WO2021016801A1 - 接收光学系统、激光接收模组、激光雷达和光调方法 - Google Patents

接收光学系统、激光接收模组、激光雷达和光调方法 Download PDF

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Publication number
WO2021016801A1
WO2021016801A1 PCT/CN2019/098166 CN2019098166W WO2021016801A1 WO 2021016801 A1 WO2021016801 A1 WO 2021016801A1 CN 2019098166 W CN2019098166 W CN 2019098166W WO 2021016801 A1 WO2021016801 A1 WO 2021016801A1
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WO
WIPO (PCT)
Prior art keywords
receiving
laser light
reflected laser
module
optical system
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Application number
PCT/CN2019/098166
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English (en)
French (fr)
Inventor
魏威
Original Assignee
深圳市速腾聚创科技有限公司
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Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to PCT/CN2019/098166 priority Critical patent/WO2021016801A1/zh
Priority to CN201980002325.4A priority patent/CN112585488B/zh
Publication of WO2021016801A1 publication Critical patent/WO2021016801A1/zh
Priority to US17/586,835 priority patent/US11882662B2/en

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00—Apparatus or processes for manufacturing printed circuits
    • H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/30—Collimators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
    • G01S7/52023—Details of receivers
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/001—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
    • G02B13/0015—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design
    • G02B13/002—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface
    • G02B13/004—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface having four lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0911—Anamorphotic systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0916—Adapting the beam shape of a semiconductor light source such as a laser diode or an LED, e.g. for efficiently coupling into optical fibers
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0938—Using specific optical elements
    • G02B27/095—Refractive optical elements
    • G02B27/0955—Lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B3/00—Simple or compound lenses
    • G02B3/0006—Arrays
    • G02B3/0037—Arrays characterized by the distribution or form of lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B3/00—Simple or compound lenses
    • G02B2003/0093—Simple or compound lenses characterised by the shape
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • This application relates to the field of laser radar technology, and in particular to a receiving optical system, a laser receiving module, a laser radar, and an optical modulation method.
  • lidar is widely used in the fields of intelligent equipment such as autonomous driving, intelligent robot navigation, unmanned aerial vehicles, etc., and is used in scenarios such as environment detection and space modeling.
  • Lidar is a radar system that emits a laser beam to detect the position and speed of the target object. Its working principle is to first emit a detection laser beam to the target object, and then the received reflected signal from the target object and the emission The signals are compared and processed to obtain relevant information about the target object, such as target distance, azimuth, height, speed, posture and shape parameters.
  • the receiving optical system of the lidar is used to focus the collected reflected laser light on the receiving sensor.
  • the commonly used method and means is to design the receiving optical system into a telescope with a central rotational symmetry.
  • the laser light emitted by the commonly used laser light source is irregular, which makes it difficult for the receiving sensor to effectively receive the reflected laser, resulting in low energy utilization of the reflected laser and poor resistance to ambient light interference.
  • the purpose of the embodiments of the application is to provide a receiving optical system, a laser receiving module, a laser radar, a light modulation method, and an intelligent sensing device, which solves the technical problems of low energy utilization and poor anti-interference ability in the prior art.
  • the embodiment of the present invention provides a receiving optical system, including: a light receiving unit and a first cylindrical mirror;
  • the light receiving unit is used to receive the reflected laser light and converge the received reflected laser light
  • the first cylindrical mirror is used to receive the converged reflected laser light, and adjust the reflected laser light in a first direction.
  • the light receiving unit includes: a first receiving lens and a second receiving lens;
  • the first receiving lens is used to converge the received reflected laser light, and adjust the reflected laser light from a first beam diameter to a second beam diameter;
  • the second receiving lens is used to receive the reflected laser light adjusted to a second beam diameter, adjust the reflected laser light to a third beam diameter, and shoot the reflected laser light with the third beam diameter toward the The first cylindrical mirror.
  • the first receiving lens is a convex spherical lens
  • the second receiving lens is a concave spherical lens
  • the concave spherical mirror and the first cylindrical mirror are integrally arranged, and one side of the concave spherical mirror faces the convex spherical mirror.
  • the first cylindrical mirror diffuses the reflected laser light in the first direction.
  • the receiving optical system further includes a second cylindrical mirror
  • the second cylindrical mirror is used to receive the reflected laser light adjusted by the first cylindrical mirror, and adjust the reflected laser light in the second direction again.
  • the second cylindrical mirror diffuses the reflected laser light in the second direction.
  • first direction in which the first cylindrical mirror adjusts the reflected laser light is the same as the second direction in which the second cylindrical mirror adjusts the reflected laser light.
  • the receiving optical system further includes a receiving lens barrel and an end cap of the receiving lens barrel, and the first receiving lens, the second receiving lens, the first cylindrical mirror, and the second cylindrical mirror are sequentially arranged on the receiving mirror.
  • the end cap of the receiving lens barrel is fixed to the end of the receiving lens barrel.
  • a first receiving spacer is arranged between the first receiving lens and the second receiving lens.
  • a second receiving spacer is arranged between the first cylindrical mirror and the second cylindrical mirror.
  • the inner wall of the first receiving spacer ring and/or the second receiving spacer ring is a matte thread and/or a matte coating.
  • first lens the second lens
  • first cylindrical lens the first cylindrical lens
  • second cylindrical lens the same side of the first lens, the second lens, the first cylindrical lens and the second cylindrical lens are all set as a plane.
  • An embodiment of the present invention also provides a laser receiving module, including a receiving unit and the receiving optical system provided in the above embodiment;
  • the incident end of the receiving unit and the emitting end of the receiving optical system are aligned and connected to receive the reflected laser;
  • the receiving unit includes a receiving sensor and a receiving circuit board.
  • the receiving sensor is used to receive the reflected laser light, convert the optical signal into an electrical signal, and then send it to the receiving circuit board; the receiving circuit board responds to the received Electrical signals are processed.
  • the receiving unit further includes a receiving housing, and the receiving sensor and the receiving circuit board are housed in the receiving housing.
  • the embodiment of the present invention also provides a method for adjusting the light of the laser receiving module, which is applied to the laser receiving module provided in the above embodiment, and the method includes:
  • the first receiving lens, the first receiving spacer, the second receiving lens, the first cylindrical mirror, the second receiving spacer, and the second cylindrical mirror are arranged in the receiving lens barrel, and the receiving Fixing the end cap of the receiving lens barrel at the end of the lens barrel to obtain the receiving optical system;
  • the receiving optical system and the receiving unit are fixed to obtain a laser receiving module.
  • the embodiment of the present invention also provides a laser radar, including at least one laser receiving module provided in the above embodiment, and further including at least one laser emitting module and at least one beam splitting module;
  • the laser emitting module is used to emit collimated outgoing laser light
  • the beam splitting module is used to make the outgoing laser light pass through and then out, and make the reflected laser light incident coaxially with the outgoing laser light to the
  • the laser receiving module is used for receiving the reflected laser light.
  • the lidar further includes a mirror module, the entrance port of the mirror module is connected to the beam splitting module, and the exit port of the mirror module is connected to the laser receiving module for The reflected laser light received by the beam splitting module is deflected and directed toward the laser receiving module.
  • the lidar further includes a scanning module, the scanning module is used to receive the outgoing laser light passing through the beam splitting module and to make the outgoing laser light out into the detection area, and is also used to receive The reflected laser light returned in the area and the reflected laser light is directed to the beam splitting module.
  • the embodiment of the present invention also provides a smart sensing device, including the lidar described in the foregoing embodiment.
  • a light receiving unit and a first cylindrical mirror are arranged.
  • the light receiving unit adjusts the beam diameter of the reflected laser light.
  • the first cylindrical mirror corrects the shape of the light spot in one direction, so that the The reflected laser light can better match the photosensitive surface of the receiving sensor; both the reflected laser light received by the receiving optical system can be projected to the photosensitive surface of the receiving sensor after being converged and corrected, and the reflected laser light can be received by the receiving sensor, improving
  • the stray light outside the reflected laser light path and/or inconsistent with the reflected laser direction cannot pass through the receiving optical system and then be directed to the receiving sensor. problem.
  • the energy acceptance rate of the reflected laser of the laser radar is at a relatively high level, and the ability to suppress interference light and stray light has been greatly improved.
  • Figure 1 is a schematic diagram of a receiving optical system provided by an embodiment of the present invention.
  • 2A is a diagram of laser receiving effect provided by an embodiment of the present invention.
  • Figure 2B is another laser receiving effect diagram provided by the implementation of the present invention.
  • Figure 3 is a structural diagram of a receiving optical system provided by an embodiment of the present invention.
  • FIG. 4 is a structural diagram of a laser receiving module provided by an embodiment of the present invention.
  • FIG. 5 is a flowchart of a laser receiving method provided by an embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for assembling and adjusting a laser receiving module according to an embodiment of the present invention
  • Figure 7 is a structural diagram of a laser radar proposed in the implementation of the present invention.
  • FIG. 8 is a perspective view of a transceiver component of a lidar provided by an embodiment of the present invention.
  • Fig. 9 is a perspective view of another transceiver component of a lidar provided by an embodiment of the present invention.
  • Laser receiving module 13 Mirror support assembly 141 Receiving unit 131 Mirror cover 142 Receiving optical system 132 Collimation module 32 Base 20 Mirror module 34 Laser emitting device 31 Receiving unit 36 Beam splitting module 33 Target object 200 Receiving optical system 35 To
  • the divergence angle of the reflected laser received by the receiving optical system of the lidar matches the divergence angle of the outgoing laser, but the outgoing laser emitted by the usually used laser transmitter is asymmetrical, and the reflected laser returning after being reflected by the object is also Asymmetrical.
  • the receiving optical system is used to focus the reflected laser on the receiving sensor, and the photosensitive surface of the receiving sensor matches the shape of the spot of the reflected laser, so the reflected laser has high energy utilization and good resistance to ambient light interference.
  • the asymmetrical reflected laser light increases the difficulty of matching the reflected laser light to the photosensitive surface of the receiving sensor after the receiving optical system focuses.
  • the embodiment of the present invention proposes a receiving optical system, a laser receiving module, a light adjustment method of the laser receiving module, and a laser radar.
  • FIG. 1 it is a receiving optical system proposed by an embodiment of the present invention, which includes: a light receiving unit 9 and a first cylindrical mirror 3;
  • the light receiving unit 9 is used to receive the reflected laser light and converge the received reflected laser light
  • the first cylindrical mirror 3 is used to receive the converged reflected laser light and adjust the reflected laser light in a first direction.
  • the laser light emitted by the laser transmitter commonly used in lidar is asymmetrical.
  • semiconductor lasers have different long-axis and short-axis diameters of the laser spot, and the divergence angle of the reflected laser is the same as that of the emitted laser.
  • the light receiving unit 9 After receiving the reflected laser light, the light receiving unit 9 converges the received reflected laser light, and converges in both the long axis direction and the short axis direction of the reflected laser light.
  • the first cylindrical mirror 3 the converged reflected laser light is adjusted in the first direction, so that the spot shape of the reflected laser light matches the photosensitive surface of the receiving sensor.
  • the adjusted effect is shown in FIGS. 2A and 2B.
  • the reflected laser light is adjusted in the first direction, and the diameter of the reflected laser light directed to the receiving sensor is adjusted and the spot shape is corrected, so that the receiving optical system can receive
  • the reflected laser light is projected to the photosensitive surface of the receiving sensor, and the reflected laser light can be received by the receiving sensor, which improves the utilization rate of the receiving energy; it can also make the reflected laser light path outside, and/or, and the reflected laser direction Inconsistent stray light cannot pass through the receiving optical system and then be directed to the receiving sensor, avoiding the problem of interference caused by stray light being received by the receiving sensor; the energy receiving efficiency of the reflected laser is at a high level, while the ability to suppress interference light and stray light Has been greatly improved.
  • the light receiving unit 9 may have various forms.
  • the light receiving unit 9 proposed in the embodiment of the present invention, as shown in FIG. 1, includes: a first receiving lens 91 and a second receiving lens 92
  • the first receiving lens 91 is used to converge the received reflected laser light, and adjust the reflected laser light from the first beam diameter to the second beam diameter;
  • the second receiving lens 92 is used to receive and adjust the second beam diameter.
  • the reflected laser light with the beam diameter is adjusted to the third beam diameter, and the reflected laser light with the third beam diameter is directed to the first cylindrical mirror; wherein the third beam diameter is greater than or approximately equal to the first cylindrical mirror
  • Two beam diameters, the second beam diameter is smaller than the first beam diameter.
  • the beam diameter of the reflected laser is gradually adjusted through the first receiving lens 91 and the second receiving lens 92 to basically match the beam diameter of the photosensitive surface of the receiving sensor.
  • the first receiving lens 91 is a convex spherical mirror 1
  • the second receiving lens 92 is a concave spherical mirror 2
  • the convex spherical mirror 1 is used to adjust the reflected laser light received so as to remove the reflected laser light from the first beam
  • the diameter is adjusted to the second beam diameter
  • the concave spherical mirror 2 is used to receive the reflected laser light adjusted to the second beam diameter, and adjust the reflected laser light to a third beam diameter.
  • the reflected laser light of the third beam diameter is incident on the Mentioned first cylindrical mirror 3.
  • the light receiving unit 9 may have other structures, which will not be repeated here. The following will take the convex spherical mirror 1 and the concave spherical mirror 2 as examples for description.
  • the convex spherical mirror 1, the concave spherical mirror 2, and the first cylindrical mirror 3 are coaxially arranged.
  • the reflected laser can usually be regarded as the input large-diameter quasi-parallel light.
  • the convex spherical mirror 1 adjusts the reflected laser light, adjusting the reflected laser light with a large beam diameter to the reflected laser light with a small beam diameter, that is, adjusting the incident light from the first beam diameter to the second beam diameter.
  • the distance between the convex spherical mirror 1 and the concave spherical mirror 2 is related to the size of the second beam diameter that needs to be adjusted, and the diameter of the reflected laser light can be adjusted by adjusting the distance between the two.
  • the concave spherical mirror 2 adjusts its optical path again to adjust it to a quasi-parallel light with a small divergence angle. It is equivalent to output a light beam with a small divergence angle and a small diameter, where the beam diameter of the reflected laser must match the size of the photosensitive surface of the receiving sensor, and the divergence angle of the reflected laser from the receiving optical system to the receiving sensor is small, which can be regarded as a standard Parallel light.
  • the beam diameter and divergence angle of the reflected laser can be adjusted by changing the mirror curvature and surface type combination in the system.
  • laser radars usually use semiconductor lasers to emit outgoing lasers.
  • the outgoing lasers emitted by them are asymmetrical, and the reflected laser light that returns after being reflected by objects is also asymmetrical, resulting in the photosensitive surface of the receiving sensor and the spot shape of the reflected laser.
  • Mismatch after the reflected laser light is condensed by the light receiving unit 9, if the long axis diameter matches the photosensitive surface of the receiving sensor, as shown in Figure 2A, the short axis diameter is less than the length of the photosensitive surface, and the photosensitive surface is vulnerable to Interfering light causes adverse effects; if the short axis diameter matches the photosensitive surface of the receiving sensor, as shown in FIG.
  • a first cylindrical mirror 3 is provided here, as shown in FIG. 1, to adjust the beam of the received reflected laser, that is, quasi-parallel light.
  • the reflected laser is If the minor axis diameter is smaller than the length of the photosensitive surface, the first cylindrical mirror 3 will diffuse in the minor axis direction to expand the minor axis diameter of the light spot, so that it can match the receiving The photosensitive surface of the sensor; if the long axis diameter is greater than the length of the photosensitive surface, the first cylindrical mirror 3 converges in the long axis direction to reduce the long axis diameter of the light spot, so that the reflected laser light spot shape It will be able to better match the photosensitive surface of the sensor, so that the reflected laser light received by the receiving optical system can be projected to the photosensitive surface of the receiving sensor after being converged and corrected, and the reflected laser light can be received by the receiving sensor, which improves the receiving energy Utilization rate: It can also make the stray light outside the reflected laser light path and/or inconsistent with the reflected laser direction fail to pass through the receiving optical system and be directed to the receiving sensor, avoiding the problem of interference caused by stra
  • the receiving field of view angle of the laser radar is constrained, which has an excellent suppression effect on the ambient light and reduces the interference of stray light or ambient light.
  • Fig. 2A and Fig. 2B it can be seen that the original elliptical spot shape is corrected by the cylindrical lens, and the spot shape of the reflected laser can be well matched with the photosensitive surface of the receiving sensor.
  • the system can design the curvature and surface shape of the first cylindrical mirror 3 according to the shape of the light spot, so that the corrected reflected laser light can better fit the shape of the receiving sensor.
  • the long axis diameter of the reflected laser light condensed by the light receiving unit 9 matches the photosensitive surface of the receiving sensor.
  • the first cylindrical mirror diffuses the reflected laser light in the first direction, that is, the short axis direction to expand the spot diameter. , Make the spot shape match the photosensitive surface of the receiving sensor.
  • the short axis diameter of the reflected laser light condensed by the light receiving unit 9 matches the photosensitive surface of the receiving sensor, and the first cylindrical mirror 3 converges the reflected laser light in the first direction, that is, the long axis direction, and compresses
  • the spot diameter makes the shape of the spot match the photosensitive surface of the receiving sensor.
  • the concave spherical mirror 2 and the first cylindrical mirror 3 can be integrated as a spherical cylindrical mirror, and one side of the concave spherical mirror 2 is close to the convex spherical mirror 1, so as to adjust the beam diameter of the reflected laser light.
  • the spot shape of the reflected laser is corrected in one direction, which reduces the occupied volume and makes the structure of the receiving optical system more compact.
  • the spot shape may change irregularly in multiple directions, or change greatly in the same direction.
  • Such as convergence or diffusion; as shown in Figure 1, the embodiment of the present invention is further provided with a second cylindrical mirror 4 for receiving the reflected laser adjusted by the first cylindrical mirror 3, and the reflected laser in the second direction Adjust again to make the spot shape better match the photosensitive surface of the receiving sensor.
  • the first direction in which the first cylindrical mirror 3 adjusts the reflected laser light is the same as the second direction in which the second cylindrical mirror 4 adjusts the reflected laser light.
  • the first cylindrical mirror 3 diffuses the reflected laser light in the first direction, that is, the short axis direction, it further diffuses in the first direction to accurately adjust the spot diameter of the reflected laser light in the first direction.
  • the processing difficulty of the first cylindrical mirror 3 and the second cylindrical mirror 4 is also reduced.
  • the first cylindrical mirror 3 diffuses the reflected laser light in the first direction, that is, the short axis direction, it is converged in the first direction to accurately adjust the spot diameter of the reflected laser light in the first direction.
  • the processing difficulty of the first cylindrical mirror 3 and the second cylindrical mirror 4 is also reduced.
  • the laser light is further converged in the first direction.
  • the reflected laser light is condensed in the first direction, that is, the long axis direction, through the first cylindrical mirror 3, and then further diffused in the first direction.
  • the first direction and the second direction are perpendicular, and the reflected laser light is diffused in the first direction, that is, the short axis direction, through the first cylindrical mirror 3, and then in the second direction, namely Converge or diffuse in the direction of the long axis.
  • the first cylindrical mirror 3 converges the reflected laser light in the first direction, that is, the long axis direction, then converges or diffuses in the second direction, that is, the short axis direction.
  • This embodiment does not limit the adjustment (such as convergence or diffusion) and direction of the first cylindrical mirror 3 and the second cylindrical mirror 4 of the reflected laser spot, and the reflected laser spot passes through the first cylindrical mirror 3 and the second cylindrical mirror.
  • the light spot shape can match the photosensitive surface of the receiving sensor.
  • the mirror 4 is a center rotationally symmetric structure.
  • the embodiment of the present invention compares the convex spherical mirror 1, the concave spherical mirror 2, the first cylindrical mirror 3 and the second cylindrical mirror 3
  • the same side of the cylindrical mirror 4 is cut flat, and the same side is set to be a plane; specifically, as shown in Fig.
  • the convex spherical mirror 1 the concave spherical mirror 2, the first cylindrical mirror 3 and the second cylindrical mirror
  • the bottom side of the mirror 4 is set to a flat surface through the flattening process, so that when assembling, you only need to face down and align the flattened flat surface to assemble correctly, reduce the difficulty of assembly, and avoid the misaligned assembly direction.
  • a receiving optical system provided by an embodiment of the present invention further includes a receiving lens barrel 61 and a receiving lens barrel end cover 63.
  • the convex spherical mirror 1, the concave spherical mirror 2, and the second A cylindrical lens 3 and a second cylindrical lens 4 are sequentially arranged in the receiving lens barrel 61, and the receiving lens barrel end cap 63 is fixed to the end of the receiving lens barrel 61.
  • the convex spherical lens 1, the concave spherical lens 2, the first cylindrical lens 3, and the second cylindrical lens 4 are sequentially installed in the receiving lens barrel 61, and the receiving lens barrel end cover 63 is fixed at the end of the receiving lens barrel 61.
  • the lens groups are all fixed in the receiving lens barrel 61.
  • the embodiment of the present invention is provided with a first receiving spacer 51 in the receiving lens barrel 61, and the first receiving spacer 51
  • the length is the preset distance between the convex spherical mirror 1 and the concave spherical mirror 2, which is used to separate the distance between the convex spherical mirror 1 and the concave spherical mirror 2.
  • the front end of the first receiving spacer 51 abuts against the convex spherical mirror 1, and the rear end abuts
  • the concave spherical mirror 2 is also used to press and fix the convex spherical mirror 1 and the concave spherical mirror 2.
  • the inner wall of the first receiving spacer 51 needs to be subjected to matting treatment, including but not limited to matting threads, matting coatings, anodized black sandblasting treatment, etc., to prevent the laser from reflecting on the inner wall of the first receiving spacer 51 to generate interference light .
  • a second receiving spacer 53 is also provided for separating the first cylindrical mirror 3 and the second cylindrical mirror 4 The preset distance between. At the same time, the inner wall of the second receiving spacer 4 also needs to be extinct.
  • the receiving optical system proposed by the embodiment of the present invention adjusts the beam diameter and dimensionality of the reflected laser beam by setting a cylindrical mirror, so that the receiving system can better match the receiving sensor.
  • the photosensitive surface not only enables the reflected laser light received by the receiving optical system to be converged and corrected, and then projected onto the photosensitive surface of the receiving sensor.
  • the reflected laser light can be received by the receiving sensor, which improves the utilization rate of receiving energy; it also enables the reflected laser Outside the optical path, and/or, the stray light that is inconsistent with the reflected laser direction cannot pass through the receiving optical system and then be directed to the receiving sensor, avoiding the problem of interference caused by stray light being received by the receiving sensor; making the energy receiving efficiency of the reflected laser relatively high At the same time, the ability to suppress interference light and stray light is greatly improved.
  • a laser receiving module 13 is proposed.
  • the laser receiving module 13 includes the above receiving optical system and further includes a receiving unit. The incident end of the unit and the emitting end of the receiving optical system are aligned and connected to receive the reflected laser; the receiving unit includes a receiving sensor 73 and a receiving circuit board 74; the receiving sensor 73 is used to receive the The laser light is reflected, and the optical signal is converted into an electrical signal and then sent to the receiving circuit board 74; the receiving circuit board 74 processes the received electrical signal.
  • the receiving optical system includes a receiving lens barrel 61, a convex spherical mirror 1, a concave spherical mirror 2, a first cylindrical mirror 3 and a receiving lens barrel end cover 63.
  • the convex spherical mirror 1, the concave spherical mirror 2 and the first cylindrical lens 3 are sequentially arranged in the receiving lens barrel 61, and the receiving lens barrel end cap 63 is fixed to the end of the receiving lens barrel 61;
  • the convex spherical mirror 1 is used to adjust the reflected laser light received from the first beam diameter to the second beam diameter;
  • the concave spherical mirror 2 is used to receive the reflected laser light adjusted to the second beam diameter, and adjust the The reflected laser light is adjusted to the third beam diameter;
  • the first cylindrical mirror 3 is used to receive the reflected laser light adjusted to the third beam diameter, and adjust the reflected laser light in the first direction to change its spot shape Match with the photosensitive surface of the receiving sensor.
  • the receiving sensor is used to receive the adjusted reflected laser light and convert the optical signal into an electrical signal; the receiving circuit board 73 processes the electrical signal sent by the receiving sensor.
  • the receiving unit further includes a receiving housing, which includes a first housing 71 and a second housing 75, the first housing 71 and the second housing 75 are assembled to form a housing cavity; the receiving sensor
  • the receiving circuit board 73 and the receiving circuit board 74 are housed in the housing cavity of the receiving housing, which facilitates the fixing of the receiving sensor 73 and the receiving circuit board 74, and can also play a role in preventing collision damage.
  • the receiving lens barrel end cover 63 of the receiving optical system is fixedly connected with the receiving housing of the receiving unit to form a laser receiving module.
  • the other structures of the receiving lens barrel 61 and the receiving lens barrel end cover 63 are the same as those described in the foregoing embodiment, and will not be repeated here.
  • the laser receiving module proposed by the embodiment of the present invention is equipped with the first cylindrical mirror 3 to adjust the beam diameter and spot correction of the received reflected laser, so that the received reflected laser can be better.
  • Matching the photosensitive surface of the receiving sensor so that the reflected laser light received by the receiving optical system can be projected to the photosensitive surface of the receiving sensor after being converged and corrected, and the reflected laser light can be received by the receiving sensor, which improves the utilization rate of receiving energy;
  • the stray light outside the reflected laser light path and/or inconsistent with the reflected laser direction cannot be transmitted to the receiving sensor after passing through the receiving optical system, thereby avoiding the problem of interference caused by the receiving sensor receiving the stray light.
  • the reflected laser energy receiving efficiency of the laser receiving module is at a higher level, while the ability to suppress interference light and stray light is greatly improved, and the volume of the laser receiving device is also reduced.
  • the embodiment of the present invention also proposes a laser receiving method, as shown in FIG. 5, including: pre-arranging a light receiving unit 9 and a first cylindrical mirror on the optical path reflecting the laser light in sequence;
  • the light receiving unit 9 includes: a first receiving lens 91 and a second receiving lens 92;
  • the converging of the received reflected laser light by the light receiving unit 9 includes:
  • the first receiving lens 91 converges the received reflected laser light, and adjusts the reflected laser light from a first beam diameter to a second beam diameter;
  • the second receiving lens 92 receives the reflected laser light adjusted to a second beam diameter, adjusts the reflected laser light to a third beam diameter, and shoots the reflected laser light of the third beam diameter toward the first beam diameter.
  • the first receiving lens 91 is a convex spherical lens 1 and the second receiving lens 92 is a concave spherical lens 2.
  • the method further includes:
  • a second cylindrical mirror 4 is provided to converge the reflected laser light condensed by the first cylindrical mirror 3 again.
  • the first cylindrical mirror 3 and the second cylindrical mirror 4 converge the reflected laser light in the same dimensional direction.
  • the laser receiving method proposed in this embodiment adjusts and corrects the beam diameter of the reflected laser beam by setting a cylindrical mirror, so that the receiving system can better match the photosensitive surface of the receiving sensor 73, which enables the receiving optical After the reflected laser light received by the system is converged and corrected, it is all projected to the photosensitive surface of the receiving sensor 73, and the reflected laser light can be received by the receiving sensor 73, which improves the utilization rate of the receiving energy; and can make the reflected laser light outside the optical path, and/or , The stray light that is inconsistent with the direction of the reflected laser cannot pass through the receiving optical system and then be directed to the receiving sensor, which avoids the problem of interference caused by the stray light being received by the receiving sensor. As a result, the reflected laser energy receiving efficiency of the laser receiving module is at a higher level, while the ability to suppress interference light and stray light is greatly improved, and the volume of the laser receiving device is also reduced.
  • the embodiment of the present invention also provides a light adjustment method for a laser receiving module, as shown in FIG. 6, which is applied to the above-mentioned laser receiving module, and the method includes:
  • Step 601 Set the first receiving lens 91, the first receiving spacer 51, the second receiving lens 92, the first cylindrical lens 3, the second receiving spacer 53 and the second cylindrical lens 4 in the receiving lens barrel And fix the end cap of the receiving lens barrel at the end of the receiving lens barrel to obtain the receiving optical system;
  • the first receiving lens 91 may be a convex spherical lens 1
  • the second receiving lens 92 may be a concave spherical lens 2.
  • Step 602 Adjust the position between the receiving unit and the receiving optical system
  • Step 603 When the optical axis of the receiving optical system is aligned with the receiving sensor 73 of the receiving unit, fix the receiving optical system and the receiving unit to obtain a laser receiving module.
  • the first receiving lens 91, the first receiving spacer 51, the second receiving lens 92, the first cylindrical mirror 3, and the second receiving spacer 53 can be easily and quickly adjusted. It is assembled with the second cylindrical mirror 4 to form a receiving optical system, which enables the reflected laser light received by the receiving optical system to be converged and corrected, and then all projected to the photosensitive surface of the receiving sensor.
  • the reflected laser light can be received by the receiving sensor, which improves In order to avoid the interference caused by the receiving sensor, the stray light outside the reflected laser light path and/or inconsistent with the reflected laser direction cannot pass through the receiving optical system and then be directed to the receiving sensor. problem.
  • the reflected laser energy receiving efficiency of the laser receiving module is at a higher level, while the ability to suppress interference light and stray light is greatly improved, and the volume of the laser receiving device is also reduced.
  • FIG. 7 shows a structural block diagram of the lidar 100 provided in an embodiment of the present invention.
  • the lidar 100 includes at least one transceiver component 10.
  • the transceiver assembly 10 includes a laser emitting module 11, a beam splitting module 12 and a laser receiving module 13.
  • the laser emitting module 11 is used to emit collimated outgoing laser light
  • the beam splitting module 12 is used to make the outgoing laser light pass through and out into the detection area, and deflect the reflected laser light coaxially incident with the outgoing laser light to the laser
  • the receiving module 13 is used for receiving the reflected laser light.
  • the reflected laser light is the laser light that returns after the outgoing laser light is reflected by the object in the detection area.
  • the lidar 100 may include one transceiving component 10 or multiple transceiving components 10, and the specific number of the transceiving components 10 can be determined according to actual usage requirements, which is not limited in this embodiment.
  • the horizontal field of view of each transceiver component 10 is limited. When the lidar 100 requires a larger horizontal field of view, for example, the horizontal field of view required by the lidar 100 is 120°, then the lidar 100 can use four A transceiving component 10 with a field of view of 30°, and a plurality of transceiving components 10 are spliced in a horizontal direction.
  • the outgoing laser light emitted by the laser emitting module 11 of the lidar 100 is emitted to the detection area after passing through the beam splitting module 12.
  • the outgoing laser light is reflected by the target object 200 to obtain The reflected laser light enters the beam splitting module 12 when returning, and the beam splitting module 12 deflects the reflected laser light to the laser receiving module 13 and then is received by the laser receiving module 13.
  • FIG. 8 shows a schematic structural diagram of a transceiver assembly 10 provided by an embodiment of the present invention.
  • the transceiver assembly 10 is fixed on a base 20 to form a whole.
  • each transceiver assembly 10 will have a corresponding installation angle when it is installed, as long as the transceiver assembly 10 is installed and fixed to the bottom plate (not shown in the figure) of the lidar according to the corresponding angle; in addition,
  • the material and shape of the base 20 can be selected according to the actual situation, which is not limited in this embodiment.
  • the transceiver component 10 in the laser radar 100 of the embodiment of the present invention includes a laser emitting module 11, a beam splitting module 12, and a laser receiving module 13, and further includes a mirror module 14.
  • the mirror module 14 is placed between the beam splitting module 12 and the laser receiving module 13. After the reflected laser light passes through the beam splitting module 12, it is reflected by the mirror module 14 and then directed toward the laser receiving module 13.
  • the specific structure of the laser receiving module 13 is shown in FIG. 4, and the specific working principle and working process have been described in FIG. 4 of the above embodiment, and will not be repeated here.
  • the optical axis of the reflected laser light passing through the mirror module 14 can be parallel to the optical axis of the emitted light signal, or there may be a certain angle. This embodiment is not limited, as long as the reflected laser light passing through the mirror module 14 can enter the laser
  • the receiving module 13 is sufficient to realize the folding and compression of the receiving light path, reducing the length of the occupied space and reducing the occupied volume.
  • the emitted laser light emitted by the laser emitting module 11 is emitted to the detection area after passing through the beam splitting module 12, and the reflected laser light is obtained after being reflected by the target object 200 in the detection area.
  • the reflected laser light enters the beam splitting module 12 It is directed to the mirror module 14, and then reflected by the mirror module 14, and then directed to the laser receiving module 13, and finally received by the laser receiving module 13.
  • the laser emitting module 11 includes a laser emitting device 111 and a collimating module 112 arranged in sequence along the emitted laser light.
  • the laser emitting device 111 is used to generate the emitted laser light
  • the collimating module 112 is used to align the laser emitting device.
  • the outgoing laser generated by 111 is collimated and then emitted.
  • the collimating module 112 is arranged between the laser emitting module 11 and the beam splitting module 12, and the emitted light signal is collimated by the collimating module 112 and directed to the beam splitting module 12 .
  • the position between the laser emitting device 111 and the collimating module 112 is relatively fixed.
  • the beam splitting module 12 includes: a beam splitter support assembly 121 and a beam splitter; the beam splitter support assembly 121 and the base 20 are integrated or fixedly connected, and the beam splitter is fixed by the beam splitter support assembly 121.
  • the beam splitter support assembly 121 is a cubic structure, and a beam splitter installation position is provided in the structural part.
  • the beam splitter is fixed in the beam splitter support assembly 121 through the beam splitter installation position at a preset tilt angle and position.
  • the beam splitter support assembly 121 may be a pre-set structural member with the same tilt angle as the beam splitter, and it may be an integral structure or fixed connection with the base 20 to ensure the accuracy of the position when the beam splitter is installed.
  • the beam splitter can be made of the same material as the base 20.
  • the beam splitter can be a polarizing beam splitter, a mirror with a central opening, a half mirror, or the like.
  • the beam splitting module 12 may also include: a secondary beam splitter; the secondary beam splitter is placed between the beam splitter and the collimating module 112; the secondary beam splitter is fixed by the beam splitter support assembly 121, and the secondary beam splitter is arranged in the beam splitter support assembly 121 The installation position, the secondary beam splitter is set in the beam splitter support assembly 121 at a preset inclination angle and position through the secondary beam splitter installation position; and is fixed by a pressing block 122.
  • the secondary beam splitter may be a polarization beam splitter (PBS).
  • a secondary beam splitter is added to the beam splitting module 12, which can split the intensity of the polarized light scattered to the beam splitter and reduce local heating; when the secondary beam splitter is used to filter out the S polarized light, the S polarized light will not enter the laser receiving mode after being deflected.
  • Group 13 avoids the influence of the filtered S-polarized light on the reception of the laser receiving module 13, and improves the detection performance and detection accuracy.
  • the beam splitting module 12 does not include a secondary beam splitter, it can complete the function of receiving and emitting signals of the transceiver assembly 10 to meet the detection performance requirements.
  • the mirror module 14 may include a mirror support assembly 141 and a mirror; the mirror is fixed by the mirror support assembly 141.
  • the reflector module 14 may include at least one reflector, and the reflector may be a flat reflector, a cylindrical reflector, an aspherical curvature reflector, or the like.
  • the reflector module 14 further includes: a reflector cover plate 142; the reflector is fixed on the reflector cover plate 142, and the reflector cover plate 142 is fixedly connected with the reflector support assembly 141 to realize the mirror Fix;
  • the connection between the mirror cover 142 and the mirror support assembly 141 it can be a snap connection, an adhesive connection, a screw connection, etc.
  • the beam splitter support assembly 121 and the mirror support assembly 141 are aligned and fixedly connected. The connection between the two may be a connection method such as a buckle, a screw, a pin, or glue.
  • the laser receiving module 13 is aligned with the mirror support assembly 141 and then fixedly connected. Specifically, the laser receiving module 13 includes a receiving optical system 132 and a receiving unit 131, and the reflected laser light is sent to the receiving unit 131 after being condensed and corrected by the receiving optical system 132.
  • the specific structures of the receiving optical system 132 and the receiving unit 131 are shown in FIG. 4, which have been described in detail in the foregoing embodiment, and will not be repeated here.
  • the foregoing receiving unit may include at least one of at least one detector of APD, APD array, MPPC, SPAD, and PMT SIPM. Among them, the receiving optical path and the transmitting optical path are coaxial.
  • FIG. 9 shows a schematic structural diagram of a transceiver assembly 10 provided by another embodiment of the present invention.
  • the transceiver assembly 10 includes a laser emitting device 31, a collimating module 32, and a beam splitting module arranged in sequence along the emitted laser light. Group 33, mirror module 34, receiving optical system 35, and receiving unit 36.
  • the laser emitting device 31 includes a emitting board, on which a transmitter for emitting laser light is provided; a collimating module 32, for collimating the emitted laser light emitted by the transmitter; and a beam splitting module 33 for emitting laser light After passing through, it exits and deflects the reflected laser incident coaxially with the exiting laser toward the mirror module 34; the mirror module 34 is used to receive the reflected laser light reflected by the beam splitting module 12 and reflect the reflected laser light.
  • the receiving optical system 35 is used for converging and correcting the reflected laser light, and the focused and corrected reflected laser light is directed to the receiving unit 36; the receiving unit 36 is used for receiving the reflected laser light.
  • the collimating module 32, the beam splitting module 33, the mirror module 34, and the receiving optical system 35 are all arranged in an integral transceiver housing, and each device is limited and fixed by a preset structure.
  • the specific optical composition and structure of the laser emitting device 31, the collimating module 32, the beam splitting module 33, the mirror module 34, the receiving optical system 35 and the receiving unit 36 can refer to the foregoing embodiment.
  • the optical composition and structure of the laser emitting device 31 may refer to the laser emitting device 111 in FIG. 8 of the foregoing embodiment
  • the optical composition and structure of the collimating module 32 may refer to the collimating module 112 in FIG. 8 of the foregoing embodiment.
  • the optical composition and structure of the beam splitting module 33 can refer to the beam splitting module 12 in FIG. 8 of the foregoing embodiment
  • the optical composition and structure of the mirror module 34 may refer to the mirror mold in FIG. 8 of the foregoing embodiment.
  • the optical composition and structure of the receiving optical system 35 can refer to the receiving optical system 132 in FIG. 8 of the foregoing embodiment, and the optical composition and structure of the receiving unit 36 may refer to the receiving unit 131 in FIG. 8 of the foregoing embodiment. I won't repeat it here.
  • the laser emitting device 31 is arranged in a transceiving housing, and the collimating module 32, the beam splitting module 33, the mirror module 34, the receiving optical system 35 and the receiving unit 36 are all arranged in an integral transceiving housing , Constitute a transceiver assembly 10, the above-mentioned modular design is conducive to modular applications, convenient light adjustment, assembly and replacement.
  • a lidar which includes the transceiver assembly 10 and the scanning module described in the above embodiment, and the scanning module may be a MEMS galvanometer (Micro-electro-mechanical System).
  • the lidar also includes a refraction mirror module, including a plurality of refraction mirrors, and each refraction mirror and the transceiver assembly 10 are arranged in a one-to-one correspondence.
  • the transceiving module includes at least one transceiving component 10, and the emitted laser light of the transceiving component 10 is directed to the corresponding refracting mirror, and after being reflected by the refraction mirror, it is directed to the MEMS galvanometer, and the MEMS galvanometer emits the emitted laser light to the detection area. After scanning, the reflected laser light generated by the reflection of the object in the detection area is received by the MEMS galvanometer, and then directed to the refracting mirror. The refracting mirror reflects the reflected laser light to the corresponding transceiver component 10, and the transceiver component 10 receives the reflected laser light.
  • the embodiment of the present invention proposes a smart sensing device including the lidar in the above-mentioned embodiment.
  • the smart sensing device may be a car, a drone, a robot, or other related to the use of lidar.
  • the optical receiving system, laser receiving module, laser radar, laser receiving module light adjustment method and smart sensing device proposed in the embodiment of the present invention adjust the beam diameter and correct the spot shape of the reflected laser.
  • the received reflected laser can better match the photosensitive surface of the receiving sensor; both the reflected laser received by the receiving optical system can be projected to the photosensitive surface of the receiving sensor after convergence and correction, and the reflected laser can be received
  • the sensor receives, improves the utilization of the receiving energy; it can also make the stray light outside the reflected laser light path and/or inconsistent with the reflected laser direction cannot pass through the receiving optical system and then be directed to the receiving sensor, avoiding the stray light from being received by the receiving sensor
  • the energy receiving rate of the reflected laser of the lidar is at a relatively high level, and the ability to suppress interference light and stray light is greatly improved, and the volume of the laser receiving device is also reduced.
  • the receiving optical system can be simplified as inputting large-diameter parallel light, outputting small-diameter parallel light (the small-diameter reflected laser is matched with the photosensitive surface of the receiving sensor), reflecting the impurities outside the laser optical path After the astigmatism passes through the receiving optical system, it cannot be directed to the receiving sensor.
  • the accuracy and reliability of the reception are ensured.
  • the receiving optical system can adjust the beam diameter and spot shape (that is, the divergence angle of the beam) of the reflected laser by changing the mirror curvature and surface combination of the lens group in the receiving optical system; because the receiving optical system itself has adjustment and correction
  • the characteristics of the optical field diaphragm do not need to increase the field of view to limit the field of view, effectively reducing the cost, and for the receiving optical system itself, the assembly and adjustment are simple.
  • the cylindrical mirror is introduced into the receiving optical system according to the embodiment of the present invention, so that the reflected laser light can better match the photosensitive surface of the receiving sensor, and the energy receiving efficiency is at a higher level, while avoiding stray light being received by the receiving sensor. Interference problem.
  • the first feature "on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features Features are indirectly contacted through intermediaries.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

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Abstract

本申请涉及激光雷达技术领域，公开了一种接收光学系统、激光接收模组、激光雷达和激光接收方法，所述接收光学系统包括：光接收单元和第一柱面镜；所述光接收单元用于接收反射激光，并对接收到的反射激光进行会聚；所述第一柱面镜用于接收会聚后的所述反射激光，并对所述反射激光在第一方向上进行调整。通过上述接收光学系统使得接收系统能够更好的匹配接收传感器的感光面，使得系统的能量接收效率处于较高水平。

Description

接收光学系统、激光接收模组、激光雷达和光调方法 技术领域
本申请涉及激光雷达技术领域，特别涉及一种接收光学系统、激光接收模组、激光雷达和光调方法。
背景技术
随着技术的发展，激光雷达在自动驾驶、智能机器人导航、无人机等智能装备领域使用广泛，应用于环境探测、空间建模等场景。激光雷达是以发射激光光束来探测目标物体的位置、速度等特征量的雷达系统，其工作原理是先向目标物体发射探测激光束，然后将接收到的从目标物体反射回来的反射信号与发射信号进行比较，进行处理后，获得目标物体的有关信息，比如目标距离、方位、高度、速度、姿态和形状等参数。
激光雷达的接收光学系统用于将收集的反射激光聚焦在接收传感器上。现有技术中，常用的方法和手段是将接收的光学系统设计成为中心旋转对称式的望远镜形式。实际上在固态激光雷达中，通常使用的激光光源发射的出射激光是不规则的，导致接收传感器难以对反射激光进行有效接收，造成反射激光的能量利用率低、抗环境光干扰能力差。
发明内容
本申请实施例的目的在于提供一种接收光学系统、激光接收模组、激光雷达、光调方法和智能感应设备，解决了现有技术中能量利用率低、抗干扰能力差的技术问题。
本发明实施例提出了一种接收光学系统，包括：光接收单元和第一柱面镜；
所述光接收单元用于接收反射激光，并对接收到的反射激光进行会聚；
所述第一柱面镜用于接收会聚后的所述反射激光，并对所述反射激光在第一方向上进行调整。
进一步的，所述光接收单元包括：第一接收透镜和第二接收透镜；
所述第一接收透镜用于对接收到的所述反射激光进行会聚，将所述反射激 光从第一光束直径调整成第二光束直径；
所述第二接收透镜用于接收调整为第二光束直径的所述反射激光，将所述反射激光调整为第三光束直径，并将所述第三光束直径的所述反射激光射向所述第一柱面镜。
进一步的，所述第一接收透镜为凸球面镜，所述第二接收透镜为凹球面镜。
进一步的，所述凹球面镜和所述第一柱面镜一体设置，所述凹球面镜一侧朝向所述凸球面镜。
进一步的，所述第一柱面镜对所述反射激光在所述第一方向上进行扩散。
进一步的，所述接收光学系统进一步包括第二柱面镜；
所述第二柱面镜用于接收经过第一柱面镜调整的反射激光，并对所述反射激光在第二方向上再次进行调整。
进一步的，所述第二柱面镜对所述反射激光在所述第二方向上进行扩散。
进一步的，所述第一柱面镜对所述反射激光进行调整的所述第一方向和所述第二柱面镜对所述反射激光进行调整的所述第二方向相同。
进一步的，所述接收光学系统进一步包括接收镜筒和接收镜筒端盖，所述第一接收透镜、第二接收透镜、第一柱面镜和第二柱面镜依次设置于所述接收镜筒内，所述接收镜筒端盖固定于所述接收镜筒的末端。
进一步的，在所述第一接收透镜和第二接收透镜之间设置第一接收隔圈。
进一步的，在所述第一柱面镜和所述第二柱面镜之间设置第二接收隔圈。
进一步的，所述第一接收隔圈和/或所述第二接收隔圈内壁为消光螺纹，和/或，消光涂层。
进一步的，所述第一透镜、第二透镜、第一柱面镜和第二柱面镜的同一侧均设置为平面。
本发明实施例还提供一种激光接收模组，包括接收单元和上述实施例中提供的接收光学系统；
所述接收单元的入射端和所述接收光学系统的出射端对准并相连，用于接收所述反射激光；
所述接收单元包括接收传感器和接收电路板，所述接收传感器用于接收所述反射激光，并将光信号转化为电信号后发送给接收电路板；所述接收电路板对接收到的所述电信号进行处理。
进一步的，所述接收单元还包括接收壳体，所述接收传感器和所述接收电路板收置于所述接收壳体内。
本发明实施例还提出一种激光接收模组的光调方法，应用于上述实施例中提供的激光接收模组中，所述方法包括：
将所述第一接收透镜、第一接收隔圈、第二接收透镜、第一柱面镜、第二接收隔圈和第二柱面镜设置在所述接收镜筒内，并在所述接收镜筒的末端固定所述接收镜筒端盖，得到所述接收光学系统；
调整所述接收单元和所述接收光学系统之间的位置；
当所述接收光学系统的光轴对准所述接收单元的所述接收传感器时，固定所述接收光学系统和所述接收单元，得到激光接收模组。
本发明实施例还提供了一种激光雷达，包括至少一个上述实施例中提供的激光接收模组，还包括至少一个激光发射模组和至少一个分束模组；
所述激光发射模组用于发射经过准直的出射激光，所述分束模组用于使所述出射激光穿过后出射，并使与所述出射激光同轴入射的反射激光射向所述激光接收模组，所述激光接收模组用于接收所述反射激光。
所述激光雷达进一步包括：反射镜模组，所述反射镜模组的入射口和所述分束模组连接，所述反射镜模组的出射口和所述激光接收模组连接，用于将所述分束模组接收到的反射激光偏转射向所述激光接收模组。
所述激光雷达进一步包括：扫描模组，所述扫描模组用于接收穿过所述分束模组的出射激光并使所述出射激光向外出射到探测区域内，还用于接收从探测区域内返回的反射激光并将所述反射激光射向所述分束模组。
本发明实施例还提供了一种智能感应设备，包括上述实施例中所述的激光雷达。
由上可知，本发明实施例通过设置光接收单元和第一柱面镜，光接收单元对反射激光进行光束直径的调整，第一柱面镜对光斑形状在一个方向上进行矫正，使接收到的反射激光能够更好的匹配接收传感器的感光面；既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器的感光面，反射激光均能够被接收传感器接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题。激光雷 达的反射激光的能量接收率处于较高水平，同时抑制干扰光、杂散光的能力得到很大提升。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的接收光学系统原理图；
图2A是本发明实施例提供的一种激光接收效果图；
图2B是本发明实施提供的另一种激光接收效果图；
图3是本发明实施例提供的一种接收光学系统结构图；
图4是本发明实施例提供的激光接收模组结构图；
图5是本发明实施例提供的激光接收方法流程图；
图6是本发明实施例提供的激光接收模组的装调方法流程图；
图7是本发明实施提出的一种激光雷达的结构图；
图8是本发明实施例提供的一种激光雷达的收发组件的立体图；
图9是本发明实施例提供的另一种激光雷达的收发组件的立体图。
具体实施方式中的附图标号如下：
凸球面镜1 接收镜筒61
凹球面镜2 接收镜筒端盖63
光接收单元9 第一接收透镜91
第二接收透镜92 第一壳体71
第一柱面镜3 接收传感器73
第二柱面镜4 接收电路板74
第一接收隔圈51 第二壳体75
第二接收隔圈53 收发组件10
激光雷达100 分束模组12
激光发射模组11 分光镜支撑组件121
激光发射装置111 压块122
准直模块112 反射镜模组14
激光接收模组13 反射镜支撑组件141
接收单元131 反射镜盖板142
接收光学系统132 准直模块32
基座20 反射镜模组34
激光发射装置31 接收单元36
分束模组33 目标物体200
接收光学系统35  
具体实施方式
下面将结合附图对本申请技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本申请的技术方案，因此只作为示例，而不能以此来限制本申请的保护范围。
激光雷达的接收光学系统接收的的反射激光的发散角情况与出射激光的发散角情况相匹配，但通常使用的激光发射器发射的出射激光是不对称的，经过物体反射后返回的反射激光也是不对称的。接收光学系统用于将反射激光聚焦在接收传感器上，接收传感器的感光面与反射激光的光斑形状相匹配，则反射激光的能量利用率高、抗环境光干扰能力好。不对称的反射激光，增加了接收光学系统对反射激光聚焦后与接收传感器的感光面匹配的难度。因此为了使得接收系统的聚焦的反射激光的光斑形状与接收传感器的感光面相匹配，本发明实施例提出了一种接收光学系统、激光接收模组、激光接收模组的光调方法和一种激光雷达。
如图1所示，为本发明实施例提出的一种接收光学系统，包括：光接收单元9和第一柱面镜3；
所述光接收单元9用于接收反射激光，并对接收到的反射激光进行会聚；
所述第一柱面镜3用于接收会聚后的反射激光，并对所述反射激光在第一方向上进行调整。
激光雷达中通常使用的激光发射器发射的出射激光是不对称的，如半导体激光器，其出射激光的光斑的长轴直径和短轴直径不等，反射激光的发散角情况与出射激光的发散角情况相匹配。光接收单元9接收反射激光后，对接收到的反射激光进行会聚，在反射激光的长轴方向和短轴方向均进行会聚。再通过 第一柱面镜3，对会聚后的反射激光在第一方向上进行调整，使反射激光的光斑形状与接收传感器的感光面相匹配，调整后的效果如图2A和图2B所示。
上述实施例，通过增加第一柱面镜3，对反射激光在第一方向上进行调整，进而对其射向接收传感器的反射激光进行直径调整和光斑形状矫正，既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器的感光面，反射激光均能够被接收传感器接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题；反射激光的能量接收效率处于较高水平，同时抑制干扰光、杂散光的能力得到很大提升。
进一步的，上述光接收单元9可以有多种形式，本发明实施例提出的光接收单元9，如图1所示，所述光接收单元9包括：第一接收透镜91和第二接收透镜92，所述第一接收透镜91用于对接收到的反射激光进行会聚，将所述反射激光从第一光束直径调整为第二光束直径；所述第二接收透镜92用于接收调整为第二光束直径的反射激光，将所述反射激光调整为第三光束直径，并将所述第三光束直径的反射激光射向第一柱面镜；其中，所述第三光束直径大于或约等于第二光束直径，第二光束直径小于第一光束直径。通过第一接收透镜91和第二接收透镜92逐步将反射激光的光束直径进行调整，调整为基本匹配接收传感器的感光面的光束直径。
优选的，所述第一接收透镜91为凸球面镜1，所述第二接收透镜92为凹球面镜2；所述凸球面镜1用于对接收到的反射激光进行调整，将反射激光从第一光束直径调整成第二光束直径；所述凹球面镜2用于接收调整为第二光束直径的反射激光，并将所述反射激光调整为第三光束直径，所述第三光束直径的反射激光入射所述第一柱面镜3。当然，所述光接收单元9可以是其他结构，在这里不再赘述，下面将以凸球面镜1和凹球面镜2为例进行说明。
如图1所示，上述凸球面镜1、凹球面镜2、第一柱面镜3为同轴设置，对于激光接收系统而言，反射激光通常可视为输入的大直径的准平行光，通过设置凸球面镜1，对反射激光进行调整，将大光束直径的反射激光调整为小光束直径的反射激光，即将入射光从第一光束直径调整为第二光束直径。所述凸球面镜1和所述凹球面镜2之间的间隔距离跟所需要调整的第二光束直径的大小相 关，可以通过调整两者之间的距离来调整反射激光的直径大小。
同时，如图1所示，对于经过凸球面镜1调整过的反射激光，凹球面镜2对其光路再次进行调整，使其调整为小发散角的准平行光。相当于输出一个小发散角小直径的光束，其中，反射激光的光束直径与接收传感器的感光面尺寸需要匹配，且从接收光学系统射向接收传感器的反射激光发散角很小，可视为准平行光。可以通过改变系统中的镜面曲率及面型组合来调校反射激光的光束直径及发散角。
由于实际应用中，激光雷达通常使用半导体激光器发射出射激光，其发射的出射激光是不对称的，经过物体反射后返回的反射激光也是不对称的，导致接收传感器的感光面与反射激光的光斑形状不匹配；经过光接收单元9会聚后的反射激光，若长轴直径与接收传感器的感光面匹配，如图2A所示，短轴直径小于感光面长度，感光面未接收到反射激光处易受到干扰光导致不良影响；若短轴直径与接收传感器的感光面匹配，如图2B所示，长轴直径大于感光面长度，部分反射激光未被感光面接收，导致反射激光的利用率低。因此，在这里设置第一柱面镜3，如图1所示，对接收到的反射激光，即准平行光进行光束调整，引入第一柱面镜3后，对所述反射激光在第一方向上进行调整，若短轴直径小于感光面长度，则所述第一柱面镜3在所述短轴方向上进行扩散，扩展所述光斑的短轴直径，使其能够很好的匹配接收传感器的感光面；若长轴直径大于感光面长度，则第一柱面镜3在所述长轴方向上进行会聚，减小所述光斑的长轴直径，以使所述反射激光的光斑形状将能够更好的匹配传感器的感光面，既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器的感光面，反射激光均能够被接收传感器接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题。在保证激光接收模组的接收效率的同时，激光雷达的接收视场角得到约束，对环境光有着非常优秀的抑制作用，减少杂散光或环境光的干扰。如图2A和图2B所示，能够看出原来呈椭圆形的光斑形状，经过柱面镜矫正以后，反射激光的光斑形状能够很好地匹配接收传感器的感光面。在实际的过程中，系统可以根据光斑形状，设计第一柱面镜3的镜面曲率、面型等，以使矫正后的反射激光能够更好的适配接收传感器的形状。具体的，经过光接收单元9会聚后的反 射激光，其长轴直径与接收传感器的感光面匹配，第一柱面镜对反射激光在第一方向，即短轴方向上进行扩散，扩展光斑直径，使光斑形状匹配接收传感器的感光面。
可选的，经过光接收单元9会聚后的反射激光，其短轴直径与接收传感器的感光面匹配，第一柱面镜3对反射激光在第一方向，即长轴方向上进行会聚，压缩光斑直径，使光斑形状匹配接收传感器的感光面。
优选的，所述凹球面镜2和所述第一柱面镜3可以一体设置为球柱面镜，所述凹球面镜2一侧靠近所述凸球面镜1，这样可以在调整反射激光的光束直径的同时，对反射激光的光斑形状的在一个方向上进行矫正，减小了占用的体积，使所述接收光学系统的结构更加的紧凑。
当然，在实际过程中，光斑形状有可能会在多个方向上发生不规则变化，或者在同一个方向上变化较大，则可以通过设置多个柱面镜进行相同方向或者不同方向的调整，如会聚或扩散；如图1所示，本发明实施例进一步设置了第二柱面镜4，用于接收经过第一柱面镜3调整的反射激光，并对所述反射激光在第二方向上进行再次调整，使其光斑形状能够更好地匹配接收传感器的感光面。优选的，所述第一柱面镜3对所述反射激光进行调整的所述第一方向和所述第二柱面镜4对所述反射激光进行调整的所述第二方向相同。具体的，经过第一柱面镜3对反射激光在第一方向，即短轴方向上进行扩散后，再在第一方向上进一步进行扩散，准确调整反射激光在第一方向上的光斑直径，同时也降低了第一柱面镜3和第二柱面镜4的加工难度。可选的，经过第一柱面镜3对反射激光在第一方向，即短轴方向上进行扩散后，再在第一方向上进行会聚，准确调整反射激光在第一方向上的光斑直径，同时也降低了第一柱面镜3和第二柱面镜4的加工难度。可选的，经过第一柱面镜3对反射激光在第一方向，即长轴方向上进行会聚后，再在第一方向上进一步进行会聚。可选的，经过第一柱面镜3对反射激光在第一方向，即长轴方向上进行会聚后，再在第一方向上进一步进行扩散。
在另一可选的实施例中，第一方向和第二方向垂直，经过第一柱面镜3对反射激光在第一方向，即短轴方向上进行扩散后，再在第二方向，即长轴方向上进行会聚或扩散。可选的，经过第一柱面镜3对反射激光在第一方向，即长轴方向上进行会聚后，再在第二方向，即短轴方向上进行会聚或扩散。
本实施例不限定第一柱面镜3和第二柱面镜4对反射激光的光斑调整(如会聚或扩散)和调整方向，反射激光的光斑经过第一柱面镜3和第二柱面镜4的调整后，光斑形状能够匹配接收传感器的感光面即可。
由于接收光学系统引入了第一柱面镜3、第二柱面镜4对反射激光的光斑在同一方向或不同方向进行调整和矫正，同时接收光学系统的第一柱面镜3、第二柱面镜4都为中心旋转对称的结构，因此在组装过程中，需确认第一柱面镜3和第二柱面镜4的安装方向，否则容易出现第一柱面镜3和第二柱面镜4的方向错乱而导致系统无法正常工作的问题，增加了组装难度，降低了组装效率；因此，本发明实施例对所述凸球面镜1、凹球面镜2、第一柱面镜3和第二柱面镜4的同一侧做切平处理，将其同一侧均设置为平面；具体的，如图3所示，对凸球面镜1、凹球面镜2、第一柱面镜3和第二柱面镜4的底部一侧均通过切平处理设置为平面，这样组装时只需将切平处理后的平面朝下并对准，即可组装正确，降低组装难度，避免了由于组装方向错乱而造成的接收光学系统无法工作的问题，大大降低了组装的难度，提高了组装效率。
如图4所示，进一步的，本发明实施例提出的一种接收光学系统，所述接收光学系统还包括接收镜筒61和接收镜筒端盖63，上述凸球面镜1、凹球面镜2、第一柱面镜3和第二柱面镜4依次设置在所述接收镜筒61内，接收镜筒端盖63固定于接收镜筒61的末端。具体的，将凸球面镜1、凹球面镜2、第一柱面镜3和第二柱面镜4依次按顺序装入接收镜筒61内，在接收镜筒61的末端固定接收镜筒端盖63，使透镜组均固定于接收镜筒61内。
另外，由于在凸球面镜1和凹球面镜2之间根据光学设计存在预设距离，因此，本发明实施例在所述接收镜筒61中设置第一接收隔圈51，第一接收隔圈51的长度即为凸球面镜1和凹球面镜2之间的预设距离，用于隔开凸球面镜1和凹球面镜2之间的距离，第一接收隔圈51的前端抵接凸球面镜1，后端抵接凹球面镜2，也用于压紧固定凸球面镜1和凹球面镜2。同时，第一接收隔圈51的内壁需要进行消光处理，包括但不局限于消光螺纹，消光涂层，阳极氧化黑喷砂处理等，防止激光在第一接收隔圈51的内壁反射产生干扰光。当然，在所述第一柱面镜3和所述第二柱面镜4之间，也设置有第二接收隔圈53，用于隔开第一柱面镜3和第二柱面镜4之间的预设距离。同时，第二接收隔圈4的内壁也需要进行消光处理。
由上所述，本发明实施例提出的一种接收光学系统，通过设置柱面镜的方式，对反射激光光束进行光束直径的调整和维度的矫正，使得接收系统能够更好的匹配接收传感器的感光面，既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器的感光面，反射激光均能够被接收传感器接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题；使得反射激光的能量接收效率处于较高水平，同时抑制干扰光、杂散光的能力得到很大提升。
本发明另一实施例，在上述实施例提出的接收光学系统的基础上，提出了一种激光接收模组13，如图4所示，包括上述接收光学系统，还包括接收单元，所述接收单元的入射端和所述接收光学系统的出射端对准并相连，用于接收所述反射激光；所述接收单元包括接收传感器73和接收电路板74；所述接收传感器73用于接收所述反射激光，并将光信号转化为电信号后发送给接收电路板74；所述接收电路板74对接收到的所述电信号进行处理。
优选的，如图4所示，所述接收光学系统包括接收镜筒61、凸球面镜1、凹球面镜2，第一柱面镜3和接收镜筒端盖63。
所述凸球面镜1、凹球面镜2和第一柱面镜3依次设置于所述接收镜筒61内，所述接收镜筒端盖63固定于所述接收镜筒61的末端；所述凸球面镜1用于对接收到的反射激光进行调整，将反射激光从第一光束直径调整成第二光束直径；所述凹球面镜2用于接收调整后为第二光束直径的反射激光，并将所述反射激光调整为第三光束直径；所述第一柱面镜3用于接收所述调整为第三光束直径的反射激光，并对所述反射激光在第一方向上进行调整，将其光斑形状与所述接收传感器的感光面相匹配。
所述接收传感器用于接收调整后的反射激光，并将光信号转化为电信号；所述接收电路板73对接收传感器发送的电信号进行处理。
所述接收单元还包括接收壳体，接收壳体包括第一壳体71和第二壳体75，第一壳体71和第二壳体75合装后形成壳体空腔；所述接收传感器73和所述接收电路板74收置于所述接收壳体的壳体空腔内，便于接收传感器73和接收电路板74固定，同时也能起到防止碰撞损伤的作用。
所述接收光学系统的接收镜筒端盖63与所述接收单元的接收壳体固定连 接，形成一个激光接收模组。所述接收镜筒61、接收镜筒端盖63的其他结构均与上述实施例中的描述相同，在这里不再赘述。
由上所述，本发明实施例提出的一种激光接收模组，通过设置第一柱面镜3，对接收的反射激光进行光束直径的调整和光斑的矫正，使得接收的反射激光能够更好的匹配接收传感器的感光面，既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器的感光面，反射激光均能够被接收传感器接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题。使得激光接收模组的反射激光能量接收效率处于较高水平，同时抑制干扰光、杂散光的能力得到很大提升，也减小了激光接收装置的体积。
本发明实施例还提出了一种激光接收方法，如图5所示，包括：预先在反射激光的光路上依次设置光接收单元9、第一柱面镜；
501：通过所述光接收单元9对接收到的反射激光进行会聚。
502：通过所述第一柱面镜3接收光会聚后的反射激光，并对所述反射激光在第一方向上进行调整。
优选的，所述光接收单元9包括：第一接收透镜91和第二接收透镜92；
所述通过光接收单元9对接收到的反射激光进行会聚，包括：
所述第一接收透镜91对接收到的反射激光进行会聚，将所述反射激光从第一光束直径调整成第二光束直径；
所述第二接收透镜92接收调整为第二光束直径的所述反射激光，将所述反射激光调整为第三光束直径，并将所述第三光束直径的所述反射激光射向所述第一柱面镜3。
优选的，所述第一接收透镜91为凸球面镜1，所述第二接收透镜92为凹球面镜2。
优选的，所述通过第一柱面镜3接收光会聚后的反射激光，并对所述反射激光在一个维度上进行会聚之后，进一步包括：
设置第二柱面镜4，对所述经过第一柱面镜3会聚的反射激光再次进行会聚。
优选的，所述第一柱面镜3和所述第二柱面镜4对所述反射激光进行会聚的维度方向相同。
本实施例中提出的激光接收方法，通过设置柱面镜的方式，对反射激光光束进行光束直径的调整和矫正，使得接收系统能够更好的匹配接收传感器73的感光面，既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器73的感光面，反射激光均能够被接收传感器73接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题。使得激光接收模组的反射激光能量接收效率处于较高水平，同时抑制干扰光、杂散光的能力得到很大提升，也减小了激光接收装置的体积。
本发明实施例还提出了一种激光接收模组的光调方法，如图6所示，应用于上述所述的激光接收模组，所述方法包括：
步骤601：将所述第一接收透镜91、第一接收隔圈51、第二接收透镜92、第一柱面镜3、第二接收隔圈53和第二柱面镜4设置在接收镜筒内，并在所述接收镜筒的末端固定所述接收镜筒端盖，得到所述接收光学系统；
所述第一接收透镜91可以为凸球面镜1，所述第二接收透镜92可以为凹球面镜2。
步骤602：调整所述接收单元和所述接收光学系统之间的位置；
步骤603：当所述接收光学系统的光轴对准所述接收单元的所述接收传感器73时，固定所述接收光学系统和所述接收单元，得到激光接收模组。
通过上述激光接收模组的光调方法，可以方便快捷的将所述第一接收透镜91、第一接收隔圈51、第二接收透镜92、第一柱面镜3、第二接收隔圈53和第二柱面镜4进行组装形成接收光学系统，既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器的感光面，反射激光均能够被接收传感器接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题。使得激光接收模组的反射激光能量接收效率处于较高水平，同时抑制干扰光、杂散光的能力得到很大提升，也减小了激光接收装置的体积。
本发明实施例还提出了一种激光雷达，如图7示出了本发明实施例提供的激光雷达100的结构框图，如图7所示，该激光雷达100包括至少一个收发组 件10。该收发组件10包括激光发射模组11、分束模组12和激光接收模组13。其中，激光发射模组11用于发射经过准直的出射激光，分束模组12用于使出射激光穿过后出射到探测区域内，并使与出射激光同轴入射的反射激光偏转射向激光接收模组13，激光接收模组13用于接收反射激光。反射激光为出射激光被探测区域内的物体反射后返回的激光。
其中，激光雷达100可以包括一个收发组件10，也可以包括多个收发组件10，其包括收发组件10的具体数量可以根据实际使用需求而定，本实施例对此不做限定。每个收发组件10的水平视场角有限，当激光雷达100需要较大的水平视场角时，例如，激光雷达100需要达到的水平视场角是120°，则激光雷达100可以采用四个视场角为30°的收发组件10，并将多个收发组件10沿水平方向拼接。
具体的，激光雷达100的激光发射模组11发出的出射激光在经过分束模组12之后，向探测区域发射，当探测区域内存在目标物体200时，该出射激光被目标物体200反射，得到反射激光，该反射激光在返回时进入分束模组12，分束模组12将该反射激光偏转向激光接收模组13，再由激光接收模组13接收。
图8示出了本发明实施例提供的收发组件10的结构示意图，所述收发组件10固定于基座20上构成一个整体。其中，每个收发组件10在安装时，都会有一个对应的安装角度，只要按照对应的角度将所述收发组件10安装固定到激光雷达的底板(图中未示出)上即可；另外，对于基座20的材质和形状，可以根据实际情况选择，本实施例对此不做限定。
如图8所示，本发明实施例的激光雷达100中的收发组件10包括激光发射模组11、分束模组12、激光接收模组13，进一步还包括：反射镜模组14。反射镜模组14置于分束模组12和激光接收模组13之间，反射激光在经过分束模组12后，经过反射镜模组14反射后射向激光接收模组13。所述激光接收模组13具体结构如图4所示，具体的工作原理及工作过程在上述实施例图4中已进行阐述，在这里不再赘述。
经过反射镜模组14的反射激光的光轴可以与发射光信号的光轴平行，还可以有一定角度，本实施例对此不做限定，只要经过反射镜模组14的反射激光可以进入激光接收模组13即可，实现对接收光路的折叠压缩，减少占用的空间长度，减少占用体积。
具体的，激光发射模组11发出的出射激光在经过分束模组12之后，发射到探测区域，在探测区域被目标物体200反射后得到反射激光，该反射激光在进入分束模组12后射向反射镜模组14，再经过反射镜模组14反射之后射向激光接收模组13，最后由激光接收模组13接收。
本实施例中，所述激光发射模组11包括：沿出射激光依次设置的激光发射装置111和准直模块112，激光发射装置111用于产生出射激光，准直模块112用于对激光发射装置111产生的出射激光准直后出射，准直模块112设置于激光发射模组11和分束模组12之间，发射光信号在经过准直模块112准直后，射向分束模组12。激光发射装置111和准直模块112之间的位置相对固定。
本实施例中，分束模组12包括：分光镜支撑组件121和分光镜；分光镜支撑组件121与基座20为一体结构或固定连接，分光镜由分光镜支撑组件121固定。其中，分光镜支撑组件121为立方体结构件，结构件内设置有分光镜安装位，分光镜通过分光镜安装位以预先设定的倾斜角度和位置固定于分光镜支撑组件121内。可选的，分光镜支撑组件121可以是预先设置的与分光镜倾斜角度相同的结构件，其与基座20可以是一体结构或固定连接，以保证分光镜安装时位置的准确性，其材质可以与基座20的材质一样，在安装分光镜时，只需要将分光镜对应装到分光镜支撑组件121上即可，对于分光镜和分光镜支撑组件121之间的连接，可以是卡扣连接、胶粘连接等。可选的，分光镜可以是偏振分光镜、中心开孔的反射镜、半透半反镜等。
分束模组12还可以包括：次分光镜；次分光镜置于分光镜和准直模块112之间；次分光镜由分光镜支撑组件121固定，分光镜支撑组件121内设置有次分光镜安装位，次分光镜通过次分光镜安装位以预先设定的倾斜角度和位置设置于分光镜支撑组件121内；并通过压块122固定。可选的，次分光镜可以是偏振分光棱镜(PBS)。在分束模组12内增设次分光镜，能够分散射向分光镜的偏振光强度，减少局部发热；采用次分光镜将S偏振光滤除时，S偏振光偏转后不会进入激光接收模组13，避免了滤除的S偏振光对激光接收模组13的接收影响，提高了探测性能和探测准确性。另，即使分束模组12不包括次分光镜，也能完成收发组件10的收发光信号功能，满足探测性能需求。
反射镜模组14可以包括：反射镜支撑组件141和反射镜；反射镜由反射镜支撑组件141固定。其中，反射镜模组14可以包括至少一个反射镜，该反射镜 可以是平面反射镜、柱面反射镜、非球面曲率反射镜等。可选的，反射镜模组14还包括：反射镜盖板142；反射镜固定于反射镜盖板142上，将反射镜盖板142与反射镜支撑组件141固定连接，即可实现反射镜的固定；对于反射镜盖板142和反射镜支撑组件141之间的连接，可以是卡扣连接、胶粘连接、螺钉连接等。可选的，分光镜支撑组件121和反射镜支撑组件141对准后固定连接，对于两者之间的连接，可以是卡扣、螺钉、销钉、胶粘等连接方式。
所述激光接收模组13与反射镜支撑组件141对准后固定连接。具体的，激光接收模组13包括：接收光学系统132和接收单元131，反射激光在经过接收光学系统132会聚和矫正后发送给接收单元131。所述接收光学系统132和接收单元131的具体结构如图4所示，在上述实施例中已经进行了详细说明，在这里不再赘述。上述接收单元可以包括APD、APD阵列、MPPC、SPAD、PMT SIPM中至少一种探测器中的至少一种。其中，接收光路和发射光路同轴。
图9示出了本发明另一实施例提供的收发组件10的结构示意图，如图9所示，该收发组件10包括沿出射激光依次设置的激光发射装置31、准直模块32、分束模组33、反射镜模组34、接收光学系统35和接收单元36。其中，激光发射装置31包括发射板，在发射板上设置有用于发射出射激光的发射器；准直模块32，用于准直发射器发射的出射激光；分束模组33用于使出射激光穿过后出射，并使与出射激光同轴入射的反射激光偏转射向反射镜模组34；反射镜模组34用于接收经过分束模组12反射的反射激光，并将该反射激光反射后射向接收光学系统35；接收光学系统35用于会聚和矫正反射激光，并将会聚和矫正后的反射激光射向接收单元36；接收单元36用于接收反射激光。其中，准直模块32、分束模组33、反射镜模组34和接收光学系统35均设置于一整体的收发壳体内，并通过预设结构对各个器件进行限位固定。
本实施例中，激光发射装置31、准直模块32、分束模组33、反射镜模组34、接收光学系统35和接收单元36的具体光学组成及结构可参考前述实施例。具体的，激光发射装置31的光学组成及结构可参考前述实施例附图8中的激光发射装置111，准直模块32的光学组成及结构可参考前述实施例附图8中的准直模块112，分束模组33的光学组成及结构可参考前述实施例附图8中的分束模组12，反射镜模组34的光学组成及结构可参考前述实施例附图8中的反射镜模组14，接收光学系统35的光学组成及结构可参考前述实施例附图8中的接收 光学系统132，接收单元36的光学组成及结构可参考前述实施例附图8中的接收单元131，此处不再赘述。
本实施例中，激光发射装置31设置于一收发壳体内，准直模块32、分束模组33、反射镜模组34、接收光学系统35和接收单元36均设置于一整体的收发壳体内，构成一个收发组件10，上述模块化设计有利于模块化应用，方便光调、组装和替换。
本发明另一实施例还提供了一种激光雷达，所述激光雷达包括上述实施例所述的收发组件10以及扫描模组，扫描模组可以是MEMS振镜(Micro-electro-mechanical System)。所述激光雷达还包括折射镜模组，包括多个折射镜，每个折射镜和收发组件10一一对应设置。收发模组包括至少一个收发组件10，所述收发组件10的出射激光射向对应的折射镜，经折射镜反射后射向MEMS振镜，MEMS振镜将出射激光向外出射至探测区域并进行扫描，探测区域内的物体反射产生的反射激光返回由MEMS振镜接收后，射向折射镜，折射镜将反射激光反射后射向对应的收发组件10，收发组件10接收反射激光。
更进一步的，基于上述激光雷达，本发明实施例提出了一种包含上述实施例中的激光雷达的智能感应设备，该智能感应设备可以是汽车、无人机、机器人以及其他涉及到使用激光雷达进行智能感应和探测的设备。
由上可知，本发明实施例提出的一种接收光学系统、激光接收模组、激光雷达、激光接收模组的光调方法和智能感应设备，对反射激光进行光束直径的调整和光斑形状的矫正，使接收到的反射激光能够更好的匹配接收传感器的感光面；既能使接收光学系统接收到的反射激光经过会聚和矫正后，均投射到接收传感器的感光面，反射激光均能够被接收传感器接收，提高了接收能量利用率；又能使反射激光光路以外，和/或，与反射激光方向不一致的杂散光，无法通过接收光学系统后射向接收传感器，避免了杂散光被接收传感器接收造成的干扰的问题。激光雷达的反射激光的能量接收率处于较高水平，同时抑制干扰光、杂散光的能力得到很大提升，也减小了激光接收装置的体积。
由上可知，对于接收光学系统而言，可简化视为输入大直径的平行光，输出小直径的平行光(小直径的反射激光与接收传感器的感光面匹配)，反射激光光路以外的的杂散光经过接收光学系统后，无法射向接收传感器，通过调整和矫正接收光学系统输出的反射激光的光束直径和光斑形状，保证接收的准确性和 可靠性。该接收光学系统，可以通过改变接收光学系统中的透镜组的镜面曲率及面型组合来调校反射激光的光束直径及光斑形状(即光束的发散角)；由于接收光学系统本身具有调整和矫正的特征，不需要额外增加视场光阑来限制视场角，有效降低成本，且对于接收光学系统自身而言，装调简单。同时，本发明实施例所述的接收光学系统中引入柱面镜，使得反射激光能够更好的匹配接收传感器的感光面，能量接收效率处于较高水平，同时避免了杂散光被接收传感器接收造成的干扰问题。
需要注意的是，除非另有说明，本申请实施例使用的技术术语或者科学术语应当为本申请实施例所属领域技术人员所理解的通常意义。
在本实施新型实施例的描述中，技术术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。
此外，技术术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。在本申请实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本实施新型实施例的描述中，除非另有明确的规定和限定，技术术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
在本实施新型实施例的描述中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围，其均应涵盖在本申请的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (20)

  1. 一种接收光学系统，其特征在于，包括：光接收单元和第一柱面镜；
    所述光接收单元用于接收反射激光，并对接收到的反射激光进行会聚；
    所述第一柱面镜用于接收会聚后的所述反射激光，并对所述反射激光在第一方向上进行调整。
  2. 如权利要求1所述的接收光学系统，其特征在于，所述光接收单元包括：第一接收透镜和第二接收透镜；
    所述第一接收透镜用于对接收到的所述反射激光进行会聚，将所述反射激光从第一光束直径调整成第二光束直径；
    所述第二接收透镜用于接收调整为第二光束直径的所述反射激光，将所述反射激光调整为第三光束直径，并将所述第三光束直径的所述反射激光射向所述第一柱面镜。
  3. 如权利要求2所述的接收光学系统，其特征在于，所述第一接收透镜为凸球面镜，所述第二接收透镜为凹球面镜。
  4. 如权利要求3所述的接收光学系统，其特征在于，所述凹球面镜和所述第一柱面镜一体设置，所述凹球面镜一侧朝向所述凸球面镜。
  5. 如权利要求1所述的接收光学系统，其特征在于，所述第一柱面镜对所述反射激光在所述第一方向上进行扩散。
  6. 如权利要求1-5任一所述的接收光学系统，其特征在于，进一步包括第二柱面镜；
    所述第二柱面镜用于接收经过第一柱面镜调整的反射激光，并对所述反射激光在第二方向上再次进行调整。
  7. 如权利要求6所述的接收光学系统，其特征在于，所述第二柱面镜对所述反射激光在所述第二方向上进行扩散。
  8. 如权利要求6所述的接收光学系统，其特征在于，所述第一柱面镜对所述反射激光进行调整的所述第一方向和所述第二柱面镜对所述反射激光进行调整的所述第二方向相同。
  9. 如权利要求6所述的接收光学系统，其特征在于，进一步包括接收镜筒和接收镜筒端盖，所述第一接收透镜、第二接收透镜、第一柱面镜和第二柱面镜 依次设置于所述接收镜筒内，所述接收镜筒端盖固定于所述接收镜筒的末端。
  10. 如权利要求9所述的接收光学系统，其特征在于，在所述第一接收透镜和第二接收透镜之间设置第一接收隔圈。
  11. 如权利要求10所述的接收光学系统，其特征在于，在所述第一柱面镜和所述第二柱面镜之间设置第二接收隔圈。
  12. 如权利要求11所述的接收光学系统，其特征在于，所述第一接收隔圈和/或所述第二接收隔圈内壁为消光螺纹，和/或，消光涂层。
  13. 如权利要求6所述的接收光学系统，其特征在于，所述第一透镜、第二透镜、第一柱面镜和第二柱面镜的同一侧均设置为平面。
  14. 一种激光接收模组，其特征在于，包括接收单元和如权利要求1至13任意一项所述的接收光学系统；
    所述接收单元的入射端和所述接收光学系统的出射端对准并相连，用于接收所述反射激光；
    所述接收单元包括接收传感器和接收电路板，所述接收传感器用于接收所述反射激光，并将光信号转化为电信号后发送给接收电路板；所述接收电路板对接收到的所述电信号进行处理。
  15. 如权利要求14所述的激光接收模组，其特征在于，所述接收单元还包括接收壳体，所述接收传感器和所述接收电路板收置于所述接收壳体内。
  16. 一种激光接收模组的光调方法，其特征在于，应用于权利要求14至15任意一项所述的激光接收模组，所述方法包括：
    将所述第一接收透镜、第一接收隔圈、第二接收透镜、第一柱面镜、第二接收隔圈和第二柱面镜设置在所述接收镜筒内，并在所述接收镜筒的末端固定所述接收镜筒端盖，得到所述接收光学系统；
    调整所述接收单元和所述接收光学系统之间的位置；
    当所述接收光学系统的光轴对准所述接收单元的所述接收传感器时，固定所述接收光学系统和所述接收单元，得到激光接收模组。
  17. 一种激光雷达，其特征在于，包括至少一个如权利要求14至15任意一项所述的激光接收模组，还包括至少一个激光发射模组和至少一个分束模组；
    所述激光发射模组用于发射经过准直的出射激光，所述分束模组用于使所述出射激光穿过后出射，并使与所述出射激光同轴入射的反射激光射向所述激 光接收模组，所述激光接收模组用于接收所述反射激光。
  18. 如权利要求17所述的激光雷达，其特征在于，进一步包括：反射镜模组，所述反射镜模组的入射口和所述分束模组连接，所述反射镜模组的出射口和所述激光接收模组连接，用于将所述分束模组接收到的反射激光偏转射向所述激光接收模组。
  19. 如权利要求17或18所述的激光雷达，其特征在于，进一步包括：扫描模组，所述扫描模组用于接收穿过所述分束模组的出射激光并使所述出射激光向外出射到探测区域内，还用于接收从探测区域内返回的反射激光并将所述反射激光射向所述分束模组。
  20. 一种智能感应设备，其特征在于，包括权利要求17至19任意一项所述的激光雷达。
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