WO2022077711A1 - 一种激光雷达系统及其校准方法 - Google Patents

一种激光雷达系统及其校准方法 Download PDF

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Publication number
WO2022077711A1
WO2022077711A1 PCT/CN2020/131244 CN2020131244W WO2022077711A1 WO 2022077711 A1 WO2022077711 A1 WO 2022077711A1 CN 2020131244 W CN2020131244 W CN 2020131244W WO 2022077711 A1 WO2022077711 A1 WO 2022077711A1
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Prior art keywords
laser
unit
light
scanning
collimator
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PCT/CN2020/131244
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English (en)
French (fr)
Inventor
郑凯
张海武
疏达
李�远
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北醒（北京）光子科技有限公司
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Publication of WO2022077711A1 publication Critical patent/WO2022077711A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • 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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • 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
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • 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
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the invention relates to the technical field of laser radar, in particular to a laser radar system and a calibration method thereof.
  • Lidar is a radar system that emits a laser beam to detect the position, velocity and other characteristic quantities of the target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal (target echo) reflected from the target with the transmitted detection signal, and after proper processing, the relevant information of the target can be obtained. , such as target distance, bearing, altitude, speed, attitude, and even shape.
  • Multi-line LiDAR refers to a radar in which the laser beam emitted by the laser source is multi-beam, and one scan can generate multiple scanning lines.
  • a collimator needs to be configured for each laser beam
  • a converging lens also needs to be configured for each target echo.
  • embodiments of the present invention provide a laser radar system and a calibration method thereof, which can perform calibration operations simply and quickly.
  • an embodiment of the present invention provides a lidar system, including: a laser emitting unit, a scanning unit, a receiving unit, and a control unit, the control unit controls the laser emitting unit to emit laser, and the laser is The scanning unit emits after scanning, so as to be received by the receiving unit after being reflected by the target; wherein, the laser emitting unit includes a light source and a collimator located on the light exit path of the light source, and the light source has two More than one laser output channel, the laser beams output by different laser output channels are all collimated by the one collimator and then output in a divergent manner; and/or, the receiving unit includes a photodetector, the photoelectric The detector has more than two picture elements, and a converging lens is arranged on the light receiving path of the two or more picture elements, so that the two or more picture elements receive the light reflected by the target through the one converging lens .
  • the light source and the collimator are connected together and can be rotated together to calibrate the optical axes of the laser emitting unit and the receiving unit.
  • the photodetector can move and/or rotate relative to the converging lens, so as to calibrate the optical axes of the laser emitting unit and the receiving unit.
  • the photodetector and the converging lens can move and/or rotate together to calibrate the optical axes of the laser emitting unit and the receiving unit.
  • the laser light emitted by the light source is a pulsed laser light; the outlets of the two or more laser output channels are linearly arranged in a vertical direction.
  • the different beams output by the collimator have a beam angle in the vertical direction; the scanning angle of the scanning unit in the vertical direction is smaller than the beam clamp The smallest included angle among the angles.
  • the beam output by the collimator is set with a fixed angle. By adjusting the rotation direction of the collimator along the optical axis, the angle between different beams is in the vertical direction. The device is fixed.
  • the scanning angle of the scanning unit in the vertical direction is adjustable.
  • the number of the picture elements is the same as the number of the laser output channels, and the two or more picture elements are in one-to-one correspondence with the two or more laser output channels.
  • an embodiment of the present application further provides a calibration method applicable to any of the foregoing lidar systems, the calibration method comprising:
  • different beams output by the collimator have beam angles in the vertical direction; the calibration method further includes: adjusting the scanning of the scanning unit in the vertical direction The included angle is such that the scanning included angle is smaller than the smallest included angle among the beam included angles.
  • the two or more pulsed laser beams emitted by the laser transmitting unit are collimated and output by only one collimator, and/or the two or more pixels of the receiving unit are output. Only one converging lens is configured on the light receiving path, which greatly reduces the number of required collimators and/or converging lenses, thus reducing the complexity of the operation when performing optical axis alignment between the laser emitting unit and the receiving unit , making the calibration operation easier and faster.
  • FIG. 1 is a schematic diagram of a lidar system according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an end face of a fiber head of a fiber laser in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a laser transmitter integrated with a fiber laser and a collimator.
  • FIG. 4 is a schematic diagram of an APD photodetector in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a receiving unit receiving pulsed laser light in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a laser radar system transmitting laser light in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a scanning trajectory of a lidar system in an embodiment of the present application.
  • the embodiments of the present application aim to provide a laser radar system and a calibration method thereof that can perform a simple and quick calibration operation.
  • FIG. 1 is a schematic diagram of a lidar system according to an embodiment of the present application.
  • a lidar system 100 in this embodiment includes a laser emission unit 200 , a scanning unit 300 , a receiving unit 400 and a control unit 500 .
  • the control unit 500 controls laser emission
  • the unit 200 emits laser light, and the laser light emitted by the laser emission unit 200 is scanned by the scanning unit 300 and then emitted, so as to be received by the receiving unit 400 after being reflected by the target.
  • the laser emitting unit 200 is used for generating pulsed laser light, collimating the pulsed laser light and outputting it. It can include a light source and a collimator on the light exit path of the light source, the light source has more than two laser output channels, and the laser beams output by different laser output channels are collimated by a collimator and then output. Each laser beam is output through an optical fiber, and multiple optical fibers corresponding to multiple laser beams are connected to an optical fiber output connector, and the optical fiber head is connected to a collimator to realize collimated output of multiple beams.
  • the light source can be various types of light sources such as semiconductor light sources, fiber-coupled light sources, and the like.
  • the light source may be a light source with a wavelength of 905 nm, 1550 nm, or the like.
  • the light source is a narrow pulse laser fiber laser with a wavelength of 1550 nm.
  • the light source can emit more than two pulsed laser beams.
  • the light source emits more than two pulsed laser beams, which are respectively output through different laser output channels.
  • the light source includes a light source.
  • a light source emits a pulsed laser.
  • a beam of pulsed laser is divided into two or more pulsed lasers by a beam splitting device (such as a beam splitter).
  • the two or more pulsed lasers obtained after beam splitting are respectively output through different laser output channels.
  • the light source includes more than two light emitting sources.
  • Each light-emitting source can emit one beam of pulsed laser light, and correspondingly, two or more light-emitting sources can simultaneously emit more than two beams of pulsed laser light.
  • the two or more pulsed laser beams simultaneously emitted by the two or more light-emitting sources are respectively output through different laser output channels.
  • the spacing between the light-emitting sources is specifically arranged.
  • the spacing between the light sources is fixed, for example, 100-300 microns, arranged in a line, triangle, or rectangle.
  • the exits of the two or more laser output channels of the laser emitting unit 200 can be wired in the vertical direction (eg, the vertical direction).
  • the scanning unit 300 it is convenient for the scanning unit 300 to form more scanning tracks in the vertical direction, thereby increasing the vertical resolution of the lidar system 100 .
  • the vertical resolution refers to the angular resolution of adjacent rays in the vertical direction, and the vertical resolution is less than or equal to the scanning angle. The resolution will be smaller than the scanning angle due to the staggered stacking of the 2 channel traces.
  • the two or more pulsed laser beams emitted by the light source are In the output mode, the different beams output by the collimator have a preset beam angle in the vertical direction, and the beam angle is greater than 0.5 degrees and less than 5 degrees.
  • the scanning angle of the scanning unit 300 in the vertical direction is smaller than the smallest beam angle among the beam angles.
  • the middle portion of the scanning trajectory image formed by the scanning unit 300 has a higher vertical resolution than the top and bottom portions.
  • the scanning angle of the scanning unit 300 in the vertical direction can be dynamically adjusted, so as to realize the dynamic adjustment of the vertical resolution of the lidar system 100 .
  • the control unit 500 can dynamically adjust the vibration amplitude of the galvanometer corresponding to each line in the scanning unit 300 to dynamically adjust the scanning line angle of the scanning unit 300 in the vertical direction, thereby dynamically adjusting the lidar system 100 vertical resolution.
  • the scanning unit 300 includes a polygonal prism and a galvanometer.
  • the polygonal prism is used for scanning in the horizontal direction
  • the galvanometer is used for scanning in the vertical direction
  • the combination of the polygonal prism and the galvanometer can realize the scanning and detection of the lidar system 100 in the horizontal and vertical directions.
  • the galvanometer can be a motor-driven galvanometer, or a MEMS (Micro-Electro-Mechanical System)-driven galvanometer
  • the prism can be a prism with multiple reflective surfaces such as 2, 3, 4, and 6 surfaces. .
  • the receiving unit 400 includes a photodetector, the photodetector has more than two picture elements, and a converging lens is arranged on the light receiving path of the two or more picture elements, so that the two or more picture elements pass through the one converging lens Receives light reflected back from the target.
  • the photodetector may be a photodetector of different materials such as silicon-based and InGaAs. It can be a PIN photodetector, an APD (Aualanche Photo Diode) photodetector (also known as an avalanche photodetector), a Geiger mode photodetector and other types of photodetectors.
  • the photodetector can be a linear photodetector or an area array photodetector.
  • the spacing of each pixel of the photodetector is specifically arranged.
  • the arrangement of the picture elements of the photodetector is a line array arrangement or an area array arrangement, and the spacing of each picture element can be fixed and equal, for example, 500-1000 microns.
  • the image corresponding to the photodetector of the receiving unit 400 is The elements are also arranged in line or area array, and each light source (or laser output channel) corresponds to each pixel one-to-one.
  • each light source or laser output channel
  • R1 corresponds to L1
  • R2 corresponds to L2.
  • the laser beam emitted from the L1 channel and collimated by the collimator is scanned by the scanning unit 300 and then emitted to the target, and after being reflected by the target, it is received by the pixel R1; the laser beam emitted from the L2 channel and collimated by the collimator
  • the laser beam, after being scanned by the scanning unit 300, is emitted to the target, and after being reflected by the target, it is received by the pixel R2.
  • the receiving unit 400 may further include a signal conditioning circuit for processing the pulse echoes reflected by the target and collected by the converging lens received by the photodetector, such as performing denoising or signal enhancement processing.
  • the pulse echo processed by the signal conditioning circuit is output to the control unit 500, and the control unit 500 calculates the target distance according to the time that the pulse echo lags behind the transmitted pulse.
  • the control unit 500 is used to control the laser emission unit 200 to emit pulsed laser light, and then control the scanning unit 300 to scan to realize the scanning detection of the target, and finally realize the point cloud display of the lidar by reading the echo signal of the receiving unit 400 and calculating the distance. .
  • the control unit 500 can also be used to calculate the intensity information of the echo signal returned by the target.
  • the control unit 500 controls the laser emitting unit 200 to emit pulsed laser light.
  • the pulsed laser light is reflected by the galvanometer and the polygonal prism and then directed to the target. After being reflected by the target, it is reflected along the prism and the galvanometer mirror.
  • the photodetector of the receiving unit 400 receives and generates an echo signal.
  • the echo signal is processed by the signal conditioning circuit of the receiving unit 400 and then output to the control unit 500.
  • the control unit 500 calculates the target distance according to the time that the pulse echo lags behind the transmitted pulse.
  • the control unit 500 can obtain the angle data of the galvanometer and the prism in real time, and can obtain the three-dimensional point cloud information of the target through the calculation.
  • the control unit 500 can solve the point cloud information of the target in real time, Finally, it is sent to the host computer to display the point cloud data of the target in real time.
  • the optical axis alignment between the laser emitting unit 200 and the receiving unit 400 can be performed by changing the positions of the light-emitting source and the collimator, so that the laser beam emitted by the laser emitting unit 200 is scanned by the scanning unit 300 and then emitted to the target, and then After the target is reflected, it is accurately received by the receiving unit 400 .
  • the optical axis of the light-emitting source or the collimator can be used as the rotation axis, and the light-emitting source and the collimator can be rotated, or the light-emitting source and the collimator can be moved in three-dimensional space, so that the laser emitting unit 200 and the receiving The optical axis of the unit 400 is calibrated.
  • two or more pulsed lasers are collimated and output through only one collimator.
  • the complexity of the operation can be reduced, making the calibration operation simpler and faster.
  • the light source and collimator can be repositioned as a unit.
  • the collimator and the light emitting source are connected (or integrated) together so that the position of the light emitting source and the collimator as a whole can be adjusted.
  • the laser beam can also be performed by changing the positions of the photodetector and/or the converging lens.
  • the optical axis between the transmitting unit 200 and the receiving unit 400 is aligned.
  • the photodetector can move and/or rotate relative to the converging lens to calibrate the optical axes of the laser emitting unit 200 and the receiving unit 400 , so that the laser beam emitted by the laser emitting unit 200 is scanned by the scanning unit 300 and then directed toward the After the target is emitted, it is accurately received by the receiving unit 400 after being reflected by the target.
  • the movement of the photodetector relative to the converging lens may be a movement in three-dimensional space (approaching or moving away, moving left and right, moving up and down, etc.).
  • the rotation of the photodetector relative to the converging lens can be made by taking the optical axis of the converging lens as the rotation axis.
  • the photodetector and the converging lens can move and/or rotate together to calibrate the optical axes of the laser emitting unit 200 and the receiving unit 400 , so that the laser beam emitted by the laser emitting unit 200 is scanned by the scanning unit 300 It is emitted backward to the target, and is accurately received by the receiving unit 400 after being reflected by the target.
  • the photodetector moves together with the converging lens, or it can move in three-dimensional space (forward or backward, left and right, up and down, etc.).
  • the rotation of the photodetector and the converging lens can also be done with the optical axis of the converging lens as the rotation axis.
  • the optical axis alignment between the laser emitting unit 200 and the receiving unit 400 can be performed by changing the positions of the light source and the collimator, and by changing the positions of the photodetector and/or the converging lens.
  • the embodiments of the present application are not limited thereto, and in other embodiments, the optical axis alignment between the laser emitting unit 200 and the receiving unit 400 may be performed only by changing the positions of the light emitting source and the collimator.
  • the two or more pulsed laser beams emitted by the light source only need to be collimated and output by a collimator; and the two or more pixels of the photodetector can be configured together with a converging lens, or can be separately Configure the respective convergent lenses.
  • the optical axis alignment between the laser emitting unit 200 and the receiving unit 400 may be performed only by changing the position of the photodetector and/or the converging lens.
  • the two or more pixels of the photodetector only need to configure a converging lens together; and the two or more pulsed laser beams emitted by the light source can be collimated and output by a collimator or separately. The output is collimated by different collimators.
  • the lidar system 100 of this embodiment includes: a laser emitting unit 200 , a scanning unit 300 , a receiving unit 400 and a control unit 500 .
  • the light source of the laser emitting unit 200 is a narrow pulse laser fiber laser with a wavelength of 1550 nm.
  • Fig. 2 is a schematic diagram of the end face of the fiber head of the fiber laser in this embodiment.
  • the fiber head 201 of the fiber laser has two laser output channels 202a and 202b, and the two laser output channels 202a and 202b are arranged at a specific interval, for example
  • the fixed pitch is between 100-300 microns.
  • FIG. 3 is a schematic diagram of a laser transmitter integrated with a fiber laser and a collimator.
  • the laser output through the two laser output channels 202a and 202b of the fiber head of the fiber laser is output through a collimator to form a fixed clip Two laser beams 204a and 204b at the corners.
  • the laser transmitter 200 integrated with the fiber laser and the collimator is fixed on the laser emitting structure (not shown in the figure), and the rotation angle can be adjusted along the central optical axis of the laser transmitter 200 to ensure that the two laser beams 204a emitted are and 204b can be detected by the two pixels receiving the APD photodetector.
  • the center-to-center spacing of the two laser output channels 202 a and 202 b matches the center-to-center spacing of the two pixels of the APD photodetector of the receiving unit 400 .
  • the scanning mirror of the scanning unit 300 is driven by a motor, and the scanning mode, scanning angle range and scanning frequency of the scanning mirror are controlled by the control unit 500;
  • the prism is a hexagonal prism, and the scanning optical angle of each surface is more than 90 degrees.
  • FIG. 4 is a schematic diagram of the APD photodetector in this embodiment.
  • the APD photodetector 401 in FIG. 4 includes two linearly arranged pixels 402a and 402b, and the two pixels 402a and 402b are arranged with a specific center distance, for example, the distance between the two pixels is a fixed distance of 500-1000 microns between.
  • FIG. 5 is a schematic diagram of the receiving unit receiving pulsed laser light in this embodiment. 5 , a converging lens (also referred to as a receiving lens) 403 condenses the pulsed lasers 404a and 404b reflected by the target from the two laser beams 204a and 204b of the laser emitting unit 200 to two pixels 402b and 402a, respectively.
  • a converging lens also referred to as a receiving lens
  • the converging lens 403 is fixed on the receiving structure (not shown in the figure). The position of the converging lens 403 remains unchanged. By adjusting the position of the APD photodetector 401 relative to the three dimensions of the converging lens 403, the optical axis of the APD photodetector of the receiving unit 400 and the optical axis of the laser emitting unit 200 are calibrated.
  • the center line connecting the two pixels 402a and 402b of the APD photodetector has an included angle with the horizontal direction of the machine
  • the center line connecting the two laser output channels 202a and 202b of the laser emitting unit 200 with the horizontal direction of the machine also has an angle. If there is an included angle, the included angle should be the same as the included angle between the center line connecting the two pixels 402a and 402b of the APD photodetector and the horizontal direction of the machine.
  • the control unit 500 can calculate the distance information and intensity information of the target in real time, and read the angle information of the prism and the galvanometer of the scanning unit 300 in real time.
  • the two laser output channels 202 a and 202 b of the laser emitting unit 200 of the lidar system 100 are in one-to-one correspondence with the two pixels 402 a and 402 b of the receiving unit 400 .
  • FIG. 6 is a schematic diagram of laser light emitted by the lidar system in this embodiment.
  • the two laser beams 204a and 204b emitted by the laser emission unit 200 of the lidar system 100 are linearly arranged in the vertical direction.
  • FIG. 7 is a schematic diagram of a scanning trajectory of the lidar system in this embodiment.
  • the two laser beams emitted by the laser emitting unit 200 of the lidar system 100 are the beam 204a and the beam 204b respectively, the beam angle ⁇ of the two laser beams 204a and 204b is fixed, and the spot 207 of the beam 204b Scan along the horizontal direction to form a beam track 208, and the light spot 207 of the light beam 204a scans along the horizontal direction to form a beam track 209;
  • the beam angle ⁇ is greater than the scanning angle ⁇ in the vertical direction. Since the beam angle ⁇ is larger than the vertical scanning angle ⁇ , the vertical resolution of the top and bottom of the trace formed by scanning in FIG. 7 will be lower than that of the middle part.
  • the scanning angle ⁇ refers to the angle between two adjacent lines scanned by the galvanometer, and is also the angle between two adjacent rays formed by the scanning of a laser beam such as 204a.
  • the lidar system 100 can send instructions through the host computer to switch multiple working modes in real time, so as to realize the adjustment of horizontal field of view, vertical field of view, horizontal resolution, vertical resolution, and refresh frame rate. Dynamic real-time adjustment.
  • the scanning unit 300 due to the combination of a prism and a galvanometer scanning method, and the laser emitting unit 200 and the receiving unit 400 both transmit and receive pulsed laser light through the scanning unit 300, less light-emitting sources and photoelectric detection can be used.
  • the high-density point cloud display of the target can be realized.
  • the laser emitting unit 200, the receiving unit 400 and the control unit 500 can all be fixedly installed on the platform or bracket, and only the prism and the galvanometer can be rotated relative to the platform or bracket, so that the life and reliability of the entire lidar system 100 are greatly improved. improve.
  • An embodiment of the present application further provides a calibration method for a lidar system, which can be applied to the lidar system described in any of the foregoing embodiments.
  • the calibration method may include:
  • the calibration method in this embodiment can be applied to the system embodiment shown in FIG. 1 , and the implementation principle and technical effect thereof are similar, which will not be repeated here.
  • the different beams output by the collimator have a beam angle in the vertical direction, and the beam angle is greater than 0.5 degrees and less than 5 degrees; the calibration method further It may include: adjusting the scanning angle of the scanning unit in the vertical direction, so that the scanning angle is smaller than the smallest beam angle among the beam angles.
  • the beam output by the collimator is set with a fixed angle. By adjusting the rotation direction of the collimator along the optical axis, the angle between different beams is in the vertical direction. The device is fixed.

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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

一种激光雷达系统及其校准方法，涉及激光雷达技术领域，能够简单快捷地进行校准操作。激光雷达系统（100）包括：激光发射单元（200）、扫描单元（300）、接收单元（400）和控制单元（500）；其中，激光发射单元（200），包括光源和位于光源的光出射路径上的一个准直器，光源具有两个以上的激光输出通道（202a、202b），不同激光输出通道（202a、202b）输出的激光束（204a、204b），均经过一个准直器准直后以发散的方式输出；和/或，接收单元（400），包括光电探测器（401），光电探测器（401）具有两个以上的像元（402a、402b），在两个以上的像元（402a、402b）的光接收路径上设有一个汇聚透镜（403），以使两个以上的像元（402a、402b）通过一个汇聚透镜（403）接收目标反射回的光（404a、404b）。该激光雷达系统适用于对目标进行距离探测。

Description

一种激光雷达系统及其校准方法
本申请要求于2020年10月12日提交中国专利局、申请号为202011084394.5，发明名称为“一种激光雷达系统及其校准方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及激光雷达技术领域，尤其涉及一种激光雷达系统及其校准方法。
背景技术
激光雷达，是以发射激光束探测目标的位置、速度等特征量的雷达系统。其工作原理是向目标发射探测信号(激光束)，然后将接收到的从目标反射回来的信号(目标回波)与发射的探测信号进行比较，作适当处理后，就可获得目标的有关信息，如目标距离、方位、高度、速度、姿态、甚至形状等。
目前，应用广泛的是基于机械旋转扫描的多线激光雷达。多线激光雷达是指激光源发出的激光束是多束，扫描一次可产生多条扫描线的雷达。在多线激光雷达中，在激光发射单元，需要为每束激光配置一个准直器，在接收单元，也需要为每一目标回波配置一个汇聚透镜。在对激光发射单元和接收单元的光轴进行校准时，由于激光源发出的激光束的线数较多，配置的准直器的数量及汇聚透镜的数量也就相应较多，使得校准难度大，校准时间长。
发明内容
有鉴于此，本发明实施例提供一种激光雷达系统及其校准方法，能够简单快捷地进行校准操作。
第一方面，本发明实施例提供一种激光雷达系统，包括：激光发射单元、扫描单元、接收单元和控制单元，所述控制单元控制所述激光发射单元发射激光，所述激光，经所述扫描单元扫描后射出，以便经目标反射后，由所述接收单元接收；其中，所述激光发射单元，包括光源和位于所述光源的光出射路径 上的一个准直器，所述光源具有两个以上的激光输出通道，不同激光输出通道输出的激光束，均经过所述一个准直器准直后以发散的方式输出；和/或，所述接收单元，包括光电探测器，所述光电探测器具有两个以上的像元，在所述两个以上的像元的光接收路径上设有一个汇聚透镜，以使所述两个以上的像元通过一个汇聚透镜接收目标反射回的光。
根据本发明实施例的一种具体实现方式，所述光源与所述准直器连接在一起，且能够一起转动，以对所述激光发射单元和所述接收单元的光轴进行校准。
根据本发明实施例的一种具体实现方式，所述光电探测器能够相对所述汇聚透镜移动和/或转动，以对所述激光发射单元和所述接收单元的光轴进行校准。
根据本发明实施例的一种具体实现方式，所述光电探测器与所述汇聚透镜能够一起移动和/或转动，以对所述激光发射单元和所述接收单元的光轴进行校准。
根据本发明实施例的一种具体实现方式，所述光源发出的激光为脉冲激光；所述两个以上的激光输出通道的出口，在垂直方向上线性排列。
根据本发明实施例的一种具体实现方式，所述准直器输出的不同光束之间在垂直方向上具有光束夹角；所述扫描单元在垂直方向上的扫描夹角，小于所述光束夹角中最小的夹角。准直器输出的光束设置有固定夹角，通过调整准直器沿光轴的旋转方向，使得不同光束之间的夹角在垂直方向，调整好后用准直器的夹持件将准直器固定好。
根据本发明实施例的一种具体实现方式，所述扫描单元在垂直方向上的扫描夹角可调。
根据本发明实施例的一种具体实现方式，所述像元的数量与所述激光输出通道的数量相同，所述两个以上的像元与所述两个以上的激光输出通道一一对应。
第二方面，本申请实施例还提供一种可用于前述任一激光雷达系统的校准方法，所述校准方法包括：
将所述光源连同所述准直器一起转动，调整所述准直器输出的光束入射到所述扫描单元上的位置；和/或，
调整所述两个以上的像元相对所述汇聚透镜的位置，或将所述两个以上的像元与所述汇聚透镜一起转动或移动，以使经所述扫描单元扫描后射出的光束，经目标反射后，由所述接收单元准确接收。
根据本发明实施例的一种具体实现方式，所述准直器输出的不同光束之间在垂直方向上具有光束夹角；所述校准方法还包括：调整所述扫描单元在垂直方向上的扫描夹角，以使所述扫描夹角小于所述光束夹角中最小的夹角。
本发明实施例提供的激光雷达系统及其校准方法，激光发射单元发射的两束以上的脉冲激光，仅通过一个准直器准直输出，和/或在接收单元的两个以上的像元的光接收路径上仅配置一个汇聚透镜，大大减少了所需的准直器和/或汇聚透镜的数量，这样在进行激光发射单元和接收单元之间的光轴校准时，可以降低操作的复杂度，使得校准操作更加简单快捷。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本申请一实施例激光雷达系统示意图。
图2为本申请一实施例中光纤激光器的光纤头端面示意图。
图3为集成有光纤激光器和准直器的激光发射器示意图。
图4为本申请一实施例中APD光电探测器示意图。
图5为本申请一实施例中接收单元接收脉冲激光的示意图。
图6为本申请一实施例中激光雷达系统发射激光示意图。
图7为本申请一实施例中激光雷达系统扫描轨迹示意图。
具体实施方式
下面结合附图对本发明实施例进行详细描述。应当明确，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
本申请实施例旨在提供一种能够简单快捷地进行校准操作的激光雷达系统及其校准方法。
图1为本申请一实施例激光雷达系统示意图，参看图1，本实施例激光雷达系统100，包括：激光发射单元200、扫描单元300、接收单元400和控制单元500，控制单元500控制激光发射单元200发射激光，激光发射单元200发射的激光，经扫描单元300扫描后射出，以便经目标反射后，由接收单元400接收。
激光发射单元200，用于产生脉冲激光，并将脉冲激光准直后输出。其可包括光源和位于光源的光出射路径上的一个准直器，光源具有两个以上的激光输出通道，不同激光输出通道输出的激光束，均经过一个准直器准直后输出。每个激光束通过一根光纤输出，多个激光束对应的多根光纤连接到一个光纤输出接头上，该光纤头连接一个准直器实现多束光束的准直输出。
光源可以是半导体光源、光纤耦合的光源等多种类型的光源。就波长角度来讲，光源可以是波长为905nm、1550nm等波长的光源。在一个例子中，光源采用波长为1550nm的窄脉冲激光光纤激光器。
光源可发出两束以上的脉冲激光。光源发出两束以上的脉冲激光，分别通过不同的激光输出通道输出。
在一个例子中，光源包括一个发光源。一个发光源可发射一束脉冲激光。一束脉冲激光通过分束器件(如分束镜)分为两束以上的脉冲激光。经过分束 后获得的两束以上的脉冲激光，分别通过不同的激光输出通道输出。
在另一个例子中，光源包括两个以上发光源。每个发光源可发射一束脉冲激光，相应地，两个以上的发光源可同时发射两束以上的脉冲激光。两个以上的发光源同时发射的两束以上的脉冲激光，分别通过不同的激光输出通道输出。
在光源包括两个以上发光源时，发光源之间的间距是特定排列的。在其中的一实施例中，发光源之间的间距是固定的，例如为100-300微米，排列成为一字型、三角形或者矩形等。
为了使激光雷达系统100具有较高的垂直分辨率(也可称为垂直角分辨率)，激光发射单元200的两个以上的激光输出通道的出口，可在垂直方向(如竖直方向)上线性排列，这样便于扫描单元300在垂直方向上形成更多的扫描轨迹，以此增大激光雷达系统100的垂直分辨率。垂直分辨率是指垂直方向相邻光线的角分辨率，垂直分辨率小于或等于扫描夹角，图7中扫描形成的轨迹图的顶部和底部的垂直分辨率等于扫描夹角，中间部分的垂直分辨率由于2个通道轨迹的交错叠加会小于扫描夹角。
为使激光雷达系统100在具有较高垂直分辨率的同时，不至于过度增大光源在垂直方向上的尺寸，光源发射的两束以上的脉冲激光束，由准直器准直后以发散的方式输出时，使得准直器输出的不同光束之间在垂直方向上具有预设的光束夹角，光束夹角大于0.5度，小于5度。
相应地，扫描单元300在垂直方向上的扫描夹角，小于各光束夹角中最小的光束夹角。这样，扫描单元300扫描形成的扫描轨迹图的中间部分相对于顶部和底部部分，会具有更高的垂直分辨率。
扫描单元300在垂直方向上的扫描夹角可动态调整，以实现激光雷达系统100的垂直分辨率的动态调整。具体地，可通过控制单元500动态调整扫描单元300中每条线对应的振镜的振动幅度，来动态调整扫描单元300在垂直方向上的扫描线夹角，以此来动态调整激光雷达系统100的垂直分辨率。
扫描单元300，包括多面棱镜和振镜。多面棱镜用于实现水平方向的扫描，振镜用于实现垂直方向的扫描，多面棱镜和振镜的组合即可实现激光雷达系统100在水平和垂直方向的扫描探测。其中，振镜，可以是电机驱动的振镜，也可以是MEMS(微机电系统)驱动的振镜；棱镜，可以是具有2面、3面、4面、6面等多个反射面的棱镜。
接收单元400，包括光电探测器，光电探测器具有两个以上的像元，在两个以上的像元的光接收路径上设有一个汇聚透镜，以使两个以上的像元通过一个汇聚透镜接收目标反射回的光。其中，光电探测器可以是硅基、InGaAs等不同材料的光电探测器。可以是PIN光电探测器、APD(Aualanche Photo Diode)光电探测器(也可称为雪崩光电探测器)、盖革模式光电探测器等类型的光电探测器。从像元的数量及布置方式来讲，光电探测器可以是线列光电探测器，也可以是面阵光电探测器。光电探测器的每个像元的间距是特定排列的。在其中的一实施例中，光电探测器的像元的排列方式是线列排列或者面阵排列，每个像元的间距可以是固定等间距的，例如为500-1000微米。
为使激光雷达系统100的探测激光具有较高的准确度，激光发射单元200的发光源(或激光输出通道的端口)是线列或面阵排列时，对应接收单元400的光电探测器的像元也是线列或面阵排列，并且每个发光源(或激光输出通道)和每个像元一一对应。比如，激光发射单元200中光源的激光输出通道有两个，分别为L1和L2；光电探测器上的像元也有两个，分别为R1和R2，R1与L1相对应，R2和L2相对应。由L1通道射出、经过准直器准直后的激光束，经扫描单元300扫描后向目标射出，经目标反射后，由像元R1接收；由L2通道射出、经过准直器准直后的激光束，经扫描单元300扫描后向目标射出，经目标反射后，由像元R2接收。
接收单元400，还可包括信号调理电路，用于对光电探测器接收到的由目标反射并经汇聚透镜汇聚的脉冲回波进行处理，如进行去噪或信号增强处理等。经信号调理电路处理后的脉冲回波输出至控制单元500，由控制单元500根据脉 冲回波滞后于发射脉冲的时间计算目标距离。
控制单元500，用于控制激光发射单元200发射脉冲激光，然后控制扫描单元300扫描实现对目标的扫描探测，最后通过读取接收单元400的回波信号并计算距离，实现激光雷达的点云显示。控制单元500还可用于计算目标返回的回波信号的强度信息。
激光雷达系统100开始工作时，控制单元500控制激光发射单元200发射脉冲激光，该脉冲激光经过振镜和多面棱镜反射后射向目标，经过目标反射后沿所述棱镜、所述振镜反射后由接收单元400的光电探测器接收并产生回波信号，回波信号经接收单元400的信号调理电路处理后输出至控制单元500，控制单元500根据脉冲回波滞后于发射脉冲的时间计算目标距离，同时控制单元500可实时获取振镜和棱镜的角度数据，经过解算可以获得目标的三维点云信息，通过振镜和棱镜的连续扫描，控制单元500可以实时解算目标的点云信息，最后发送至上位机实时显示目标的点云数据。
可通过改变发光源和准直器的位置，来进行激光发射单元200和接收单元400之间的光轴校准，以使激光发射单元200发出的激光束经扫描单元300扫描后向目标射出，经目标反射后，由接收单元400准确接收。具体地，可以发光源或准直器的光轴为转轴，对发光源和准直器做转动操作，或者对发光源和准直器做三维空间上的移动，以对激光发射单元200和接收单元400的光轴进行校准。
相对于对每束脉冲激光分别配置一个准直器而言，本实施例中，两束以上的脉冲激光，仅通过一个准直器准直输出，这样在进行激光发射单元200和接收单元400之间的光轴校准时，可以降低操作的复杂度，使得校准操作更加简单快捷。
为进一步简化校准操作，发光源和准直器可以作为一个整体进行位置调整。在一个例子中，准直器和发光源连接(或集成)在一起，以便可以将发光源和准直器作为一个整体进行位置调整。
除了可通过改变发光源和准直器的位置，来进行激光发射单元200和接收单元400之间的光轴校准之外，也可通过改变光电探测器和/或汇聚透镜的位置，来进行激光发射单元200和接收单元400之间的光轴校准。
在一个例子中，光电探测器能够相对汇聚透镜移动和/或转动，以对激光发射单元200和接收单元400的光轴进行校准，使得激光发射单元200发出的激光束经扫描单元300扫描后向目标射出，经目标反射后，由接收单元400准确接收。光电探测器相对汇聚透镜的移动，可以是三维空间上的移动(靠近或远离、左右移动、上下移动等)。光电探测器相对汇聚透镜的转动，可以是以汇聚透镜的光轴为转轴所做的转动。
在另一个例子中，光电探测器与汇聚透镜能够一起移动和/或转动，以对激光发射单元200和接收单元400的光轴进行校准，使得激光发射单元200发出的激光束经扫描单元300扫描后向目标射出，经目标反射后，由接收单元400准确接收。光电探测器与汇聚透镜的一起移动，也可以是三维空间上的移动(前移或后退、左右移动、上下移动等)。光电探测器与汇聚透镜的一起转动，也可以是以汇聚透镜的光轴为转轴所做的转动。
相对于对每个像元分别配置一个汇聚透镜而言，本实施例中，在两个以上的像元的光接收路径上仅存在一个汇聚透镜，这样在进行激光发射单元200和接收单元400之间的光轴校准时，可以降低操作的复杂度，使得校准操作更加简单快捷。
上述实施例中，可通过改变发光源和准直器的位置，以及通过改变光电探测器和/或汇聚透镜的位置，来进行激光发射单元200和接收单元400之间的光轴校准。本申请实施例不限于此，在另一些实施例中，可仅通过改变发光源和准直器的位置，来进行激光发射单元200和接收单元400之间的光轴校准。在这种情况下，光源发射的两束以上的脉冲激光，只需通过一个准直器准直输出；而光电探测器的两个以上的像元，即可共同配置一个汇聚透镜，也可分别配置各自的汇聚透镜。在又一些实施例中，可仅通过改变光电探测器和/或汇聚透镜 的位置，来进行激光发射单元200和接收单元400之间的光轴校准。在这种情况下，光电探测器的两个以上的像元，只需共同配置一个汇聚透镜；而光源发射的两束以上的脉冲激光，既可通过一个准直器准直输出，也可分别通过不同的准直器准直输出。
下面以一具体实施例为例对本申请激光雷达系统做详细说明：
参看图1，本实施例激光雷达系统100包括：激光发射单元200、扫描单元300、接收单元400和控制单元500。
其中，激光发射单元200的光源采用波长为1550nm的窄脉冲激光光纤激光器。图2为本实施例中光纤激光器的光纤头端面示意图，参看图2，光纤激光器的光纤头201有两个激光输出通道202a和202b，两个激光输出通道202a和202b以特定的间距排列，例如固定的间距为100-300微米之间。
图3为集成有光纤激光器和准直器的激光发射器示意图，参看图3，通过光纤激光器的光纤头的两个激光输出通道202a和202b输出的激光，经过一个准直器输出后形成固定夹角的两束激光204a和204b。
集成有光纤激光器和准直器的激光发射器200固定在激光发射结构件(图中未示出)上，并可以沿激光发射器200的中心光轴调节旋转角度，保证发射的两束激光204a和204b可以被接收APD光电探测器的两个像元探测到。
两个激光输出通道202a和202b的中心间距，与接收单元400的APD光电探测器的两个像元的中心间距相匹配。
扫描单元300的振镜采用电机驱动，振镜的扫描方式、扫描角度范围及扫描频率由控制单元500控制；棱镜采用六面棱镜，每个面的扫描光学角度在90度以上。
接收单元400的光电探测器采用基于InGaAs的APD光电探测器。图4为本实施例中APD光电探测器示意图。图4中APD光电探测器401包括两个呈线性排列的像元402a和402b，两个像元402a和402b以特定的中心间距排列， 例如两个像元的间距是固定的500-1000微米之间。
图5为本实施例中接收单元接收脉冲激光的示意图。参看图5，汇聚透镜(也可称为接收透镜)403将激光发射单元200的两束激光204a和204b经目标反射后的脉冲激光404a和404b分别汇聚至两个像元402b和402a上。
汇聚透镜403固定在接收结构件(图中未示出)上。汇聚透镜403位置不变，通过调节APD光电探测器401相对于汇聚透镜403的三个维度的位置，实现接收单元400的APD光电探测器的光轴和激光发射单元200的光轴的校准。
当APD光电探测器的两个像元402a和402b的中心连线与机器的水平方向有夹角时，激光发射单元200的两个激光输出通道202a和202b的中心连线与机器的水平方向也要有夹角，所述夹角应与APD光电探测器的两个像元402a和402b的中心连线与机器的水平方向的夹角相同。
控制单元500可以实时计算目标的距离信息和强度信息，并实时读取扫描单元300的棱镜和振镜的角度信息。
激光雷达系统100的激光发射单元200的两个激光输出通道202a和202b和接收单元400的两个像元402a和402b一一对应。
图6为本实施例中激光雷达系统发射激光示意图。图6中，激光雷达系统100的激光发射单元200发射的两束激光204a和204b，在垂直方向上线性排列。
图7为本实施例中激光雷达系统扫描轨迹示意图。如图7所示，激光雷达系统100的激光发射单元200发射的两束激光分别是光束204a和光束204b，两束激光204a和204b的光束夹角α是固定不变的，光束204b的光斑207沿水平方向扫描形成光束轨迹208，光束204a的光斑207沿水平方向扫描形成光束轨迹209；
图7中，光束夹角α大于垂直方向的扫描夹角β。由于光束夹角α大于垂直方向的扫描夹角β，图7中扫描形成的轨迹图的顶部和底部的垂直分辨率会低于中间部分的垂直分辨率。其中，扫描夹角β是指振镜扫描的相邻两条线的 夹角，也是一束激光比如204a扫描形成的相邻两条光线的夹角。
上述各激光雷达系统实施例中，激光雷达系统100可以通过上位机发送指令，实时切换多种工作模式，实现水平视场角、垂直视场角、水平分辨率、垂直分辨率、刷新帧率的动态实时调整。
此外，在扫描单元300中，由于采用棱镜和振镜组合的扫描方式，并且激光发射单元200和接收单元400都通过扫描单元300发射和接收脉冲激光，因此可以使用较少的发光源和光电探测器就可以实现对目标的高密度点云显示。
再者，激光发射单元200、接收单元400和控制单元500，都可以固定安装在平台或支架上，只有棱镜和振镜可相对平台或支架转动，使得整个激光雷达系统100的寿命和可靠性大大提高。
本申请实施例还提供一种激光雷达系统的校准方法，可应用于前述任一实施例所述的激光雷达系统，所述校准方法，可包括：
将光源连同准直器一起转动，调整准直器输出的光束入射到扫描单元上的位置；和/或，
调整两个以上的像元相对汇聚透镜的位置，或将两个以上的像元与汇聚透镜一起转动或移动，以使经扫描单元扫描后射出的光束，经目标反射后，由接收单元准确接收。
本实施例的校准方法，可以应用于图1所示系统实施例中，其实现原理和技术效果类似，此处不再赘述。
为提高激光雷达系统的垂直分辨率，在一实施例中，准直器输出的不同光束之间在垂直方向上具有光束夹角，光束夹角大于0.5度，小于5度；所述校准方法还可包括：调整扫描单元在垂直方向上的扫描夹角，以使扫描夹角小于各光束夹角中最小的光束夹角。准直器输出的光束设置有固定夹角，通过调整准直器沿光轴的旋转方向，使得不同光束之间的夹角在垂直方向，调整好后用准直器的夹持件将准直器固定好。
需要说明的是，本说明书中的各个实施例均采用相关的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。
以上，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (10)

  1. 一种激光雷达系统，其特征在于，包括：激光发射单元、扫描单元、接收单元和控制单元，所述控制单元控制所述激光发射单元发射激光，所述激光，经所述扫描单元扫描后射出，以便经目标反射后，由所述接收单元接收；其中，
    所述激光发射单元，包括光源和位于所述光源的光出射路径上的一个准直器，所述光源具有两个以上的激光输出通道，不同激光输出通道输出的激光束，均经过所述一个准直器准直后以发散的方式输出；和/或，
    所述接收单元，包括光电探测器，所述光电探测器具有两个以上的像元，在所述两个以上的像元的光接收路径上设有一个汇聚透镜，以使所述两个以上的像元通过一个汇聚透镜接收目标反射回的光。
  2. 根据权利要求1所述的激光雷达系统，其特征在于，所述光源与所述准直器连接在一起，且能够一起转动，以对所述激光发射单元和所述接收单元的光轴进行校准。
  3. 根据权利要求1或2所述的激光雷达系统，其特征在于，所述光电探测器能够相对所述汇聚透镜移动和/或转动，以对所述激光发射单元和所述接收单元的光轴进行校准。
  4. 根据权利要求1或2所述的激光雷达系统，其特征在于，所述光电探测器与所述汇聚透镜能够一起移动和/或转动，以对所述激光发射单元和所述接收单元的光轴进行校准。
  5. 根据权利要求1所述的激光雷达系统，其特征在于，所述光源发出的激光为脉冲激光；
    所述两个以上的激光输出通道的出口，在垂直方向上线性排列。
  6. 根据权利要求5所述的激光雷达系统，其特征在于，所述准直器输出的不同光束之间在垂直方向上具有光束夹角；所述扫描单元在垂直方向上的扫描夹角，小于所述光束夹角中最小的夹角。
  7. 根据权利要求6所述的激光雷达系统，其特征在于，所述扫描单元在垂直方向上的扫描夹角可调。
  8. 根据权利要求1所述的激光雷达系统，其特征在于，所述像元的数量与所述激光输出通道的数量相同，所述两个以上的像元与所述两个以上的激光输出通道一一对应。
  9. 一种用于权利要求1至8任一项所述的激光雷达系统的校准方法，其特征在于，包括：
    将所述光源连同所述准直器一起转动，调整所述准直器输出的光束入射到所述扫描单元上的位置；和/或，
    调整所述两个以上的像元相对所述汇聚透镜的位置，或将所述两个以上的像元与所述汇聚透镜一起转动或移动，以使经所述扫描单元扫描后射出的光束，经目标反射后，由所述接收单元准确接收。
  10. 根据权利要求9所述的校准方法，其特征在于，所述准直器输出的不同光束之间在垂直方向上具有光束夹角；
    所述校准方法还包括：调整所述扫描单元在垂直方向上的扫描夹角，以使所述扫描夹角小于所述光束夹角中最小的夹角。
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