WO2020164224A1

WO2020164224A1 - Detection device and lidar

Info

Publication number: WO2020164224A1
Application number: PCT/CN2019/094823
Authority: WO
Inventors: 任建峰; 虞爱华
Original assignee: 昂纳信息技术（深圳）有限公司
Priority date: 2019-02-14
Filing date: 2019-07-05
Publication date: 2020-08-20
Also published as: CN109828256A

Abstract

Provided are a detection device (100) and a lidar. The detection device (100) comprises: an optical fiber array, comprising a plurality of optical fibers (10), wherein two end parts of the plurality of optical fibers (10) are arranged in an array and form a signal light receiving surface (111) and a signal light emitting surface (121) at two ends, and the longitudinal area of the signal light receiving surface (111) is greater than the longitudinal area of the signal light emitting surface (121); and a detector (20), which is connected to the signal light emitting surface (121) and receives an optical signal emitted by the signal light emitting surface (121). Large-scale detection application is achieved by means of using a detector that has a relatively small area, thereby reducing the detector area, reducing the number of detectors, and preventing a plurality of detectors from affecting the optical signal reception efficiency due to a large seam while simultaneously reducing overall costs.

Description

Detection device and laser radar

Technical field

The invention relates to the field of laser radar, in particular to a detection device and laser radar.

Background technique

Lidar is a radar system that emits laser beams to detect the position and speed of the target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal (target echo) from the target with the transmitted signal. After proper processing, the relevant information of the target can be obtained, such as Target distance, azimuth, height, speed, attitude, and even shape and other parameters.

Especially in the field of autonomous driving, technologies such as autonomous driving are developing rapidly. One of the important supporting sensors, lidar, has emerged in various types of solutions in order to meet various specific needs.

There are many kinds of lidar system schemes. For example, the design scheme requires the receiving detector to have a larger area or length; in order to meet the needs of this system, two schemes are often used: one is to select a single detector with a large area; It is equivalent to using multiple detectors to stitch together to form a large area detector.

However, as the area or length of a single detector increases, the parasitic parameters of a single detector gradually increase, thereby affecting its response performance; and when multiple detectors are used for splicing, there are the following problems: one is multiple detection The gap between the detectors is large, which affects the efficiency of optical signal reception; second, the increase in the number of detectors causes an increase in the overall cost, especially when the cost of a single detector itself is high, the effect is more obvious.

technical problem

The technical problem to be solved by the present invention is to provide a detection device and a laser radar in response to the above-mentioned defects in the prior art, which solves the problems of excessive detector area affecting performance, multiple detectors having gaps affecting receiving efficiency, and high cost. .

Technical solutions

The technical solution adopted by the present invention to solve its technical problem is to provide a detection device, including: an optical fiber array, including a plurality of optical fibers, the two ends of the plurality of optical fibers are arrayed, and the signal light receiving surfaces and The signal light emitting surface, the longitudinal area of the signal light receiving surface is greater than the longitudinal area of the signal light emitting surface; a detector, the detector is connected with the signal light emitting surface, and receives the light signal emitted by the signal light emitting surface.

The preferred solution is that part or all of the optical fiber includes a signal light receiving section and a signal light emitting section, and the cross-sectional area of the signal light receiving section is larger than the cross-sectional area of the signal light emitting section.

The preferred solution is that the tail end of the signal light receiving section is melted and tapered to form the signal light emitting section.

Among them, a preferred solution is that the tail end of the signal light receiving section forms a kind of tapered structure.

Among them, a preferred solution is: the multiple optical fibers at one end of the optical fiber array are arranged in a regular array; or, the multiple optical fibers at one end of the optical fiber array are arranged in an irregular array.

Among them, a preferred solution is that the regular array arrangement includes at least one of horizontal and vertical aligned arrangement, linear arrangement and staggered arrangement.

Among them, a preferred solution is that: the signal light receiving surface is a flat surface, a curved surface or an irregularly shaped surface; or, the signal light emitting surface is a flat surface, a curved surface or an irregularly shaped surface.

Among them, a preferred solution is that a plurality of the optical fibers are connected by an adhesive.

The technical solution adopted by the present invention to solve its technical problems is to provide a laser radar, which includes a laser signal output device, a scanning device and the detection device. The laser signal output device emits a laser signal and passes through the scanning device. Transmitting, the scanning device scans the laser signal outwards, and receives the transmitted signal light to the detection device.

Beneficial effect

The beneficial effect of the present invention is that, compared with the prior art, the present invention adopts a detection device and a laser radar to realize a large-scale detection application by using a smaller area detector, greatly reducing the area of the detector and avoiding the problem of the detector area. Affect its own response performance; reduce the number of detectors to prevent multiple detectors from affecting the optical signal receiving efficiency due to multiple joints, while reducing the overall cost.

Description of the drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments. In the accompanying drawings:

Figure 1 is a schematic diagram of the structure of the detection device of the present invention;

2 is a schematic diagram of the cross-sectional structure of the optical fiber array arrangement of the present invention;

Fig. 3 is a schematic structural diagram of the signal light receiving surface or signal light emitting surface of the present invention being circular;

4 is a schematic diagram of the structure of the signal light receiving surface or the signal light emitting surface of the present invention being an ellipse;

Fig. 5 is a schematic structural diagram of a rectangular signal light receiving surface or signal light emitting surface of the present invention;

Fig. 6 is a schematic structural diagram of the linear arrangement of optical fibers of the present invention;

Fig. 7 is a structural schematic diagram of the array arrangement of signal light receiving sections and the linear arrangement of signal light emitting sections of the present invention;

FIG. 8 is a schematic structural diagram of the signal light receiving section of the present invention arranged in an arc;

Figure 9 is a schematic structural diagram of the first working mode of the laser radar of the present invention;

Fig. 10 is a schematic structural diagram of the second working mode of the laser radar of the present invention.

The best mode of the invention

The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

As shown in Figure 1, the present invention provides a preferred embodiment of a detection device.

A detection device 100 includes an optical fiber array and a detector 20, wherein the optical fiber array includes a plurality of optical fibers 10, and the two ends of the plurality of optical fibers 10 are arranged in an array, and form signal light receiving surfaces 111 and signal light emitting surfaces 111 at both ends. Surface 121, the longitudinal area of the signal light receiving surface 111 is greater than the longitudinal area of the signal light emitting surface 121; the detector 20 is connected to the signal light emitting surface 121, and receives the light signal emitted by the signal light emitting surface 121. Specifically, the external light signal enters the optical fiber 10 of the optical fiber array through the signal light receiving surface 111, is emitted from the signal light emitting surface 121 and then enters the detector 20 again. A detector with a smaller area is used to achieve large-scale detection applications, which greatly Reduce the area of the detector and meet the needs of different areas for collecting optical signals.

Further, the optical fiber 10 includes a signal light receiving section 11 with a large cross-sectional area and a signal light transmitting section 12 with a small cross-sectional area; wherein, the signal light receiving sections 11 of a plurality of optical fibers 10 are arranged in an integrated manner and formed at the port. The signal light receiving surface 111 and the signal light emitting sections 12 of the multiple optical fibers 10 are arranged in an integrated arrangement and form a signal light emitting surface 121 at the port. Wherein, the large cross-sectional area of the signal light receiving section 11 and the small cross-sectional area of the signal light emitting section 12 indicate that the cross-sectional area of the signal light receiving section 11 is greater than the cross-sectional area of the signal light emitting section 12, and the optical signal The input port of the light receiving section 11 is incident and emitted from the output port of the signal light receiving section 11.

Of course, in the entire optical fiber array, the optical fiber 10 constituted by the optical fiber 10 may be partially satisfied with the cross-sectional area change, or partially or ordinary optical fiber with the same cross-sectional area.

Specifically, by setting two sections in the optical fiber 10, namely the signal light receiving section 11 and the signal light transmitting section 12, the large-area reception is switched to the small-area reception, which not only meets the application environment of large-area detection, but also can reduce the detection The detection receiving area of the detector 20, thereby realizing the receiving work of one detector 20 or a few detectors 20, reducing the number of detectors 20, preventing multiple detectors 20 from affecting the optical signal receiving efficiency due to large joints, and reducing the overall cost; Or use a small detector, which has the advantages of high stability, strong performance, low cost, and small size compared with a large detector. The detection receiving surface of the detector 20 is aligned with the signal light emitting surface 121, which mainly realizes that all the signal light emitted from the signal light emitting surface 121 is incident on the detector 20 to realize detection.

In this embodiment, the tail end of the signal light receiving section 11 is melted and tapered to form the signal light emitting section 12. Wherein, the tail end of the signal light receiving section 11 forms a kind of tapered structure 13, that is, a structure with two end surfaces, and the area of one end surface is larger than the area of the other end surface, and the shape is preferably circular or other shapes.

Specifically, the tail end of the signal light receiving section 11 is heated and melted and then stretched, and a cone-like structure 13 is formed at the tail end. The small cross-sectional area of the cone-like structure 13 and the subsequent signal light emission Section 12 is connected; alternatively, the tail end of the signal light receiving section 11 can be heated and melted and then stretched, and stretched to form a cone-like structure 13, and then stretched to obtain a slender section, that is, the signal light emitting section 12.

Referring to FIG. 2, a preferred solution for the arrangement of the optical fiber 10 is provided.

The two ends of the plurality of optical fibers 10 are arranged in an array. Through the array arrangement, the interfaces of each signal light receiving section 11 and the signal light transmitting section 12 are densely combined, and the signal light receiving surface is formed In 111 and the signal light emitting surface 121, the gap is prevented from being too large, and all optical signals can be received. Of course, the array arrangement can be regarded as a horizontal and vertical regular arrangement as shown in FIG. 2, or a regular arrangement that is not aligned horizontally and vertically, such as a horizontal arrangement and a staggered arrangement between adjacent rows.

Specifically: the multiple optical fibers at one end of the optical fiber array are arranged in a regular array; or, the multiple optical fibers at one end of the optical fiber array are arranged in an irregular array. As long as they are not in a regular array, it is an irregular array. cloth. The regular array arrangement includes at least one of horizontal and vertical aligned arrangement, linear arrangement and offset arrangement, and the arrangement of the signal light receiving surface 111 and the signal light emitting surface 121 may be different.

Among them, in order to prevent the gap from being too large, a square signal light receiving section 11 interface can be selected, or another shape of the interface (such as a circle) can be used. The interface forms an irregular shape (such as an irregular circle after being squeezed, and the irregular circle fits the adjacent irregular circle). Further, the entire end surface can be formed into a circle, an ellipse, a rectangle, or other shapes, please refer to FIGS. 3 to 5.

6 and 7, a better solution for the arrangement of the optical fiber 10 is provided.

The signal light receiving sections 11 of the plurality of optical fibers 10 are arranged in a straight line and form a signal light receiving surface 111; through the straight line arrangement, the interface of each signal light receiving section 11 is combined horizontally or vertically to form a The signal light receiving surface 111 (which can be called the signal light receiving line) meets the requirements of corresponding detection applications and can receive light signals in a special direction (longitudinal).

Among them, in order to prevent the gap from being too large, a square signal light receiving section 11 interface can be selected, or another shape of the interface (such as a circle) can be used. The interface forms an irregular shape (such as an irregular circle after being squeezed, and the irregular circle fits the adjacent irregular circle).

Alternatively, multiple signal light emitting sections 12 of the optical fiber 10 are arranged in a straight line and form a signal light emitting surface 121. In the same way, its attributes are consistent with the description of the signal light receiving section 11, except that the signal light emitting surface 121 formed by the signal light emitting section 12 can be arranged not only in a straight line, but also in the above-mentioned array arrangement. , That is, converting the optical signals received in the linear arrangement into the optical signals arranged in the array, which not only satisfies the receiving rules, but also satisfies the detection requirements of the conventional detector 20, without the additional use of a special-shaped detector 20.

Of course, when the signal light receiving surface 111 is arranged in an array, the signal light emitting surface 121 can also be arranged in a straight line, or the position of the interface does not correspond, as long as the subsequent program of the detector 20 receiving the light signal can identify the received light signal Location.

In the above-mentioned end surface arrangement solution, the signal light receiving surface 111 is a flat surface, a curved surface, or an irregularly shaped surface; wherein, a flat surface refers to that all the interfaces of the signal light receiving section 11 are on a flat surface, and the curved surface refers to all signal lights. The interfaces of the receiving section 11 are all on a curved surface, and the irregularly shaped surface means that the interfaces of all the signal light receiving sections 11 are neither on a plane nor on a curved surface.

Planar arrangement means that all the optical fibers used as the receiving end face are arranged in a plane, which is convenient for processing and manufacturing. In order to improve the energy receiving efficiency of the optical fiber, the optical fiber can also be centrically arranged relative to the receiving optical system, so that all the receiving end faces of the optical fiber will form a curved surface. Referring to Fig. 8, the external optical signal 301 forms the incident optical signal 302 through the optical lens 30 , And incident into the corresponding signal light receiving section 11, the signal light receiving section 11 is arranged in an arc shape.

Alternatively, the signal light emitting surface 121 is a flat surface, a curved surface or an irregularly shaped surface. In the same way, its attributes are consistent with the description of the signal light receiving section 11, and will not be described here.

In this embodiment, the signal light receiving sections 11 of the multiple optical fibers 10 are connected by an adhesive; wherein an adhesive is provided on the surface of each optical fiber 10, and is attached to the adjacent optical fiber 10 to realize the connection .

Alternatively, the signal light emitting sections 12 of the multiple optical fibers 10 are connected by an adhesive. In the same way, its attributes are consistent with the description of the signal light receiving section 11, and will not be described here.

As shown in Figures 9 and 10, the present invention provides a preferred embodiment of a lidar.

A laser radar includes a laser signal output device 300, a scanning device 200, and a detection device 100. The laser signal output device 300 emits a laser signal and transmits it through the scanning device 200. The scanning device 200 transmits the laser signal to the outside. Scanning, and receiving the transmitted signal light to the detection device 100.

Specifically, the laser signal output device 300 continuously emits laser signals to the scanning device 200, and scans and emits laser signals to the outside through the scanning device 200. The laser signals are reflected back to the scanning device 200 after the detection object 400 is detected, and reflected to the detection device 200. The device 100 realizes detection.

The above are only the best embodiments of the present invention and are not used to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the scope of the patent application of the present invention are covered by the present invention.

Claims

A detection device, characterized in that it comprises:

The optical fiber array includes a plurality of optical fibers. The two ends of the plurality of optical fibers are arranged in an array and form a signal light receiving surface and a signal light emitting surface at both ends. The longitudinal area of the signal light receiving surface is larger than that of the signal light emitting surface area;

The detector is connected with the signal light emitting surface and receives the light signal emitted by the signal light emitting surface.
The detection device according to claim 1, wherein part or all of the optical fiber includes a signal light receiving section and a signal light emitting section, and the cross-sectional area of the signal light receiving section is larger than that of the signal light emitting section.
The detection device according to claim 2, wherein the tail end of the signal light receiving section is melted and tapered to form the signal light emitting section.
The detection device according to claim 2 or 3, wherein the tail end of the signal light receiving section forms a cone-shaped structure.
The detection device according to claim 1, wherein the multiple optical fibers at one end of the optical fiber array are arranged in a regular array; or, the multiple optical fibers at one end of the optical fiber array are arranged in an irregular array.
The detection device according to claim 5, wherein the regular array arrangement includes at least one of a horizontal and vertical alignment arrangement, a linear arrangement and an offset arrangement.
The detection device according to claim 1, wherein the signal light receiving surface is a flat surface, a curved surface or an irregularly shaped surface; or the signal light emitting surface is a flat surface, a curved surface or an irregularly shaped surface.
The detection device according to claim 1, wherein a plurality of the optical fibers are connected by an adhesive.
A laser radar, which is characterized in that it comprises a laser signal output device, a scanning device and the detection device according to any one of claims 1-8. The laser signal output device emits a laser signal and transmits it outward through the scanning device. The scanning device scans the laser signal outwards, and receives the signal light emitted back to the detection device.