WO2021025580A1 - Lidar à sensibilité par polarisation - Google Patents

Lidar à sensibilité par polarisation Download PDF

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Publication number
WO2021025580A1
WO2021025580A1 PCT/RU2019/000561 RU2019000561W WO2021025580A1 WO 2021025580 A1 WO2021025580 A1 WO 2021025580A1 RU 2019000561 W RU2019000561 W RU 2019000561W WO 2021025580 A1 WO2021025580 A1 WO 2021025580A1
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WO
WIPO (PCT)
Prior art keywords
polarization
cells
radiation
mask
photosensitive elements
Prior art date
Application number
PCT/RU2019/000561
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English (en)
Russian (ru)
Inventor
Михаил Андреевич БУХАРИН
Сергей Юрьевич СЕДЫХ
Original Assignee
Общество с ограниченной ответственностью "Смартсенсор"
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Общество с ограниченной ответственностью "Смартсенсор" filed Critical Общество с ограниченной ответственностью "Смартсенсор"
Priority to PCT/RU2019/000561 priority Critical patent/WO2021025580A1/fr
Publication of WO2021025580A1 publication Critical patent/WO2021025580A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the proposed technical solution relates to the field of quantum electronics, namely, scanning laser rangefinders (lidars) designed to build a three-dimensional map of an area by scanning a laser beam to identify areas covered with water or ice.
  • scanning laser rangefinders lidars
  • lidar application is the construction of a three-dimensional map around cars, trains and aircraft, which allows the development and production of not only information assistance systems for a driver or operator, but also systems for automated transport movement. Modern automated movement systems must work even in unfavorable weather conditions.
  • One of the most common adverse factors for road transport is the presence of water and ice on the road surface, caused by rain, snow, melting snow or floods.
  • a polarization-sensitive lidar device based on the emission of a laser radiation, pre-structured by polarization states in a separate radiation separation module and subsequent modules of polarization conversion in at least two laser beams.
  • This device requires laser sources with increased power due to the need to separate laser beams, their conversion and subsequent convergence, and also has a reduced resistance to mechanical vibrations and reduced mass-dimensional characteristics necessary for use in the field of automated transport, due to the duplication of optical systems in polarization modules. transformation.
  • the objective of the invention is to create a scanning laser rangefinder (lidar) that allows real-time construction of a three-dimensional map of an area by scanning with a laser beam near a vehicle with the identification of areas covered with water or ice.
  • a scanning laser rangefinder lidar
  • the technical result of the proposed technical solution is the creation of a scanning laser rangefinder (lidar) with the identification of areas covered with water or ice.
  • a scanning laser rangefinder lidar
  • Using the information received about the presence of objects or surfaces covered with water or ice, and their coordinates within the scanned area of space will make it possible to create not only information assistance systems for the driver or operator in adverse weather conditions conditions, but also systems for the automated movement of vehicles in adverse weather conditions.
  • a polarization-sensitive lidar containing an emitting module, including at least a laser source with an installed trace, a collimating optical system and a scanning system, and a detection module including a focusing lens, an array of photosensitive elements, characterized in that before photosensitive elements set a polarization mask of periodically composed cells, each of which transmits radiation with a strictly specified polarization, while the size and location of the cells is selected so that radiation through each cell can be detected by at least one pixel of the matrix.
  • the device can use a matrix of photosensitive elements based on an architecture that provides separate output of information from pixels located under different types of mask cells, while the number of electrical outputs should be no less than the number of mask cell types.
  • two types of cells can be used that transmit radiation in orthogonal states of polarization, while the cells are staggered. It is also possible to implement with four types of cells that transmit radiation, polarized linearly, respectively, with a deviation from the vertical direction of 0 °, ⁇ 45 °, ⁇ 90 ° and ⁇ 135 °, while the cells of these four different types form an elementary group in the form of a square.
  • the size of the cells is usually in the range from 0.5 ⁇ m to 500 ⁇ m, while the source of laser radiation can be a near infrared laser diode with wavelengths from 0.8 to 2.0 ⁇ m.
  • a possible implementation of the device is the use of unpolarized laser radiation.
  • the solution may contain a system for processing data from a matrix of photosensitive elements.
  • FIG. 1 shows a diagram of a polarization sensitive lidar.
  • FIG. 2. shows a diagram of the operation of a polarization-sensitive lidar in the case of the presence of a diffuse coating (A) or with a smooth coating (B) at the scanning point of an object or surface, mainly due to the presence of a water or ice coating.
  • FIG. 3 examples of some variants of the two-dimensional polarization mask execution scheme are presented.
  • FIG. 4 examples of some variants of the scheme of the photosensitive element of the polarization-sensitive detecting module are presented.
  • FIG. 5 shows examples of some variants of the mutual arrangement of the photosensitive element, two-dimensional polarization mask and radiation focused in the detecting module, reflected or scattered from the object in the scanning area.
  • the unpolarized radiation of the laser source is collimated by the optical system to obtain a weakly diverging probe laser beam, which hits the scanning system, which deflects the laser beam at an angle set by the control subsystem of the lidar.
  • the probing laser beam enters the scanned area of space, a three-dimensional map of which is planned to be constructed by means of a polarization-sensitive lidar with the identification of areas covered with water or ice.
  • the polarization composition of the probe radiation changes depending on the type and condition of the surface of the reflecting and scattering object:
  • the reflected and backscattered part of the probe radiation partially passes through the aperture of the lidar, then passes in the opposite direction through the scanning system and, by means of a deflecting mirror, is partially directed to the optical detection system, which consists of a focusing subsystem, which focuses a part of the reflected or scattered that has reached it.
  • probe radiation on a polarization-sensitive detecting module consisting of a two-dimensional polarization mask and a photosensitive element.
  • various polarization components are analyzed within a single polarization-sensitive detecting module and a single corresponding optical system, which separate and filter different polarization components of radiation only immediately in front of a single photosensitive element. Separation and filtration of various polarization components of radiation is performed by means of a two-dimensional polarization mask superimposed on the photosensitive element, which consists of periodically composed cells, each of which is designed to transmit only a given state of polarization.
  • a two-dimensional polarizer is known (patent CN 106358443, published on January 25, 2017), used to transform and filter individual states of polarization in front of photosensitive matrices of video cameras, but limited only by the technology of creating polarization cells inside the polarizer based on a periodic increase and decrease in the concentration of oxygen ions in the polarizer material, having a low contrast of the refractive index (at the level of 0.1% of the refractive index of the polarizer) and small dimensions of the region of the refractive index (at the level of 20 ⁇ m along the direction of the laser beam passage through the polarizer), which do not allow changing the polarization vector to orthogonal due to the passage of the polarizer and, as a consequence, limiting the scope of this design solution.
  • the polarization mask in the proposed solution is stationary and is manufactured using a technology selected from the group containing the photolithographic method, the electron-lithographic method and the method of femtosecond recording of birefringent nanogratings in optical materials.
  • the transverse size of each of the cells of the polarization mask is in the range from 1 to 500 ⁇ m, the value of which is selected based on the parameters of the photosensitive element and the optical system of the polarization-sensitive detection module.
  • the transverse size of each of the cells of the polarization mask must be at least not less than the transverse size of a unit cell of the photosensitive element (pixel), and also at least 2 times less the diameter of the focal spot at the intensity level 1 / e 2 on the photosensitive element from radiation scattered or reflected back from the object in the scanning area, focused by the optical system of the polarization-sensitive detecting module.
  • the cells of the two-dimensional polarization mask differ from each other in the state of polarization of the laser radiation, which they transmit to the photosensitive element.
  • the cells transmitting different polarization states are grouped in a periodic manner so that in the region limited by the focal spot diameter at the intensity level 1 / e 2 on the photosensitive element, there are cells that transmit all the polarization states available for the indicated polarization mask.
  • the set of polarization states realized on a polarization mask must include at least two orthogonal linear polarizations of laser radiation.
  • the photosensitive element of the polarization-sensitive detecting module is based on an architecture that provides separate information output from separate groups of unit cells of the photosensitive element (groups of pixels). Groups of single pixels are located on the photosensitive element in such a way as to geometrically coincide with only one polarization state passing through the cells of the polarization mask. The number of independent electrical outputs from the photosensitive element must match the number of different polarization states passed by the polarization mask.
  • the photosensitive element of the polarization-sensitive detecting module is an array of periodically located photodiodes made on the basis of a technology selected from the group containing avalanche photodiodes, photodiodes operating in the photon counting mode, and PIN photodiodes.
  • the lidar data processing system for each point by the angles of deflection within the scanned area of space calculates not only the delay time between the moment of emission of the probe laser pulse and the moments of detection of reflected or backscattered radiation, but also the polarization composition of the reflected or backscattered radiation by comparing the amplitude of the signals that arrived from independent electrical outputs of the photosensitive element corresponding to various states of polarization transmitted by the polarization mask.
  • a three-dimensional map is constructed, supplemented at each scanning point in angles with a quantitatively measured state of polarization of reflected or backscattered radiation.
  • the identification of areas covered by water or ice within the lidar data processing system is based on an analysis using adaptively and automatically determined threshold values for the amplitude of all polarization states included in the above set, supported by a two-dimensional polarization mask.
  • Versions of the polarization mask are: placing the cells of the polarization mask, maintaining orthogonal states of polarization, periodically in a checkerboard pattern; placing groups of cells that maintain linear states of polarization with a deviation from the vertical direction by 0 °, ⁇ 45 °, ⁇ 90 ° and ⁇ 135 °, in a periodic manner in groups of these four different cells.
  • These options may be in demand depending on the problem being solved, the cell size of the photosensitive element, the cell size of the two-dimensional polarization mask, and the diameter of the radiation focused on the photosensitive element.
  • Such systems are most in demand for building a three-dimensional map around cars, trains and aircraft, which allows you to develop and produce not only information assistance systems for the driver or operator, but also systems for automated transport movement, notifying the presence of objects and surfaces with water or ice in the scanning area. coated, but may have other uses.
  • the invention described in this document can be integrated into the above more complex technical systems with extended functionality, giving them at least the following information measured and calculated within the lidar data processing system: the current state of the main characteristics of the lidar (power supply parameters, performance parameters system, current scanning system deflection angle and responses to information requests of the supersystem, including software versions and their settings); measured distances to objects in the scanning area both at the current moment and upon completion of scanning of the entire accessible area (frame-by-frame information delivery), the polarization composition of the reflected and backscattered radiation in the scanning area both at the current moment and upon completion of scanning of the entire accessible area ( frame-by-frame information delivery); an information mark about the presence or absence of objects and surfaces with a smooth coating, mainly due to the presence of water or ice cover, in the scanning area both at the current moment and after the completion of scanning of the entire available area (frame-by-frame information delivery) indicating their location in relative coordinates inside scanned area.
  • the current state of the main characteristics of the lidar power supply parameters, performance parameters system, current scanning
  • Fig. 1 a diagram of a polarization sensitive lidar is presented. From the laser source 1, unpolarized radiation 2 is collimated by the optical system 3 to obtain a weakly diverging probe laser beam, which hits the scanning system 4, deflecting the laser beam at an angle set by the control subsystem of the lidar 5. Through the aperture of the lidar 6, the probe laser beam enters the scanned region of space 7, a three-dimensional map of which is planned to be built using a polarization-sensitive lidar with the identification of areas covered by water or ice.
  • the reflected or scattered radiation 9 partially passes through the aperture of the lidar 6, then passes in the opposite direction through the scanning system 4 and, by means of a deflecting mirror inside the scanning system 4, is partially directed to the optical detection system 10
  • the measured radiation parameters 9 are transmitted via the information exchange channel 11 to the data processing system of the lidar 12.
  • the control subsystem of the lidar 5 exchanges information streams 13 with the scanning system 4, setting the scanning parameters and receiving back information about the current state of the scanning system 4.
  • FIG. 2. shows a diagram of the operation of a polarization-sensitive lidar in the case of the presence of a diffuse coating (A) or with a smooth coating (B) at the scanning point of an object or surface, mainly due to the presence of a water or ice coating.
  • Probing radiation 2 with its inherent polarization composition 15 comes out of the polarization-sensitive lidar 14.
  • Reflecting and scattering an object or surface 8 in the scanned area of space the polarization composition of the reflected or backscattered radiation either slightly changes to state 16 in the case of a diffuse object or surface 8, or significantly changes to state 17 in the case of an object or surface 8 with a smooth coating (B), mainly due to the presence of a water or ice coating.
  • FIG. 3. shows examples of some variants of the scheme of execution of a two-dimensional polarization mask 18, consisting of periodically composed cells 19 of a two-dimensional polarization mask with an indication of the supported polarization states 20.
  • FIG. 4. shows examples of some variants of the scheme of the photosensitive element of the polarization-sensitive detecting module, consisting of separate groups of 22 unit cells of the photosensitive element 21. The number of independent electrical outputs 25, 26, 29, 30 s of the photosensitive element should coincide with the number of different states of polarization transmitted mask. In this case, each group of pixels 22 is connected by means of electrical contacts 23, 24, 27, 28 with the corresponding electrical outputs 25, 26, 29, 30 of the photosensitive element in the order determined by the topology of the two-dimensional polarization mask.
  • FIG. 5 shows an example of a variant of the mutual arrangement of the photosensitive element and a two-dimensional polarization mask with an indication of their structural elements.

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

Abstract

Le dispositif se rapporte au domaine de l'électronique quantique. L'invention concerne un lidar à sensibilité par polarisation comprenant un module rayonnant qui comprend au moins une source de rayonnement laser à suivi intégré, un système optique de collimation et un système de balayage, et un module de détection comprenant un objectif de focalisation, et une matrice d'éléments photosensibles. Un masque de polarisation est installé en amont des éléments photosensibles, lequel se compose de cellules agencées périodiquement qui laissent chacune passer un rayonnement selon une polarisation strictement déterminée. La taille et la disposition des cellules sont choisies de sorte que le rayonnement passant par chaque cellule puisse être détecté par au moins un pixel de la matrice. L'utilisation des informations obtenues sur la présence d'objets ou de surfaces recouverts par de l'eau ou de la glace ainsi que leurs coordonnées dans le cadre de la zone balayée de l'espace permet de générer un système d'aide informative pour un conducteur ou un opérateur dans des conditions climatiques défavorables et de repositionner automatiquement le moyen de transport dans des conditions climatiques défavorables.
PCT/RU2019/000561 2019-08-07 2019-08-07 Lidar à sensibilité par polarisation WO2021025580A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/RU2019/000561 WO2021025580A1 (fr) 2019-08-07 2019-08-07 Lidar à sensibilité par polarisation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/RU2019/000561 WO2021025580A1 (fr) 2019-08-07 2019-08-07 Lidar à sensibilité par polarisation

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9528819B2 (en) * 2011-10-14 2016-12-27 Iee International Electronics & Engineering S.A. Spatially selective detection using a dynamic mask in an image plane
US10012532B2 (en) * 2013-08-19 2018-07-03 Basf Se Optical detector
WO2019064062A1 (fr) * 2017-09-26 2019-04-04 Innoviz Technologies Ltd. Systèmes et procédés de détection et localisation par la lumière

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9528819B2 (en) * 2011-10-14 2016-12-27 Iee International Electronics & Engineering S.A. Spatially selective detection using a dynamic mask in an image plane
US10012532B2 (en) * 2013-08-19 2018-07-03 Basf Se Optical detector
WO2019064062A1 (fr) * 2017-09-26 2019-04-04 Innoviz Technologies Ltd. Systèmes et procédés de détection et localisation par la lumière

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