WO2021184476A1 - Système de trajet optique et radar laser - Google Patents

Système de trajet optique et radar laser Download PDF

Info

Publication number
WO2021184476A1
WO2021184476A1 PCT/CN2020/085307 CN2020085307W WO2021184476A1 WO 2021184476 A1 WO2021184476 A1 WO 2021184476A1 CN 2020085307 W CN2020085307 W CN 2020085307W WO 2021184476 A1 WO2021184476 A1 WO 2021184476A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
reflecting surface
control module
motor control
horizontal
Prior art date
Application number
PCT/CN2020/085307
Other languages
English (en)
Chinese (zh)
Inventor
陈泽雄
Original Assignee
陈泽雄
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 陈泽雄 filed Critical 陈泽雄
Publication of WO2021184476A1 publication Critical patent/WO2021184476A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • the present invention relates to the field of detection, in particular to an optical path system and laser radar.
  • Lidars in the prior art are mainly divided into two categories.
  • the first category is a rotary multi-line lidar
  • the second category is a non-rotating lidar, that is, a solid-state lidar.
  • the first type uses mechanical rotation to achieve three-dimensional scanning can meet the technical requirements of unmanned driving for 0.1° horizontal resolution (360°), 0.2-0.3° vertical resolution (up and down 15°) and 10-20 frame refresh rate, but
  • the resolution in the vertical direction is proportional to the laser transmitter and receiver. For example, if you want to subdivide 128 parts in a 30° field of view in the vertical direction, you need 128 laser transmitters and 128 receivers, and in the mass production process Each transmitter and receiver must be calibrated, which requires a lot of labor and low product yield. Therefore, the cost of the mechanical rotating lidar using multiple lasers in the prior art is very high.
  • the second type of solid-state lidar has three types.
  • the first is a MEMS (Micro Electro Mechanical System) solution, which uses a micro MEMS scanning mirror to control the laser beam; the other uses a technology called an optical phased array to control the laser beam without Any moving parts; the third type is called Flash imaging LiDAR, which does not require beam steering. It only needs one flash to illuminate the entire scene, and then the reflected light is detected by a two-dimensional array image sensor similar to a digital camera.
  • the second type of solid-state lidar can only scan in one direction and cannot scan 360°. Only four such solid-state radars can achieve the effect of the first type of lidar. Only the first type of technology is relatively mature, so the cost cannot be significantly increased. Decline and mass production.
  • the invention patent CN107153185A discloses a lidar and lidar control method. It uses a vertical galvanometer and a horizontal rotating structure to complete three-dimensional scanning. A transmitter is used to scan in the vertical direction through the galvanometer, instead of multiple transmitters in order to reduce costs and The complexity of the structure, but due to the unmanned driving requirements for the lidar horizontal resolution of 0.1° and the refresh rate of 10 frames or more, and the measurement distance must reach 200m, according to this technical requirement, the time for each 0.1° sweep in the horizontal direction is 27 ⁇ s.
  • Each measurement time is at least 2 ⁇ s, and it can only be measured 13 times in the vertical direction, that is, the vertical resolution can only achieve 2.2°, so it cannot meet the technical parameter requirements of the first multi-transmitter/receiver lidar. Completely replace the first type of lidar mentioned above.
  • the purpose of the present invention is to provide an optical path system and a lidar with improved vertical resolution.
  • An optical path system which includes:
  • a polyhedral prism the polyhedral prism is composed of a plurality of first reflecting surfaces, and each of the first reflecting surfaces is vertically arranged;
  • a second reflection surface the second reflection surface being arranged obliquely with respect to a first reflection surface of the polyhedral prism
  • a third reflective surface, the third reflective surface is located above the second reflective surface, and the third reflective surface is intersected with the second reflective surface;
  • a fourth reflecting surface, the fourth reflecting surface is arranged at an angle of 45° with the horizontal direction and rotated by 90° with the third reflecting surface in the horizontal direction;
  • a fifth reflecting surface, the fifth reflecting surface is arranged vertically and arranged at an angle of 45° with the light path reflected by the fourth reflecting surface;
  • the light enters the second reflecting surface, and after being reflected by the second reflecting surface to the first reflecting surface, the scanning light forming an angle with the horizontal enters the third reflecting surface, and then exits through the third reflecting surface with a 90° direction changed.
  • the scanning light in the horizontal direction becomes the scanning light in the vertical direction and enters the fifth reflecting surface. Finally, the vertical scanning light is changed by 90° through the fifth reflecting surface and emitted.
  • the second reflecting surface and the third reflecting surface are arranged symmetrically up and down relative to the horizontal plane, and the angle between the second reflecting surface and the third reflecting surface relative to the horizontal plane ranges from 50° to 60°.
  • a laser radar which includes:
  • At least two laser transmitters each of the laser transmitters is used to emit detection laser;
  • optical path system as described above, the optical path system is used to form a point light source into horizontal scanning light and finally change it to vertical scanning light;
  • a horizontal rotation structure, the polyhedral prism and the laser transmitter are both installed on the horizontal rotation structure, and the horizontal rotation structure drives the polyhedral prism and the laser transmitter to rotate horizontally synchronously;
  • a motor control module includes a motor control module No. 1 and a motor control module No. 2, the motor control module No. 1 is arranged under the polyhedral prism, the motor control module No. 1 drives the polyhedron The prism rotates, the second motor control module is arranged below the horizontal rotation structure, and the second motor control module drives the horizontal rotation structure to move.
  • the laser emitters are arranged in a circularly equally divided manner.
  • both the motor control module No. 1 and the motor control module No. 2 are equipped with a code wheel for determining the emission angle of the laser in the horizontal and vertical directions.
  • the present invention also includes receivers equal to the number of laser transmitters, and the receivers are installed in a housing at equal intervals.
  • it further includes a focusing unit, the focusing unit is arranged before the receiver, and the focusing unit focuses the reflected laser light to the receiver.
  • the receiver is an APD or SIPM sensor.
  • it further includes a collimating unit, the collimating unit is arranged between the laser emitter and the polyhedral prism, and the collimating unit is used to collimate the outgoing laser light emitted by the laser emitter.
  • the beneficial effects of the present invention the optical path system and the laser radar.
  • the laser radar includes at least two laser emitters, an optical path system, a horizontal rotation structure, and a motor control module. Scanning light can reduce the rotation speed and increase the sweep time of each horizontal angle under the condition of the same refresh rate, thereby increasing the scanning time of each vertical direction, increasing the resolution in the vertical direction by multiple levels, and reducing the cost of lidar As well as the calibration workload, the vertical resolution of the laser radar is improved, and the technical parameter requirements of the multi-line laser radar of the multi-channel transmitter are met.
  • the motor control module drives the horizontal rotation structure to rotate, thereby driving the laser transmitter and the polyhedral prism to rotate synchronously. So as to achieve 360° three-dimensional scanning.
  • Figure 1 is a schematic diagram of an optical path system according to an embodiment of the present invention.
  • Figure 2 is a top view of a lidar according to an embodiment of the present invention.
  • Fig. 3 is a front view of a lidar according to an embodiment of the present invention.
  • orientation description involved such as up, down, front, back, left, right, etc. indicates the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, but In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be configured and operate in a specific orientation, and therefore cannot be understood as a limitation to the present invention.
  • an optical path system includes a polyhedral prism 100, a second reflective surface 1b, a third reflective surface 1c, a fourth reflective surface 1d, and a fifth reflective surface 1e.
  • the polyhedral prism 100 is composed of a plurality of first reflecting surfaces 1a, each of the first reflecting surfaces 1a is arranged vertically, the second reflecting surface 1b is arranged obliquely with respect to a first reflecting surface 1a of the polyhedral prism 100, and the third reflecting surface 1c is located at the first reflecting surface 1a.
  • the second reflecting surface 1b and the third reflecting surface 1c are arranged symmetrically in the range of an angle with the horizontal plane of 50°-60°.
  • the fourth reflecting surface 1d has an angle of 45° with the horizontal direction and is set with the third reflecting surface 1c rotated by 90° in the horizontal direction.
  • the fifth reflecting surface 1e is arranged vertically and is 45° with the light path reflected by the fourth reflecting surface 1d. Angle setting.
  • the light is incident on the second reflecting surface 1b, and after being reflected by the second reflecting surface 1b to the first reflecting surface 1a, the scanning light forming an angle with the horizontal enters the third reflecting surface 1c, and is changed by 90% by the third reflecting surface 1c.
  • ° direction is emitted to the fourth reflecting surface 1d, after being reflected by the fourth reflecting surface 1d, the scanning light in the horizontal direction becomes the scanning light in the vertical direction and enters the fifth reflecting surface 1e, and finally the scanning light in the vertical direction is passed through the fifth reflecting surface 1e Change the direction of 90° to shoot.
  • N light sources are installed at equal intervals at the same time, so that the vertical scanning light diverges from N directions at the same time, scanning the object under test, and effectively improving the vertical resolution and refresh rate.
  • a laser radar includes at least two laser transmitters 200, an optical path system as described above, a horizontal rotation structure 300, and a motor control module 400.
  • the laser emitters 200 are used to simultaneously emit detection lasers, and are used to reduce the rotation speed under the condition that the refresh rate remains the same, so as to increase the sweep time of each horizontal angle.
  • the optical path system is used to form a point light source into horizontal scanning light and finally change it to vertical scanning light.
  • the polyhedral prism 100 and the laser transmitter 200 are both installed on the horizontal rotation structure 300.
  • the horizontal rotation structure 300 drives the polyhedral prism 100 and the laser transmitter 200 to rotate synchronously and horizontally.
  • the polyhedral prism 100 forms a scanning light source through the horizontal rotation structure 300. .
  • the motor control module 400 includes the No. 1 motor control module 401 and the No. 2 motor control module 402.
  • the No. 1 motor control module 401 is arranged under the polyhedral prism 100.
  • the No. 1 motor control module 401 drives the polyhedral prism 100 to rotate.
  • the No. motor control module 402 is arranged under the horizontal rotation structure 300, and the No. 2 motor control module 402 drives the horizontal rotation structure 300 to move.
  • the optical path system is embedded in the horizontal rotating structure 300.
  • the horizontal rotating structure 300 drives the beam rotation in N directions to realize continuous multi-point three-dimensional scanning of environmental targets.
  • the combination of this optical path system and the horizontal rotating structure 300 can meet the 0.1° level.
  • the N laser emitters 200 are arranged in a circularly equally divided manner. Under the condition that the refresh rate remains unchanged, the rotation speed can be reduced, and the sweep time of each horizontal angle can be increased, thereby increasing the scanning time of each vertical direction. Scanning time, multiple levels of improvement in the vertical resolution, can effectively reduce the cost of the lidar, and improve the vertical resolution of the lidar. .
  • both the No. 1 motor control module 401 and the No. 2 motor control module 402 are equipped with a code disc 403 for determining the emission angle of the laser in the horizontal and vertical directions.
  • the receiver 500 is also included in the same number as the laser transmitter 200, and the receivers 500 are installed in a housing at equal intervals. Further, in order to better receive signals, a focusing unit is provided before the receiver 500, and the focusing unit focuses the reflected laser light to the receiver 500.
  • the receiver 500 is an APD or SIPM sensor. Referring to FIG. 2, 8 receivers 500 are evenly arranged on the inner side of the housing at equal distances on the circumference.
  • It also includes a collimating unit, which is arranged between the laser emitter 200 and the polyhedral prism 100, and is used to collimate the outgoing laser light emitted by the laser emitter 200.
  • This lidar includes at least two laser transmitters 200, a light path system, a horizontal rotation structure 300, and a motor control module 400.
  • the laser light emitted by each laser transmitter 200 is scanned in the vertical direction through the light path system, and the refresh rate remains unchanged.
  • the rotation speed can be reduced, and the sweep time of each horizontal angle can be increased, thereby increasing the scanning time in each vertical direction, and increasing the resolution in the vertical direction by multiple levels, reducing the cost of lidar and the calibration workload, and improving the lidar
  • the vertical resolution meets the technical parameter requirements of the multi-line laser radar of the multiple transmitter.
  • the motor control module 400 drives the horizontal rotation structure 300 to rotate, thereby driving the laser transmitter 200 and the polyhedral prism 100 to rotate synchronously to achieve 360° Three-dimensional scan.

Landscapes

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

Abstract

L'invention concerne un système de trajet optique et un radar laser. Le radar laser comprend au moins deux émetteurs laser (200), un système de trajet optique, une structure de rotation horizontale (300) et un module de commande de moteur (400). Le laser émis par les émetteurs laser (200) passe dans le système de trajet optique et émet ensuite une lumière de balayage dans une direction verticale ; dans le cas où une fréquence de rafraîchissement est inchangée, la vitesse de rotation peut être réduite, et une durée de balayage à chaque angle horizontal est augmentée, de façon à améliorer le temps de balayage dans chaque direction verticale, à augmenter la résolution dans la direction verticale dans un mode à niveaux multiples, à réduire les coûts du radar laser et de la charge de travail d'étalonnage, à augmenter la résolution verticale du radar laser, et à atteindre les exigences de paramètres techniques de radars laser à lignes multiples des émetteurs laser (200) à trajets multiples ; le module de commande de moteur (400) entraîne la rotation de la structure de rotation horizontale (300) de manière à entraîner la rotation des émetteurs laser (200) et d'un prisme polyédrique (100) de manière synchrone, ce qui permet de mettre en œuvre un balayage tridimensionnel à 360°. La présente invention est appliquée au domaine de la détection.
PCT/CN2020/085307 2020-03-18 2020-04-17 Système de trajet optique et radar laser WO2021184476A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010189724.0 2020-03-18
CN202010189724 2020-03-18

Publications (1)

Publication Number Publication Date
WO2021184476A1 true WO2021184476A1 (fr) 2021-09-23

Family

ID=72001944

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/085307 WO2021184476A1 (fr) 2020-03-18 2020-04-17 Système de trajet optique et radar laser

Country Status (2)

Country Link
CN (1) CN111551913A (fr)
WO (1) WO2021184476A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115755085A (zh) * 2022-11-21 2023-03-07 深圳市意普兴科技有限公司 一种激光雷达
WO2024088086A1 (fr) * 2022-10-24 2024-05-02 科沃斯机器人股份有限公司 Dispositif de nettoyage, et couvercle électroluminescent et dispositif automoteur appliqué à celui-ci

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112986956B (zh) * 2021-02-04 2024-02-13 广州市慧建科技有限公司 一种激光雷达光波收发控制方法及激光雷达
CN113933813A (zh) * 2021-09-07 2022-01-14 陈泽雄 一种混合固态激光雷达及其扫描方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1458535A (zh) * 2003-05-07 2003-11-26 天津大学 主动式激光扫描远距离坐标测量方法
US6922268B2 (en) * 2002-04-01 2005-07-26 Pentax Corporation Multi-beam scanning device
CN101344591A (zh) * 2008-08-22 2009-01-14 清华大学 一种微型激光二维扫描测量系统
CN102508221A (zh) * 2011-10-13 2012-06-20 北京航空航天大学 一种机载激光雷达侧滚角偏差补偿方法
CN103761501A (zh) * 2014-02-18 2014-04-30 苏州德沃智能系统有限公司 激光条码扫描装置
CN108845410A (zh) * 2018-07-03 2018-11-20 上海理工大学 基于多面体棱镜的多光束共聚焦高速扫描成像方法与装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7009141B1 (en) * 2001-10-13 2006-03-07 General Lasertronics Corp. Rotary scanning laser head with coaxial refractive optics
JP2015069771A (ja) * 2013-09-27 2015-04-13 株式会社クラレ 面状発光体
CN106289098B (zh) * 2016-07-22 2018-09-14 武汉海达数云技术有限公司 三维激光扫描仪的旋转控制方法
CN106842228B (zh) * 2017-01-19 2023-08-29 北京飞思迈尔光电科技有限公司 一种光学扫描传感器
CN107643525A (zh) * 2017-08-24 2018-01-30 南京理工大学 基于45°转镜的线阵激光雷达周向无像旋成像系统
CN109471126B (zh) * 2017-09-07 2022-12-02 南京理工大学 一种用于线阵激光雷达的振转结合周向扫描装置
CN212623056U (zh) * 2020-03-18 2021-02-26 陈泽雄 一种光路系统及激光雷达

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6922268B2 (en) * 2002-04-01 2005-07-26 Pentax Corporation Multi-beam scanning device
CN1458535A (zh) * 2003-05-07 2003-11-26 天津大学 主动式激光扫描远距离坐标测量方法
CN101344591A (zh) * 2008-08-22 2009-01-14 清华大学 一种微型激光二维扫描测量系统
CN102508221A (zh) * 2011-10-13 2012-06-20 北京航空航天大学 一种机载激光雷达侧滚角偏差补偿方法
CN103761501A (zh) * 2014-02-18 2014-04-30 苏州德沃智能系统有限公司 激光条码扫描装置
CN108845410A (zh) * 2018-07-03 2018-11-20 上海理工大学 基于多面体棱镜的多光束共聚焦高速扫描成像方法与装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024088086A1 (fr) * 2022-10-24 2024-05-02 科沃斯机器人股份有限公司 Dispositif de nettoyage, et couvercle électroluminescent et dispositif automoteur appliqué à celui-ci
CN115755085A (zh) * 2022-11-21 2023-03-07 深圳市意普兴科技有限公司 一种激光雷达

Also Published As

Publication number Publication date
CN111551913A (zh) 2020-08-18

Similar Documents

Publication Publication Date Title
WO2021184476A1 (fr) Système de trajet optique et radar laser
WO2021128526A1 (fr) Système de trajet optique et radar laser
CN108614254B (zh) 一种激光雷达
CN109490908B (zh) 一种线扫描激光雷达及扫描方法
WO2020164223A1 (fr) Lidar et appareil de balayage combiné
US20150124238A1 (en) Object detecting apparatus
WO2020062301A1 (fr) Dispositif de détection de distance
CN111693965A (zh) 一种激光雷达扫描方法及激光雷达
US11762067B2 (en) Systems and methods for modifying LIDAR field of view
CN113093149B (zh) 一种转镜装置以及激光雷达
JP2018005183A (ja) 光走査装置、物体検知装置および距離検知装置
WO2023035326A1 (fr) Lidar hybride à semi-conducteur et son procédé de balayage
CN109490909A (zh) 激光雷达扫描探测装置及其探测方法
KR20220097220A (ko) 서로 다른 지향각을 갖는 복수의 채널을 구비하는 라이다 광원용 발광장치
CN212623056U (zh) 一种光路系统及激光雷达
CN113640773A (zh) 一种激光雷达系统
JP2907139B2 (ja) 車載用レーザレーダ装置
CN109633675B (zh) 一种激光发射装置
WO2020215745A1 (fr) Lidar tridimensionnel et procédé de positionnement correspondant
US20210124018A1 (en) LIDAR with Field of View Extending Window
CN114076929A (zh) 激光雷达系统、车辆以及激光雷达探测方法
CN211786078U (zh) 一种光路系统及激光雷达
WO2022077711A1 (fr) Système radar laser et son procédé d'étalonnage
EP2476014B1 (fr) Dispositif et procédé pour la détection et la localisation d'objet
KR101744610B1 (ko) 3차원 스캐닝 시스템

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20925231

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 08/02/2023)

122 Ep: pct application non-entry in european phase

Ref document number: 20925231

Country of ref document: EP

Kind code of ref document: A1