WO2020143542A1 - Cinémomètre laser - Google Patents

Cinémomètre laser Download PDF

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Publication number
WO2020143542A1
WO2020143542A1 PCT/CN2020/070223 CN2020070223W WO2020143542A1 WO 2020143542 A1 WO2020143542 A1 WO 2020143542A1 CN 2020070223 W CN2020070223 W CN 2020070223W WO 2020143542 A1 WO2020143542 A1 WO 2020143542A1
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WO
WIPO (PCT)
Prior art keywords
module
light
sub
unit
incident
Prior art date
Application number
PCT/CN2020/070223
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English (en)
Chinese (zh)
Inventor
吴世祥
申士林
向少卿
Original Assignee
上海禾赛光电科技有限公司
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Publication of WO2020143542A1 publication Critical patent/WO2020143542A1/fr

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Classifications

    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/483—Details of pulse systems
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

Definitions

  • the invention relates to the technical field of environmental perception, and in particular to a laser radar.
  • the environment awareness system is the basic and crucial part, which is the guarantee of the safety and intelligence of the self-driving car.
  • Lidar is in terms of reliability, detection range and ranging accuracy. Has unparalleled advantages.
  • Vehicle-mounted lidar is an important sensor for sensing surrounding information, and its field of view and scanning accuracy are its important parameters.
  • the prior art usually enlarges the angle of view by setting an optical lens in front of the scanning device, or sets multiple lidars to stitch the collected fields of view.
  • the method of expanding the field of view of the front lens group requires a more complicated lens group, and the effective angle of aperture will be reduced in proportion to the enlargement of the angle of view, thus reducing the distance measurement capability of the lidar.
  • the multi-lidar stitching scheme will significantly increase the total cost.
  • there are plans to use multiple laser emitting units to stitch the field of view collected but there are still problems of high cost, heat dissipation and large volume when multiple laser emitting units are working.
  • Lidar needs to meet the requirements of small size, high reliability, high imaging frame rate, high resolution, and long range.
  • the existing lidar is difficult to achieve a balance between small size and multiple performance parameters. How to rationally arrange the internal space of the lidar to improve space utilization and make its structure more compact on the premise of meeting the specific optical path design, Improving heat dissipation performance is still an area in need of improvement.
  • the invention solves the technical problems of high cost and large volume existing in the laser radar in the prior art.
  • an embodiment of the present invention provides a laser radar, including a laser transmitting module, a beam splitting module, a scanning module, and a receiving module, wherein:
  • the laser emitting module is used to emit a pulsed laser beam
  • the beam splitting module is used to divide the pulsed laser beam into N incident beams and transmit them to the scanning module, where N ⁇ 2;
  • the scanning module is used to reflect the N incident beams to the three-dimensional space, and to receive and reflect the N reflected beams that are reflected by the target to be measured in the three-dimensional space;
  • the receiving module is configured to receive and process the N echo beams
  • the spectroscopic module and the scanning module form N sub-scanning fields of view correspondingly, and the N sub-scanning fields of view form a total field of view of the lidar through the field of view stitching.
  • the receiving module includes a reflecting unit, a converging unit and a detecting unit provided in sequence; the reflecting unit is used to reflect the echo beam reflected by the scanning module;
  • the converging unit is used to converge the echo beam reflected by the reflecting unit
  • the detection unit is used to receive and process the echo beam condensed by the converging unit.
  • the spectroscopic module includes a spectroscopic element and a reflective element, wherein:
  • the beam splitting element is used to divide a part of the pulsed laser beam into N-1 beams of the N incident beams, and transmit and incident another part of the pulsed laser beam to the reflection element;
  • the reflecting element is used to reflect another part of the pulsed laser beam to form one of the N incident beams.
  • the spectroscopic element includes a first spectroscopic element and a second spectroscopic element, wherein:
  • the first beam splitting element is used to reflect a part of the pulsed laser beam to the scanning module to form a first incident beam, and transmit another part of the pulsed laser beam to form a first transmitted beam;
  • the second beam splitting element is used to reflect a part of the first transmitted light beam to the scanning module to form a second incident light beam, and transmit another part of the first transmitted light beam to form a second transmitted light beam ;
  • the reflecting element is used to reflect the second transmitted light beam to the scanning module to form a third incident light beam.
  • the light intensity ratio of the first incident light beam, the second incident light beam and the third incident light beam is x:y:z, where y ⁇ x and y ⁇ z.
  • the reflection unit is disposed on an optical path formed by the incident light beam incident from the beam splitting module to the scanning module.
  • the reflection unit has a light-transmitting portion for being penetrated to pass the incident light beam.
  • the light transmitting part is a light transmitting hole.
  • the lidar further includes a support body, and a light-transmitting structure is provided on the support body, and the light-transmitting structure is used to pass only the incident beam and the echo beam.
  • the light-transmitting structure includes N groups of light channels, each group of the light channels includes a first sub-light channel and a second sub-light channel, and the first sub-light channel and the second sub-light channel are in communication , The first sub-light channel and the second sub-light channel are arranged at an angle;
  • the first sub-optical channel is used to pass the incident beam and the echo beam
  • the second sub-light channel is used to pass and transmit the echo beam to the detection unit.
  • the support body has a first end and a second end, the first sub-optical channel communicates with the first end and the second end, and the second sub-optical channel communicates with the second end;
  • the reflecting unit is disposed at the connection between the first sub-light channel and the second sub-light channel;
  • the converging unit is disposed in the second sub-light channel.
  • the second sub-optical channels of each group of the optical channels are parallel to each other, and the first sub-optical channel of each group of the optical channels extends from a corresponding first end in a preset direction to a preset length to Corresponding to the path between the second ends, wherein the preset direction is a direction connecting from the center point of the scanning module to the center point of the reflection unit.
  • the first end portion corresponding to each group of the optical channels intersects.
  • the support body further has a third end, and the second sub-optical channel is further connected to the third end; and/or,
  • At least one support arm is also provided on the first end, and the support arm is used to fix the scanning module.
  • the laser emitting module includes a collimating unit, and the collimating unit is used to adjust the pulsed laser beam into a parallel beam and enter the beam splitting module;
  • the support body further includes a collimating optical channel, the collimating optical channel is located on one side of the N second sub-optical channels, the collimating optical channel is parallel to the second sub-optical channel, and the collimating unit Set in the collimated light channel.
  • the receiving module further includes an extinction component, and the extinction component is disposed between the converging unit and the detection unit.
  • the extinction component is an extinction tube, one end of the extinction tube is connected to the support body, and the opening at the other end of the extinction tube faces the detection unit.
  • the inner wall of the extinction tube has a tapered multi-stage stepped hole structure, the large-diameter end of the extinction tube is connected to the support, and the outlet of the small-diameter end of the extinction tube faces the detection unit.
  • the inner side wall of the extinction cylinder is provided with one or any combination of extinction threads, extinction rings and extinction materials.
  • the material of the matting component is metal or plastic.
  • the scanning module has a movable part, and a side of the movable part facing the spectroscopic module has a reflective surface for reflecting the incident light beam;
  • the remaining area of the side of the scanning module facing the beam splitting module except for the reflective surface is defined as a first area, and at least a portion of the first area is plated with a matting material.
  • the lidar further includes a control module, wherein:
  • the control module is respectively connected to the laser emitting module, the scanning module and the N detection units;
  • the control module is used to respectively control the laser emitting module to emit the pulsed laser beam, control the rotation and/or swing of the movable part, and control the detection unit to receive and process the echo beam.
  • the lidar further includes a casing and a bottom plate, the bottom end of the casing has an opening, and the casing and the bottom plate are sealedly connected to form a receiving cavity;
  • the laser emitting module, the scanning module, the control module and the supporting body are all accommodated in the accommodating cavity.
  • the lidar further includes a power module, and the power module is disposed in the accommodating cavity;
  • the housing has a side wall, and the power supply module, the control module, and the laser emitting module are respectively disposed in the accommodating cavity near the side wall.
  • At least part of the outer side of the housing is provided with heat dissipation teeth.
  • the laser emitting module includes a light source and an optical fiber connection assembly, wherein:
  • the light source is used to emit the pulsed laser beam
  • the optical fiber connection assembly is coupled to the light source for transmitting the pulsed laser beam.
  • the laser emitting module further includes a deflection unit, and the deflection unit is disposed between the collimating unit and the beam splitting module, and is used to deflect the aligning unit adjusted by the collimating unit. Parallel beams, and incident the deflected parallel beams to the beam splitting module.
  • a hollow area is provided on the side wall, the hollow area is opposite to the light exit side of the scanning module, the lidar further includes a front window, and the front window covers the hollow area for transmission The incident beam reflected by the scanning module and the echo beam transmitted; and/or,
  • the converging unit includes a filtering sub-unit and a converging sub-unit, the filtering sub-unit is disposed before the converging sub-unit along the transmission path of the echo beam, and the filtering sub-unit is used to transmit the reflection of the reflecting unit
  • the echo beam and filtering out optical signals outside the preset wavelength range, the converging subunit is used to converge the echo beam transmitted by the filtering submodule; and/or,
  • the detection unit includes a receiving circuit board, at least one detector is provided on the receiving circuit board, and the detector is disposed on a side of the receiving circuit board facing the converging unit.
  • the lidar described in the present invention has the following beneficial effects:
  • lidar uses a spectroscopic module to perform a pulsed laser beam beam splitting process, so when less than N light sources or even only one light source are used, it also meets the requirements of lidar for scanning field of view, so it can Effectively reduce the cost of lidar and reduce the size of lidar.
  • the light source is a relatively large part of heat dissipation in the lidar. The reduction in the number of light sources can also reduce the heat generation inside the lidar, thereby improving the efficiency and reliability of the laser mine.
  • the lidar in the embodiment of the present invention may also be provided with a support body, and since the support body is provided with a light-transmitting structure to transmit the light beam, and the position and size of the light-transmitting structure can ensure that only the preset sub-scanning field of view is passed The incident beam and the echo beam in the corresponding directions can reduce the interference of ambient light.
  • the light-transmitting structure and the optical path of the support body of the present invention satisfy a compact design, and the first sub-optical channels of the N groups of optical channels are gathered toward the scanning module and extend by a preset length, in this way Arrange optical channels to reduce the space occupied by the optical path, increase the internal space utilization of the support, and reduce the height of the support, thereby reducing the overall height of the lidar.
  • an extinction tube is provided between the condensing unit and the detection unit, and the extinction tube can consume unexpected light beams, and thus can reduce the interference of ambient stray light and the N-echo beams. Of crosstalk.
  • the large-diameter end of the extinction tube is connected to the support body, and the outlet of the small-diameter end of the extinction tube faces the detection unit, so The light of the non-target optical channel can be consumed in continuous reflection, thereby improving the efficiency of eliminating crosstalk between stray light and N-echo beams.
  • the inner side wall of the extinction cylinder of the present invention is provided with one or any combination of extinction threads, extinction rings and extinction materials, which can further improve the effect of eliminating stray light.
  • the lidar in the embodiment of the present invention uses plastic as the material of the extinction tube, which can effectively cut off the electromagnetic interference path and improve the electromagnetic compatibility of the lidar system, thereby ensuring that the lidar works normally in the electromagnetic environment.
  • the lidar in the embodiment of the present invention can share one or more light sources, and there is no need to provide multiple laser transmitting sub-modules to correspond to multiple receiving sub-modules, saving the space actually occupied by the laser transmitting module, and using optical fibers
  • the connection assembly can flexibly arrange the position of the laser emitting module, which is conducive to heat dissipation inside the lidar.
  • FIG. 1 is a structural block diagram of a laser radar according to an embodiment of the present invention.
  • FIG. 2 is a schematic perspective view of a partial structure of a laser radar according to an embodiment of the invention.
  • FIG. 3 is a perspective view of the internal structure of a laser radar according to an embodiment of the invention.
  • FIG. 4 is a schematic perspective view of a support body according to an embodiment of the present invention.
  • FIG. 5 is a perspective schematic view of the support body of FIG. 4 from another perspective
  • FIG. 6 is a perspective view of an extinction tube according to an embodiment of the invention.
  • FIG. 7 is a perspective view of the extinction tube of FIG. 6 from another perspective
  • FIG. 8 is a schematic cross-sectional view of the extinction tube of FIG. 6;
  • FIG. 9 is a cross-sectional view of a partial structure of a laser radar according to an embodiment of the invention.
  • FIG. 10 is a schematic diagram of a transmission path of a laser radar according to an embodiment of the present invention.
  • 10-laser emitting module 101-light source; 102-fiber connection assembly; 103-collimating unit; 104-deflection unit;
  • 20-beam splitting module 21-beam splitting element; 211-first beam splitting element; 212-second beam splitting element; 22-reflecting element; 23-fixing base;
  • 30-scanning module 301-movable part; 302-first area;
  • 40-receiving module 400-receiving submodule; 401-reflecting unit; 402-converging unit; 4021-filtering subunit; 4022-converging subunit; 403-detecting unit; 4031-receiving circuit board;
  • 50-support 500-optical channel; 501-first sub-optical channel; 502-second sub-optical channel; 5021-combination; 503-collimated optical channel; 51-first end; 52-second end, 53-third end; 54-support arm;
  • 60- matt tube 601- connection part
  • the "one embodiment” or “embodiment” referred to herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation of the present invention.
  • the terms “upper”, “lower”, “top”, “bottom”, etc. indicate the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, just for It is convenient for describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as limiting the present invention.
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
  • the features defined as “first” and “second” may explicitly or implicitly include one or more of the features.
  • the terms “first”, “second”, etc. are used to distinguish similar objects, and need not be used to describe a particular order or sequence. It should be understood that the data used in this way are interchangeable under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.
  • FIG. 1 shows a structural block diagram of a laser radar according to an embodiment of the present invention.
  • the technical solution of the present invention is introduced below with reference to FIG. 1.
  • an embodiment of the present invention provides a lidar.
  • the lidar may include a laser transmitting module 10, a beam splitting module 20, a scanning module 30, and a receiving module 40, where:
  • the above laser emitting module 10 is used to emit a pulsed laser beam
  • the above-mentioned beam splitting module 20 is used to divide the above-mentioned pulsed laser beam into N incident beams and transmit them to the above-mentioned scanning module 30, where N ⁇ 2;
  • the scanning module 30 is configured to reflect the N incident beams to the three-dimensional space, and to receive and reflect the N echo beams reflected by the target to be measured in the three-dimensional space and reflected by the N incident beams;
  • the receiving module 40 is configured to receive and process the N echo beams
  • the spectroscopic module 20 and the scanning module 30 may correspondingly form N sub-scanning fields of view, and the N sub-scanning fields of view may be stitched together to form a total field of view of the lidar.
  • the laser emitting module 10 emits a pulsed laser beam and transmits it to the beam splitting module 20 or directly incidents on the beam splitting module 20.
  • the beam splitting module 20 divides the pulse laser beam into N incident beams. It is reflected to the scanning module 30, and the scanning module 30 reflects the received N incident light beams to the three-dimensional space for detection, and the target to be measured in the three-dimensional space is reflected to form an N-echo beam; the scanning module 30 may Receiving the N echo beams and reflecting them to the receiving module 40; the receiving module 40 receives and processes the N echo beams to obtain the required environmental perception data.
  • the pulsed laser beam is split into N incident beams through the beam splitting module, and the beam is shot into the target space at different field angles, which can directly scan multiple sub-scan fields of view.
  • the scanning method is simple and the system complexity is low. It is easy to integrate, so it can reduce the cost and complexity of lidar.
  • the beam splitting module 20 and the scanning module 30 will form N transmission light paths
  • the scan module 30 and the N receiving modules 40 will form N reception light paths, respectively.
  • the transmission optical paths correspond to the N reception optical paths in one-to-one relationship, and the N transmission optical paths and the N reception optical paths may be partially coaxial.
  • the lidar transmit module can use less than N light sources, or even use only one light source.
  • the number of light sources should not constitute a limitation on the present invention, and those skilled in the art can flexibly choose according to the scanning density requirements, the heat dissipation problems of the lidar, the size requirements, and the size limitations of the scanning module.
  • N the size of N according to actual needs.
  • the technician can balance the requirements of the field of view and the volume requirements of the lidar to set an appropriate value of N, as long as N is not less than 2.
  • the specific value of N does not limit the protection scope of the present invention.
  • the above-mentioned receiving module may include N groups of receiving sub-modules, and any group of receiving sub-modules includes a reflecting unit, a converging unit, and a detecting unit that are sequentially arranged.
  • the above-mentioned receiving module 40 may include three groups of receiving sub-modules 400, and any one of the above-mentioned receiving sub-modules 400 includes a reflecting unit 401, a converging unit 402, and a detecting unit 403 disposed in this order.
  • the reflection unit 401 is located between the spectroscopic module 20 and the scanning module 30, and is used to reflect the echo beam;
  • the converging unit 402 is used to converge the echo beam reflected by the reflecting unit 401;
  • the detection unit 403 is used to receive and process the echo beam condensed by the convergence unit 402 to obtain distance information of the obstacle.
  • the reflection unit is disposed on an optical path formed by the incident light beam incident from the beam splitting module to the scanning module.
  • the above reflection unit can also be used to penetrate the above incident light beam.
  • the reflection unit is provided with a light-transmitting portion for being transmitted to pass the incident light beam.
  • the light-transmitting portion may be a light-transmitting hole or a light-transmitting area. In practical applications, the light-transmitting area may correspond to a transparent glass plate or a transparent plastic plate or a lens.
  • the above-mentioned reflection unit 401 is a reflection mirror with a light-transmitting hole, that is, a small-hole reflection mirror.
  • the size of the light transmission hole may be 1.0-2.0 times the diameter of the incident light beam.
  • the preparation process of the reflection unit 401 may be as follows: first, a light-transmitting hole with a diameter slightly larger than that of the incident beam is punched on the ground glass substrate, and then a total reflection film is coated on one surface of the substrate.
  • the above-mentioned reflection unit 401 is a reflection mirror with a light-transmitting area, and its preparation may be performed by first grinding and polishing the substrate, coating an anti-reflection coating on one side of the substrate, and An antireflection film is coated on the predetermined light-transmitting area on one side, and a total reflection film is plated on the area outside the predetermined light-transmitting area.
  • the predetermined light-transmitting area has a circular hole shape, and the diameter of the predetermined light-transmitting area is greater than or Equal to the diameter of the above incident beam.
  • the above-mentioned reflection unit 401 may also use a polarization beam splitter to achieve this function.
  • the incident light beam passing through the light transmitting portion is coaxial with the echo light beam reflected by the scanning module 30.
  • the above spectroscopic module includes a spectroscopic element and a reflective element, wherein:
  • the beam splitting element is used to divide a part of the pulsed laser beam into the N-1 beam of the N incident beam, and transmit another part of the pulsed laser beam to enter the reflective element;
  • the reflecting element is used to reflect another part of the pulsed laser beam to form one of the N incident beams.
  • the above spectroscopic module includes N-1 spectroscopic elements and one reflective element, and the N-1 spectroscopic elements and the reflective element are spaced apart along the first direction;
  • the N-1 beam splitting elements divide the pulsed laser beam into N-1 beams of the incident beam and enter the scan module to form N-1 sub-scanning fields of view accordingly;
  • the pulsed laser beam passing through the N-1th beam splitting element is reflected by the reflecting element to form the Nth beam of the incident beam, and is incident on the scanning module, correspondingly forming a sub-scanning field of view; the horizontal N sub-scanning fields of view are parallel Arrangement, through the field of view stitching to expand the horizontal field of view while achieving a more compact optical structure.
  • the above-mentioned beam splitter 21 may be an aperture mirror, a half mirror, a polarizing beam splitter, or a beam splitter using a coating method.
  • the split ratio of the single splitting element 21 may be 10%-50% transmittance and 50%-90% reflectance, but it is not limited to this split ratio.
  • the above-mentioned light splitting element 21 includes a first light splitting element 211 and a second light splitting element 212, wherein:
  • the first beam splitter 211 is used to reflect a part of the pulsed laser beam to the scanning module to form a first incident beam, and transmit another part of the pulsed laser beam to form a first transmitted beam;
  • the second beam splitting element 212 is used to reflect a part of the first transmitted light beam to the scanning module to form a second incident light beam, and transmit another part of the first transmitted light beam to form a second transmitted light beam;
  • the reflective element 22 is used to reflect the second transmitted light beam to the scanning module to form a third incident light beam.
  • the first beam splitter 211 is configured to receive the pulsed laser beam, form a first incident beam and a first transmitted beam, enter the first incident beam into the scanning module 30, and form a first sub-scanning field of view ;
  • the second beam splitting element 212 is configured to receive the first transmitted light beam, form a second incident light beam and a second transmitted light beam, enter the second incident light beam into the scanning module 30, and form a second sub-scanning field of view accordingly;
  • the reflective element 22 is configured to receive the second transmitted light beam and reflect to form a third incident light beam, which is incident on the scanning module 30 and correspondingly forms a third sub-scanning field of view.
  • each sub-scanning field of view may be set to 20°, then after the first sub-scanning field of view, the second sub-scanning field of view, and the third sub-scanning field of view are stitched together, the level of the lidar The total field of view can reach 60°.
  • the light intensity ratio of the first incident light beam, the second incident light beam, and the third incident light beam is x:y:z, where y ⁇ x and y ⁇ z.
  • the light intensity ratio x:y:z of the three can be 1:2:1 or 2:5:2, etc., and the light intensity ratio of the three can be determined according to the actual application scenario and system performance requirements Take any value.
  • the above spectroscopic module 20 further includes a fixing base 23 for mounting the above spectroscopic element 21 and the above reflective element 22.
  • the first spectroscopic element 211, the second spectroscopic element 212, and the reflective element 22 are sequentially arranged at intervals on the fixing base 23 according to a preset spectroscopic optical path.
  • the first spectroscopic element 211, the second spectroscopic element 212 and the reflective element 22 are located on the same straight line.
  • the working process of the spectroscopic module will be described in detail below with reference to FIG. 10.
  • the pulsed laser beam 1001 is radiated toward the first spectroscopic element 211, partly reflected by the first spectroscopic element 211, and partly
  • the first beam splitter 211 transmits to form a first incident light beam 1002 and a first transmitted light beam 1003, respectively, and then the first incident light beam 1002 is incident on the scanning module 30 and is reflected by the scanning module 30 to form a first emission optical path.
  • the first transmitted beam 1003 is incident on the second beam splitting element 212, a part of it is reflected by the second beam splitting element 212, and a part of it is transmitted by the second beam splitting element 212, forming a second incident beam 1004 and a second transmitted beam 1005, respectively.
  • the second incident light beam 1004 will also be incident on the scanning module 30, and after being reflected by the scanning module 30, a second emission light path may be formed;
  • the second transmitted beam 1005 After the second transmitted beam 1005 is incident on the reflective element 22, it can be reflected by the reflective element 22 to form a third incident beam 1006.
  • the third incident beam 1006 also enters the scanning module 30 and passes through the scanning module After 30 reflections, a third emission light path is formed.
  • the lidar may further include a support body, and the support body may be specifically disposed between the spectroscopic module and the detection unit, that is, the support body may be located on the path of the incident light path formed by the incident light beam through The wave beam is coaxial with the incident beam.
  • the support is also on the path of the echo beam path formed by the echo beam passing through.
  • the support body is provided with a light-transmitting structure, and the size and position of the light-transmitting structure are related to the size and position of the echo beam when it is incident on the support body, so the light-transmitting structure can ensure that only the The beams in the same direction of the wave beam can reduce the interference of stray light and improve the distance measurement capability and accuracy of the distance measurement of the lidar. It should be noted that ambient stray light in the same direction as the above-mentioned echo beam does not rule out entering the corresponding light-transmitting structure.
  • the lidar includes a supporting body 50, and the supporting body 50 is disposed between the spectroscopic module 20 and the detecting unit 403, and the supporting body 50 is provided with a light-transmitting structure.
  • the above-mentioned light-transmitting structure is used for passing only the above-mentioned incident light beam and the above-mentioned echo light beam, and does not exclude the entry of ambient stray light in the same direction.
  • the above light-transmitting structure includes three groups of light channels 500, and each group of the above light channels 500 includes a first sub-light channel 501 and a second sub-light channel 502, the first The sub-light channel 501 is in communication with the second sub-light channel 502, and the first sub-light channel 501 and the second sub-light channel 502 are disposed at an angle.
  • the incident light beam may enter the scanning module 30 through the first sub-light channel 501.
  • the echo beam may also be incident through the first light channel 501 and transmitted through the first light channel After 501, it is incident on the reflective element, and then reflected by the emitting element into the second sub-light channel 502, and finally transmitted to the detection unit 403.
  • the position and size of any group of optical channels can ensure that only the incident beam and the echo beam corresponding to the group of optical channels can be passed to prevent the interference of ambient light.
  • the support body has a first end and a second end, the first sub-optical channel communicates with the first end and the second end, and the second sub-optical channel connects with the second end
  • the reflection unit is provided at the connection between the first sub-light channel and the second sub-light channel; the converging unit is provided in the second sub-light channel.
  • the support body further has a third end, and the second sub-light channel also penetrates to the third end. It should be noted that the second sub-light channel does not necessarily pass through to the third end. For example, if the second sub-light channel may be in the form of a blind hole, the detection unit may be provided in the second sub-light channel Inside the bottom end.
  • the support body 50 has a first end 51, a second end 52 and a third end 53.
  • the first sub-light channel 501 communicates with the first end 51 and the At the two ends 52
  • the second sub-optical channel 502 communicates with the second end 52 and the third end 53.
  • the reflection unit 401 is disposed at the connection between the first sub-light channel 501 and the second sub-light channel 502, and the N reflection units 401 of the receiving module 40 all face the scanning module 30.
  • the converging unit 402 is disposed in the second sub-light channel 502.
  • the reflective unit 401 and the converging unit 402 are respectively disposed at a predetermined angle with respect to their corresponding optical channels 500.
  • the N of the converging units 402 of the N groups of receiving sub-modules 400 may all be set perpendicular to the second sub-optical channel 502, that is, the predetermined angle is set to 90°.
  • the reflection unit 401 may be installed on the second end 52 of the support 50, and the N number of the reflection units 401 of the N groups of receiving sub-modules 400 are respectively 45 from the bottom of the support 50 The included angle, that is, the predetermined angle is set to 45°.
  • the reflection surfaces of the N reflection units 401 all face the scanning module 30.
  • the receiving module 40 has three reflecting units 401, and the three reflecting units 401 respectively correspond to the first light splitting element 211, the second light splitting element 212, and the reflection element 22 one by one.
  • the three incident light beams generated by the spectroscopic module 20 can penetrate the light-transmitting portion (ie, light-transmitting hole) of the reflection unit 401 and enter the scanning module 30.
  • the first sub-optical channels of the N groups of optical channels are parallel to each other, the second sub-optical channels of the N groups of optical channels are also parallel to each other, and the first sub-optical channel is close to the scanning module side
  • the exit position of the deflection prism is used to deflect the incident beam to the scanning module, and at the same time ensure that the echo beam corresponding to the respective group of optical channels returns to the respective optical channels through the deflection prism.
  • the second sub-optical channels of each group of the above-mentioned optical channels are parallel to each other, and the first sub-optical channel of each group of the above-mentioned optical channels extends from a corresponding first end in a preset direction after a preset length The path to the corresponding second end, wherein the preset direction is a direction connecting from the center point of the scanning module to the center point of the reflection unit. That is, the first sub-optical channels of each group respectively penetrate the first end, and the preset direction of the first sub-optical channels of each group is directed from the reflection unit toward the reflection side of the scanning module.
  • the first end portion corresponding to each group of the light channels intersects.
  • the second sub-optical channels 502 of the three groups of optical channels 500 are parallel to each other, and the first sub-optical channels 501 of the three groups of optical channels 500 are gathered toward the scanning module 30 and A predetermined length is extended; an end portion of the first sub-optical channel 501 of the N-group optical channels 500 facing the scanning module 30 intersects.
  • Arranging the optical channel 500 in this way can reduce the space occupied by the optical path by the support 50, increase the internal space utilization of the support 50, and reduce the height of the support 50, thereby further reducing the overall height of the lidar.
  • the first sub-light channel and the second sub-light channel are both hollow through holes, and the first sub-light channel and the second sub-light channel are filled with air or filled with other light-transmitting media.
  • At least one support arm is further provided on the first end of the support body, and the support arm is connected to the scan module to fix the scan module.
  • the first end 51 of the support body 50 is provided with two support arms 54 at intervals, the support arms 54 are connected to the scanning module 30, and the support arms 54 are respectively connected to the supports
  • the third end 53 of the body 50 is disposed at an angle, such as 45°, to ensure that the reflection side of the scanning module 30 can receive the incident beam and the echo beam.
  • the support arm 54 may also be an integrally formed structure with the support body 50.
  • the receiving module further includes an extinction component.
  • the extinction component is disposed between the converging unit and the detecting unit, and is used to prevent the N echo beams from crosstalking with each other.
  • the extinction component is a extinction tube 60.
  • one end of the extinction tube 60 is connected to the support 50, and the opening of the other end of the extinction tube 60 faces the detection unit 403; the extinction tube 60 It communicates with the second sub-light channel 502 described above.
  • the above-mentioned extinction tube 60 is used to consume stray light in continuous reflection.
  • the inner wall of the above-mentioned extinction tube 60 has a tapered multi-stage stepped hole structure, the large-diameter end of the above-mentioned extinction tube 60 is connected to the support 50, and the above-mentioned extinction tube 60 The exit of the small-diameter end of the is directed to the detection unit 403 described above.
  • the number of segments of the stepped hole is ⁇ 2.
  • the above-mentioned multi-stage stepped hole structure will form multiple reflection steps and increase the reflection area, which can reflect the stray light multiple times or in multiple stages to consume crosstalk light and improve the extinction efficiency.
  • the number of the above-mentioned stepped holes is determined according to the expected extinction rate, the installed space, and the volume of the entire lidar.
  • the number of steps of the stepped hole is 11 steps.
  • the outer wall of the large-diameter end of the extinction tube 60 is provided with a connecting portion 601
  • the end of the second sub-light channel 502 near the detection unit 403 is provided with a coupling portion 5021, the connecting portion 601 and the coupling portion 5021 Mate connection.
  • the large-diameter end of the extinction tube 60 and the support body 50 are fixed by screw connection, bayonet connection, plug-in fixing, or adhesion.
  • the connection portion 601 is an external thread
  • the connection portion 5021 is an internal thread that fits the external thread
  • the matte tube 60 is screwed to the support body 50.
  • the inner wall of the extinction tube 60 has a tapered structure.
  • the inner wall of the extinction tube 60 near the detection unit 403 has a smaller outer wall profile than the inner wall of the condensing unit 402.
  • the cross section of the extinction tube 60 is circular.
  • the entire matting cylinder 60 may have a cylindrical structure, a square bucket structure, a cone structure, a funnel structure, or the like.
  • the inner side wall of the above-mentioned extinction tube 60 is provided with one or any combination of extinction threads, extinction rings, and extinction materials to further increase the effect of eliminating stray light.
  • the above multi-stage stepped hole structure is used to increase the inner surface area of the above-mentioned extinction tube, and cooperate with the coating extinction material on the inner surface to absorb stray light, thereby further improving the extinction efficiency.
  • the material of the extinction tube 60 is metal or plastic.
  • the material of the extinction tube 60 is plastic.
  • the end of the extinction tube 60 close to the detection unit 403 should be as close to the detection unit 403 as possible.
  • the material of the extinction tube 60 is metal, a parasitic capacitance is formed between the extinction tube 60 and the detection unit 403, thereby causing electromagnetic interference to the detection unit 403.
  • the photodetector needs to be set with a high bias voltage during operation, in some extreme cases, the biased high voltage may cause the air between the detection unit 403 and the extinction tube 60 to be broken. Therefore, using plastic as the material of the extinction tube 60 can effectively cut off the electromagnetic interference path and improve the electromagnetic compatibility of the lidar system, thereby ensuring that the lidar can work normally in the electromagnetic environment.
  • the above-mentioned matting member may also be integrally formed with the above-mentioned support body.
  • the scanning module 30 may be an electrostatic galvanometer, an electromagnetic galvanometer, a piezoelectric galvanometer, or an electrothermal galvanometer.
  • the scanning module 30 can also change the direction of the pulsed laser beam reflected in the three-dimensional space by rotating or swinging, so as to scan the target in the three-dimensional space.
  • the scanning module 30 has a movable portion 301, and the side of the movable portion 301 facing the beam splitting module 20 has a reflective surface for reflecting the light beam; the scan module 30 faces the beam splitting module 20
  • the remaining area of one side of the side except the reflective surface is defined as a first area 302, and at least a portion of the first area 302 is plated with a matting material.
  • all the first regions 302 are plated with a matting material.
  • the scanning module 30 further includes a driving mechanism for driving the movable portion 301 to periodically rotate or swing.
  • the lidar further includes a control module 70, which is connected to the laser emitting module 10, the scanning module 30, and the N detection units 403, and the control module 70 It is used to control the laser emitting module 10 to emit the pulsed laser beam, control the rotation or swing of the movable portion 301, and control the detection unit 403 to receive and process the echo beam.
  • the control module 70 controls the rotation or swing of the movable portion 301 through the driving mechanism.
  • control module 70 is a control circuit board.
  • the lidar further includes a casing and a bottom plate, the bottom end of the casing has an opening, the casing and the bottom plate are sealedly connected to form a receiving cavity, the laser emitting module 10, the scanning module 30, the control Both the module 70 and the support body 50 are accommodated in the accommodating cavity.
  • the scanning module 30 is located in an upper space of the accommodating cavity, and the scanning module 30 is fixedly installed on the top wall of the housing without the support arm 54 of the supporting body 50 to fix it.
  • the lidar further includes a power module, the power module is disposed in the accommodating cavity; the housing has a side wall, the power module, the control module 70, and the laser emitting module 10 are respectively disposed in the The position near the side wall in the accommodating cavity is beneficial to conduct the heat generated during the operation of the power supply module, the control module 70 and the laser emitting module 10 to the outside through the housing.
  • the housing is a box-shaped structure with an open bottom.
  • the side walls of the housing include a first side wall, a second side wall, a third side wall, and a fourth side wall.
  • the laser emitting module 10 The power module is located near or attached to the inner surface of the first side wall, the power module is located near or attached to the inner surface of the second side wall, and the control module 70 is located near or attached to the third side wall On the surface, the receiving unit is also located near the inner surface of the second side wall.
  • a heat conductive gel, a cooling gas, or a cooling device may be provided around the laser emitting module 10 to further enhance the heat dissipation effect.
  • At least a portion of the outer side of the housing is provided with heat dissipation teeth.
  • the first side wall, the second side wall, and the third side wall are all provided with a plurality of the heat dissipation teeth, and the number and distribution of the heat dissipation teeth can be based on the heat dissipation requirements and appearance of the lidar Flexible arrangement of requirements, such as parallel and spaced distribution, or staggered distribution or involute distribution, circular distribution, etc.
  • the side wall is provided with a hollow area
  • the hollow area is opposite to the light exit side of the scanning module 30
  • the lidar further includes a front window, the front window covers the hollow area, and is used to transmit the scanning module 30 reflects the incident beam and transmits the aforementioned echo beam.
  • the hollowed-out area is located on the fourth side wall.
  • the front window may be a laser window mirror, and a laser window mirror may be provided to protect the scanning module 30 from splashes and other hazards in the workplace.
  • the laser window mirror usually uses a laser with a high wavelength for a specific wavelength. Materials, and coated with anti-reflection coating to reduce the loss caused by reflection.
  • the laser emitting module 10 includes a light source 101, an optical fiber connection assembly 102, and a collimating unit 103.
  • the light source 101 is used to emit the pulsed laser beam;
  • the optical fiber connection assembly 102 is coupled to the light source 101 for transmitting the pulsed laser beam emitted by the light source 101 to the collimating unit 103;
  • the collimating unit 103 is used to adjust the pulsed laser beam into a parallel beam and enter the beam splitting module 20.
  • the laser emitting module 10 has M light sources 101, where M ⁇ 1, when the laser emitting module 10 has multiple light sources 101, the multiple light sources 101 may be distributed on the lidar through the optical fiber interval In the vertical field of view.
  • the light source 101 may be a laser, such as a semiconductor laser, a solid-state laser with tunable wavelength, or a fiber laser, etc. Different types of lasers may emit laser beams with different wavelengths.
  • the collimating unit 103 is a collimating lens
  • the optical fiber connecting assembly 102 includes an optical fiber.
  • the focal point of the collimating lens is at the position of the exit end surface of the optical fiber, and has the function of converting the light emitted from the optical fiber bundle into The role of parallel beams.
  • the above-mentioned collimating lens may be composed of one or more lenses.
  • the end surface of the optical fiber is at an angle of 45 degrees to the extending direction of the optical fiber, and a highly reflective medium coating is coated on the end surface to provide a mirror surface.
  • the light beam enters the collimating unit 103 after being reflected by the end surface, and the light beam is collimated by the collimating unit 103 and then enters the beam splitting module 20.
  • the support body further includes a collimating light channel, the collimating light channel is located on one side of the N second sub-light channels, and the collimating unit is disposed in the collimating light channel.
  • the collimating light channel 503 is parallel to the second sub-light channel 502, and the collimating unit 103 is perpendicular to the collimating light channel 503.
  • the laser emitting module 10 further includes a deflection unit 104, and the deflection unit 104 is disposed between the collimating unit 103 and the beam splitting module 20, and is used for deflection after being adjusted by the collimating unit 103.
  • the above parallel beams are incident on the above spectroscopic module 20.
  • the deflection unit 104 is located at an end of the collimated optical channel 503 near the beam splitter module 20, and the deflection unit 104 and the light splitting element 21 of the beam splitter module 20 are located on the same straight line, such as As shown in FIGS. 2 and 3, the deflection unit 104 may be fixed on the fixing base 23, and the deflection unit 104 may also be close to or abut the first light splitting element 211.
  • the laser emitting module may only have a light source, and the pulsed laser beam emitted by the light source is directly incident on the above spectroscopic module; or, the laser emitting module may only include a light source and an optical fiber connection assembly, and the pulsed laser emitted by the light source The beam is transmitted through the fiber connection assembly and then enters the beam splitter module.
  • the converging unit 402 includes a filtering sub-unit 4021 and a converging sub-unit 4022.
  • the filtering sub-unit 4021 is disposed before the converging sub-unit 4022 along the receiving optical path, and the filtering sub-unit 4021
  • the converging subunit 4022 is used for converging the echo beam transmitted by the filtering submodule.
  • the above-mentioned converging subunit 4022 may be a lens, that is, composed of one or more, that is, two or more lenses.
  • the detection unit 403 includes a receiving circuit board 4031.
  • the receiving circuit board 4031 is provided with at least one detector.
  • the detector is disposed on the receiving circuit board 4031 toward the converging unit 402. Side.
  • the above detector may be a PIN photoelectric sensor, an avalanche photodiode or a Geiger-mode avalanche photodiode.
  • the photosensitive surface of the detector may be located on the focal plane of the converging subunit 4022.
  • the receiving module further includes a receiving mounting bracket, the receiving mounting bracket is provided with mounting portions for mounting and fixing the N receiving circuit boards of the receiving module, and the receiving circuit board is connected to the mounting portion .
  • the receiving and adjusting bracket is connected to the bottom plate or the support body.
  • the fixing base and the supporting body may be an integrally formed structure, which is convenient for integration of the device and convenient and rapid installation.

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

Abstract

L'invention concerne un cinémomètre laser, comprenant un module d'émission de laser, un module de division de lumière, un module de balayage et un module de réception, le module d'émission de laser étant utilisé pour émettre un faisceau laser pulsé ; le module de division de lumière est utilisé pour diviser le faisceau laser pulsé en N faisceaux de lumière incidente et les transmettre au module de balayage, et N ≥ 2 ; le module de balayage est utilisé pour réfléchir les N faisceaux de lumière incidente vers un espace tridimensionnel et est utilisé pour recevoir et réfléchir N faisceaux de lumière d'écho des N faisceaux de lumière incidente après qu'ils aient été réfléchis par une cible à mesurer dans l'espace tridimensionnel ; et le module de réception est utilisé pour recevoir et traiter les N faisceaux de lumière d'écho ; le module de division de lumière et le module de balayage forment de manière correspondante N sous-champs de vision de balayage, les N sous-champs de vision de balayage, au moyen de l'épissage du champ de vision, constituant le champ de vision total du cinémomètre laser. Le cinémomètre laser utilise le module de division de lumière afin d'utiliser au moins N sources de lumière tout en permettant le balayage du champ de vision du cinémomètre laser, en réduisant le coût du cinémomètre laser, en réduisant la production de chaleur interne, et en diminuant le volume du cinémomètre laser.
PCT/CN2020/070223 2019-01-07 2020-01-03 Cinémomètre laser WO2020143542A1 (fr)

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CN201910012307.6 2019-01-07
CN201910012307.6A CN109814086B (zh) 2019-01-07 2019-01-07 一种激光雷达

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