WO2020151539A1 - Système de radar laser - Google Patents

Système de radar laser Download PDF

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Publication number
WO2020151539A1
WO2020151539A1 PCT/CN2020/072156 CN2020072156W WO2020151539A1 WO 2020151539 A1 WO2020151539 A1 WO 2020151539A1 CN 2020072156 W CN2020072156 W CN 2020072156W WO 2020151539 A1 WO2020151539 A1 WO 2020151539A1
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WO
WIPO (PCT)
Prior art keywords
module
lens group
beams
scanning module
light
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Application number
PCT/CN2020/072156
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English (en)
Chinese (zh)
Inventor
吴世祥
向少卿
Original Assignee
上海禾赛光电科技有限公司
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Publication of WO2020151539A1 publication Critical patent/WO2020151539A1/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

Definitions

  • the present invention relates to the technical field of environmental perception, in particular to a laser radar system.
  • the environmental perception system is a basic and vital part, and it is the guarantee for the safety and intelligence of autonomous vehicles.
  • Vehicle-mounted lidar is an important sensor for sensing surrounding information, and resolution is one of its important parameters. The higher the resolution of lidar, the richer the information, and the more conducive to autonomous driving decision-making.
  • lidar that uses scanning methods such as scanning mirrors is often limited by the scanning frequency of the scanning device. To further increase the resolution, it can be achieved by correspondingly increasing the number of lasers and detectors.
  • the commonly used technical solutions include the use of a transmitting collimating lens, the collimating lens itself directly serves as an aperture stop, and the lasers in different positions are emitted at a certain angle after the collimating lens, so as to realize the scanning of different angle positions.
  • the scanning mirror is at a certain distance from the collimating lens, different outgoing laser beams will fall on different positions of the scanning mirror.
  • part of the laser beam will fall outside the scanning mirror, which will affect the light extraction efficiency. Affects the ranging performance; on the other hand, internal stray light will be formed, leading to nearby blind areas.
  • the present invention solves the technical problems of laser radar in the prior art that are limited by the size of the scanning mirror, and part of the laser beam will fall on the area outside the scanning mirror to form stray light.
  • the first aspect of the present invention discloses a lidar system, including a transmitting module and a scanning module, the transmitting module and the scanning module are arranged in sequence along a first optical path;
  • the emission module includes a laser emission unit and a telecentric lens group
  • the laser emitting unit has multiple light sources for emitting multiple laser beams
  • the telecentric lens group is used for collimating each of the laser beams into parallel beams, and converging each of the parallel beams along the first optical path and entering the scanning module;
  • the scanning module is used to reflect the condensed parallel light beams into a three-dimensional space, and to receive and reflect the echo light beams reflected by the target to be measured.
  • the scanning module includes a movable part, and the movable part has a first reflective surface
  • the multiple parallel light beams are condensed by the telecentric lens group and then incident on the scanning module to form multiple light spots on the movable portion, and the multiple light spots are all located in the reflection area of the first reflective surface Inside.
  • a plurality of the light spots at least partially overlap.
  • the movable part of the scanning module is set as an aperture stop of an optical system composed of the telecentric lens group.
  • the telecentric lens group includes a first sub-lens group and a second sub-lens group, and the first sub-lens group and the second sub-lens group are sequentially arranged along the first optical path;
  • the first sub-lens group has a positive optical power and is arranged close to the laser emitting unit;
  • the second sub-lens group has a positive refractive power, and is arranged along the first optical path with a first predetermined distance from the first sub-lens group.
  • the first sub-lens group is composed of a single lens, and the lens is a hemispherical lens or a meniscus lens.
  • the second sub-lens group includes at least one lens with positive refractive power, and the lens is a plano-convex lens or a double-convex lens.
  • the lidar system further includes a light splitting module and a receiving module, the light splitting module is arranged between the transmitting module and the scanning module along the first optical path, the scanning module and the light splitting module And the receiving module are sequentially arranged along the second optical path;
  • the light splitting module is used to transmit the parallel light beam and reflect the echo light beam reflected by the scanning module;
  • the scanning module is used to reflect the parallel light beams passing through the light splitting module to a three-dimensional space, and used to reflect the echo light beams reflected by the target to be measured to the light splitting module;
  • the receiving module is configured to receive the echo beam reflected by the optical splitting module.
  • the lidar system further includes a deflection module, and the deflection module is located between the light splitting module and the scanning module;
  • the deflection module is used for deflecting the parallel light beam transmitted through the light splitting module, and for receiving and deflecting the echo light beam reflected by the scanning module.
  • a lidar system including a scanning module, a plurality of transmitting modules, and a plurality of receiving modules, the plurality of transmitting modules and the plurality of receiving modules correspond one to one;
  • Each of the emission modules includes a laser emission unit and a telecentric lens group
  • the laser emitting unit has multiple light sources for emitting multiple laser beams
  • the telecentric lens group is used for collimating each of the laser beams into parallel beams, and converging a plurality of the parallel beams along the first optical path and entering the scanning module;
  • the scanning module is used to reflect the multiple laser beams of the multiple transmitting modules into a three-dimensional space, and is used to receive and reflect multiple laser beams that are reflected by the target to be measured in the three-dimensional space Echo beam
  • the multiple receiving modules are used for receiving and processing the multiple echo beams.
  • the scanning module includes a movable part, and the movable part has a first reflective surface
  • the multiple parallel light beams are condensed by the telecentric lens group and then incident on the scanning module to form multiple light spots on the movable part, and the multiple light spots are all located on the first reflecting surface. Within the reflection area.
  • the lidar system of the present invention has the following beneficial effects:
  • the laser radar system of the present invention collimates the multiple laser beams of the laser emitting unit through the telecentric lens group and converges to the scanning module along the first optical path, ensuring that the laser beams emitted from different angles can be effectively collimated and passed through the scanning module Reflected into the three-dimensional space to ensure the maximum laser emission efficiency, and can prevent the laser beam emitted by multiple light sources from being scattered outside the scanning module during the operation of the lidar system, forming stray light and causing nearby blind areas, affecting measurement accuracy.
  • FIG. 1 is a structural block diagram of a lidar system according to an embodiment of the present invention.
  • Figure 2 is an optical path diagram of a lidar system according to an embodiment of the present invention.
  • Figure 3 is an optical path diagram of a lidar system according to another embodiment of the present invention.
  • Fig. 4 is a structural block diagram of a lidar system according to another embodiment of the present invention.
  • 1-Emitting module 11-Laser emitting unit; 12-Telecentric lens group; 121-First sub-lens group; 122-Second sub-lens group;
  • 3-receiving module 31-detection unit; 32-convergence unit;
  • 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 orientation or positional relationship indicated by the terms “upper”, “lower”, “top”, “bottom”, etc. are based on the orientation or positional relationship shown in the drawings, and are only for It is convenient to describe the present invention and simplify the description, instead of indicating or implying that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. Moreover, the terms “first”, “second”, etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in a sequence other than those illustrated or described herein.
  • FIG. 1 shows a structural block diagram of a laser radar system according to an embodiment of the present invention.
  • the present invention provides a lidar system, which may include a transmitting module 1 and a scanning module 2, the transmitting module 1 and the scanning module 2 are arranged in sequence along the first optical path;
  • the emitting module 1 includes a laser emitting unit 11 and a telecentric lens group 12, the laser emitting unit 11 has a plurality of light sources for emitting multiple laser beams; the telecentric lens group 12 is used for each beam The laser beams are respectively collimated into parallel beams, and a plurality of the parallel beams are converged along the first optical path and incident to the scanning module 2; the scanning module 2 is used to reflect the converged parallel beams into a three-dimensional space, And receive and reflect the echo beam reflected by the target under test.
  • the multiple light sources of the laser emitting unit 11 emit multiple laser beams, which are respectively incident on the telecentric lens group 12, and the telecentric lens group 12
  • the laser beams are respectively collimated into parallel beams, and the parallel beams are converged along the first optical path and incident on the scanning module 2.
  • the scanning module 2 passes the received beams through the telecentric lens group 12
  • the convergent parallel beams are reflected to the three-dimensional space for detection, the target to be measured in the three-dimensional space will be reflected to form an echo beam, and the scanning module 2 receives the echo beam and reflects it to the receiving module of the lidar system.
  • the first optical path can be understood as an emission optical path, that is, an optical path of multiple laser beams from being emitted to incident into a three-dimensional space.
  • each laser beam is collimated by the telecentric lens group 12 and converged to the scanning module 2 along the first optical path to ensure that the laser beams emitted from different angles can be effectively collimated and hit the scanning module 2 for final emission ,
  • the laser emission efficiency is guaranteed to the greatest extent; and the laser beams emitted by multiple light sources during the operation of the lidar system are prevented from being scattered outside the scanning module 2, forming stray light, causing nearby blind areas and affecting measurement accuracy.
  • the multiple light sources of the laser emitting unit may emit laser beams at the same time or at different times, for example, multiple light sources emit laser beams according to a preset time sequence.
  • the scanning module 2 may be an electrostatic galvanometer, an electromagnetic galvanometer, a piezoelectric galvanometer, or an electrothermal galvanometer.
  • the scanning module 2 can also change the direction of the laser beam reflected to the three-dimensional space by rotating and/or swinging, so as to scan the target in the three-dimensional space.
  • the scanning module 2 includes a movable part, the movable part has a first reflecting surface; a plurality of the parallel light beams are converged by the telecentric lens group 12 and then incident on the scanning module 2 Thus, a plurality of light spots are formed on the movable part, and the plurality of light spots are all located in the reflection area of the first reflecting surface.
  • each of the parallel light beams condensed by the telecentric lens group 12 is incident on the movable part, and a plurality of light spots are formed on the first reflecting surface, and all of the multiple light spots are located in the movable part. In the reflection area of the first reflection surface, interference caused by stray light falling outside the reflection area is avoided.
  • a plurality of the light spots may at least partially overlap. Specifically, multiple light spots can also completely overlap. As shown in FIG. 2, the light spot corresponding to the first light source completely falls within the light spot corresponding to the second light source.
  • the movable part of the scanning module is set as an aperture stop of the optical system formed by the telecentric lens group 12.
  • the aperture diaphragm is also called the effective diaphragm, which limits the light beam in the optical system.
  • the aperture diaphragm of the optical system constituted by the telecentric lens group 12 can be understood as the scanning module
  • the edge of the movable part limits the beam.
  • the aperture stop limits the effective aperture of the light beam.
  • the design of the telecentric lens group 12 should meet two functions, one is collimation, and the other is to meet the position requirements of the aperture stop, that is, the aperture stop is set in the optical system formed by the telecentric lens group 12 The specific position of the forming a telecentric optical path.
  • the telecentric lens group 12 includes a first sub-lens group 121 and a second sub-lens group 122, the first sub-lens group 121 and the second sub-lens group 122 are arranged in sequence along the first optical path;
  • the first sub-lens group 121 has a positive optical power and is arranged close to the laser emitting unit 11;
  • the second sub-lens group 122 has a positive refractive power, and is arranged along the first optical path and the first sub-lens group 121 at a first predetermined distance.
  • the first sub-lens group 121 is arranged close to the laser emitting unit 11, which can be understood as:
  • the first sub-lens group 121 is attached to the emission side of the laser emitting unit 11, or the first sub-lens group 121 is covered on the outside of the plurality of light sources, or the first sub-lens group 121 There is a certain distance between the laser emitting unit 11 and the laser emitting unit 11. Preferably, the distance can be as small as possible.
  • the first preset distance between the second sub-lens group 122 and the first sub-lens group 121 can be flexibly set according to the size requirements of the entire lidar system, as long as the distance between the second lens group and the first lens It is sufficient that the converged laser beam falls within the reflection area of the scanning module 2.
  • the first sub-lens group 121 is composed of a single lens, and the lens is a hemispherical lens or a meniscus lens. As shown in FIG. 2, the first sub-lens group 121 is a meniscus lens, the refractive power of the meniscus lens is greater than zero, and the concave surface (incident surface) of the meniscus lens faces the laser emitting unit 11 . In a possible implementation manner, the entrance surface and the exit surface of the meniscus lens may also be coated with a high-transmittance depolarizing dielectric film.
  • the first sub-lens group 121 may further include multiple lenses.
  • the second sub-lens group 122 includes at least one lens with positive refractive power, and the lens is a plano-convex lens or a double-convex lens. In other possible implementation manners, the second sub-lens group 122 may further include multiple lenses with positive refractive power.
  • the lidar system further includes a receiving module 3 and a light splitting module 4, and the light splitting module 4 is arranged along the first optical path between the transmitting module 1 and the light beam. Between the scanning modules 2, the scanning module 2, the spectroscopic module 4, and the receiving module 3 are sequentially arranged along the second optical path;
  • the beam splitting module 4 is used to transmit the parallel light beam and reflect the echo beam reflected by the scanning module 2;
  • the scanning module 2 is used to reflect the parallel light beams passing through the light splitting module 4 into a three-dimensional space, and used to reflect the echo light beams reflected by the target to be measured to the light splitting module 4;
  • the receiving module 3 is configured to receive the echo beam reflected by the optical splitting module 4.
  • each of the parallel light beams condensed by the telecentric lens group 12 penetrates the beam splitting module 4 and is incident on the scanning module 2, and the scanning module 2 will receive the parallel light beams.
  • the light beam is reflected into the three-dimensional space for detection.
  • the target to be measured in the three-dimensional space will be reflected to form an echo beam.
  • the scanning module 2 receives the echo beam and is reflected by the beam splitting module 4 and finally enters the receiving module 3 .
  • the second optical path can be understood as a receiving optical path, that is, the multiple echo beams reflected by the target to be measured to the optical path that is finally received by the receiving module 3.
  • the second optical path and the first optical path are partially coaxial, that is, the first optical path and the second optical path are partially coaxial between the scanning module 2 and the spectroscopic module 4, respectively.
  • Fig. 3 shows an optical path diagram of a lidar system according to another embodiment of the present invention.
  • the difference between the foregoing embodiment corresponding to Fig. 2 is that a deflection module is added.
  • the lidar system may further include a deflection module 5, and the deflection module 5 is located between the beam splitting module 4 and the scanning module 2;
  • the deflection module 5 is used for deflecting the parallel light beam transmitted through the beam splitting module 4 and for receiving and deflecting the echo light beam reflected by the scanning module 2.
  • the deflection module 5 may be a prism or a mirror with high reflectance.
  • the lidar system includes a deflection module 5 that can make the beam of the transmitting module 1 finally incident on the reflection area of the scanning module 2. As shown in FIG. 3, the addition of the deflection module 5 allows relatively flexible arrangement of the scanning module 2 and the scanning module 2. The relative positions of the light splitting module 4 and the transmitting module 1 better adapt to the size and appearance adjustment requirements of the lidar system.
  • the lidar further includes a control module 6, which is connected to the transmitting module 1, the scanning module 2, and the receiving module 3, respectively, and the control module 6 is used to control the laser emitting unit 11 to emit the laser beam, to control the rotation and/or swing of the movable part of the scanning module 2, and to control the receiving module 3 to receive and process the echo beam.
  • a control module 6 which is connected to the transmitting module 1, the scanning module 2, and the receiving module 3, respectively, and the control module 6 is used to control the laser emitting unit 11 to emit the laser beam, to control the rotation and/or swing of the movable part of the scanning module 2, and to control the receiving module 3 to receive and process the echo beam.
  • the receiving module 3 includes a detecting unit 31 for receiving and processing the echo beam.
  • the receiving module 3 may further include a converging unit 32, which is arranged before the detection unit 31 along the second optical path, and is configured to converge the light splitting The echo beam reflected by the module 4 is received by the detection unit 31.
  • a converging unit 32 which is arranged before the detection unit 31 along the second optical path, and is configured to converge the light splitting The echo beam reflected by the module 4 is received by the detection unit 31.
  • Fig. 4 shows a structural block diagram of another lidar system according to an embodiment of the present invention.
  • another technical solution of the present invention will be introduced with reference to Fig. 4.
  • the difference between this solution and the solution shown in FIG. 1 is that multiple transmitting modules 1 and multiple receiving modules 3 share one scanning module 2.
  • the present invention provides another lidar system, including a scanning module 2, a plurality of transmitting modules 1 and a plurality of receiving modules 3, the plurality of transmitting modules 1 and the plurality of receiving modules 3 are in one-to-one correspondence;
  • each of the emitting modules 1 includes a laser emitting unit 11 and a telecentric lens group 12;
  • the laser emitting unit 11 has multiple light sources for emitting multiple laser beams
  • the telecentric lens group 12 is used to collimate each of the laser beams of the plurality of emission modules 1 into parallel beams, and converge the plurality of parallel beams along the first optical path and enter the scanning Module 2;
  • the scanning module 2 is used for reflecting the multiple laser beams of the multiple transmitting modules 1 into a three-dimensional space, and for receiving and reflecting the multiple laser beams after being reflected by the target to be measured in the three-dimensional space.
  • the multiple receiving modules 3 are used to receive and process the multiple echo beams.
  • the multiple transmitting modules 1 may be arranged side by side, the adjacent transmitting modules 1 are separated by a second preset distance, and the scanning module 2 is located in the multiple transmitting modules. 1 side.
  • the lidar system When the lidar system is in working condition, there are multiple first light paths corresponding to multiple transmitting modules 1 and one scanning module 2, and multiple second light paths are formed corresponding to multiple receiving modules 3 and one scanning module 2.
  • Light path Wherein, the first optical path is a transmitting optical path, and the second optical path is a receiving optical path.
  • the lidar system further includes a plurality of light splitting modules 4, and the plurality of light splitting modules 4 correspond to the plurality of transmitting modules 1, each of which is The modules 5 are respectively arranged between the scanning module 2 and the transmitting module 1 corresponding to the deflection module 5 along one of the first optical paths;
  • the beam splitting module 4 is used to transmit the parallel light beam and reflect the echo beam reflected by the scanning module 2;
  • the multiple light splitting modules 4 and the multiple receiving modules 3 also correspond one-to-one, and the scanning module 2, the multiple light splitting modules 4, and the multiple receiving modules 3 correspondingly form multiple second light paths ;
  • the scanning module 2 is used to reflect the parallel light beams passing through the light splitting module 4 into a three-dimensional space, and used to reflect the echo light beams reflected by the target to be measured to the light splitting module 4;
  • the receiving module 3 is configured to receive the echo beam reflected by the corresponding optical splitting module 4.
  • the lidar system further includes a plurality of deflection modules 5, and the plurality of deflection modules 5 correspond to the plurality of light splitting modules 4, each The deflection module 5 is located between the scanning module 2 and the light splitting module 4 corresponding to the deflection module 5;
  • the deflection module 5 is used for deflecting the parallel light beam transmitted through the beam splitting module 4 and for receiving and deflecting the echo light beam reflected by the scanning module 2.
  • the scanning module 2 includes a movable part, the movable part has a first reflecting surface; a plurality of the parallel light beams are converged by the telecentric lens group 12 and then incident on the scanning module 2 Thus, a plurality of light spots are formed on the movable portion, and the plurality of light spots are all located in the reflection area of the first reflection surface.

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  • 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, comprenant un module d'émission et un module de balayage agencés séquentiellement le long d'un premier trajet optique. Le module d'émission comprend une unité d'émission laser et un ensemble objectif télécentrique. L'unité d'émission laser comprend une pluralité de sources de lumière permettant d'émettre une pluralité de faisceaux laser. L'ensemble objectif télécentrique est utilisé pour collimater respectivement chaque faisceau de la pluralité de faisceaux laser en faisceaux parallèles, et permettre à la pluralité de faisceaux parallèles de converger le long du premier trajet optique et d'être incidents sur le module de balayage. Le module de balayage est utilisé pour réfléchir les faisceaux parallèles convergents vers un espace tridimensionnel, et recevoir et réfléchir un faisceau d'écho réfléchi par une cible à détecter. Selon le système radar laser de la présente invention, il peut être assuré que des faisceaux laser émis à différents angles soient collimatés et émis efficacement, l'efficacité d'émergence du laser est assurée au maximum, et certains des faisceaux laser émis par la pluralité de sources de lumière sont protégés contre la diffusion à l'extérieur du module de balayage pour former de la lumière parasite dans le processus de fonctionnement du système de radar laser.
PCT/CN2020/072156 2019-01-25 2020-01-15 Système de radar laser WO2020151539A1 (fr)

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CN201910072138.5 2019-01-25
CN201910072138.5A CN109917348B (zh) 2019-01-25 2019-01-25 一种激光雷达系统

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