrical shell of the lidar system on the outgoing laser, thereby reducing the outgoing laser
  • the divergence angle further improves the detection accuracy of the above-mentioned lidar system to the target object.
  • FIG. 15 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment.
  • the emitting optical mirror group 102 further includes: a second adjusting mirror group 1021; the second adjusting mirror group 1021 is used to collimate the emitted laser light.
  • the above-mentioned second adjusting lens group 1021 is a lens set capable of collimating outgoing laser light, and may specifically include various types of lenses, for example, spherical lenses, aspherical lenses, spherical cylindrical lenses, and the like.
  • the lenses included in the second adjustment lens group 1021 are sequentially arranged on the incident optical path of the transmitting end lens 1022, so that the collimated outgoing laser light can be projected onto the transmitting end lens 1022, so that the transmitting end lens 1022 can further correct the shape of the spot of the outgoing laser to eliminate the aberration effect of the lidar system shell on the outgoing laser.
  • the specific transmitting end lens 1022 can be selected as a spherical lens.
  • the transmitting end lens 1022 is a spherical lens, and when the spherical lens generating line is perpendicular to the generating line of the housing, the refractive power of the spherical lens is negative, the second The diopter of the adjustment lens group 1021 is positive.
  • the generatrix of the spheroid lens is parallel to the generatrix of the housing, the power of the spheroid lens is positive. According to the size requirements of the light spot, the power of the second adjusting lens group 1021 can be positive or negative.
  • the specific transmitting end lens 1022 may be a cylindrical mirror.
  • the transmitting end lens 1022 is a cylindrical mirror, the refractive power of the second adjusting lens group 1021 is positive.
  • the working principle of the emitting optical mirror group 102 described in this embodiment is: the outgoing laser light emitted by the laser emitter 101 is incident on the emitting optical mirror group 102, and the second adjusting mirror group 1021 in the emitting optical mirror group 102 can collimate the outgoing laser light and collimate the outgoing laser light after collimation It is projected on the transmitting end lens 1022, and the transmitting end lens 1022 further aligns the spot shape of the outgoing laser beam after being aligned, and projects it to the target object 12.
  • the second adjustment lens group 1021 includes: a second positive lens group and / or a second negative lens group.
  • the second positive lens group includes at least one positive lens, and the second negative lens group includes at least one negative lens; the positive lens or the negative lens may specifically be one of a spherical lens, an aspheric lens, and a cylindrical lens.
  • the present application provides a combination of emitting optical lens groups 102, as shown in FIG. 16, that is, if the emitting lens 1022 is a positive lens, the second adjusting lens group 1021 includes a second positive lens 1021 -1 and the second negative lens 1021-2; wherein, the second positive lens 1021-1 is a spherical mirror, the second negative lens 1021-2 is a biconcave lens; the second negative lens 1021-2 is located on the second positive lens 1021-1 At the exit end, the launch end lens 1022 is located at the exit end of the second negative lens 1021-2.
  • lens combination modes for the transmitting optical lens group 102.
  • the specific combination mode is the same as the foregoing description of the receiving optics in the laser receiving device 11
  • the combination method of the mirror group 112 is the same.
  • the specific content please refer to the foregoing description, and the redundant description will not be repeated here.
  • the generatrix of the lens 1022 at the emitting end is perpendicular to the guideline of the lens 1022 at the emitting end, and the guideline of the lens 1022 at the emitting end is parallel
  • the symmetry axis of the transmitting lens 1022 coincides with the optical axis of the second adjusting lens group 1021; the outgoing laser light passes through the second adjusting lens group 1021, the first curved surface 1022-01 of the emitting lens 1022, and the The second curved surface 1022-02 is projected onto the target object 12.
  • the absolute value of the radius of curvature of the first curved surface 1022-01 of the emitting end lens 1022 is greater than the radius of curvature of the second curved surface 1022-02 of the emitting end lens 1022.
  • the radius of curvature of the first curved surface 1122-01 of the lens 102 at the emitting end is infinite.
  • the above-mentioned curved surface of infinite radius of curvature is a plane.
  • the radius of curvature of the second curved surface 1122-02 of the transmitting end lens 102 may be a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1022-01 is greater than the radius of curvature of the second curved surface 1022-02 . (In Fig. 18, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
  • the radius of curvature of the first curved surface 1022-01 of the lens 102 at the emitting end is a negative value.
  • the above-mentioned negative surface is a concave surface.
  • the radius of curvature of the second curved surface 1022-02 of the emitting end lens 102 is a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1022-01 is greater than the radius of curvature of the second curved surface 1022-02. (The curvature radius of the second curved surface 1122-02 in FIG. 19 is a positive value for example)
  • the present application also provides a lidar, which includes the lidar system described in any one of the foregoing embodiments.
  • a lidar which includes the lidar system described in any one of the foregoing embodiments.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un système de radar laser et un radar laser, le système comprenant : un dispositif d'émission de laser (10) et un dispositif de réception de laser (11), le dispositif d'émission de laser (10) étant configuré pour émettre une lumière laser de sortie et projeter la lumière laser de sortie sur un objet cible (12), et le dispositif de réception de laser (11) étant configuré pour recevoir une lumière laser d'écho réfléchie par l'objet cible (12). Le dispositif de réception de laser (11) comprend un récepteur de laser (111) et un groupe de lentilles optiques de réception (112). Le groupe de lentilles optiques de réception (112) est configuré pour corriger la taille de point de la lumière laser d'écho réfléchie par l'objet cible (12). Le groupe de lentilles optiques de réception (112) comprend une lentille réceptrice (1122). La lentille réceptrice (1122) comprend une première surface incurvée et une deuxième surface incurvée. Au moins l'une de la première surface incurvée et/ou la deuxième surface incurvée est une surface cylindrique. Le système de radar laser utilise une lentille réceptrice (1122) ayant une surface incurvée qui est cylindrique pour effectuer une correction de point sur la lumière laser d'écho transmise à travers un boîtier du système de radar laser, de sorte que l'effet d'aberration du boîtier cylindrique sur la lumière laser d'écho est éliminé, la taille du point de focalisation est fortement réduite, de façon à améliorer l'énergie de focalisation.
PCT/CN2019/116718 2018-11-09 2019-11-08 Système de radar laser et radar laser WO2020094129A1 (fr)

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CN111562587B (zh) * 2019-02-14 2023-12-05 宁波舜宇车载光学技术有限公司 雷达装置及其发射端
CN109975784B (zh) * 2019-03-21 2021-08-17 深圳市速腾聚创科技有限公司 准直器件、发射系统及激光雷达
CN110045352B (zh) * 2019-04-03 2020-12-18 北京科航理达技术有限公司 一种错位安装光学系统的方法和光学系统
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CN111007478B (zh) * 2019-11-27 2021-10-26 广东博智林机器人有限公司 激光雷达探测装置

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