阅读说明：本技术 准直装置、激光雷达发射系统和激光雷达收发系统 (Collimating device, laser radar transmitting system and laser radar transmitting and receiving system ) 是由 不公告发明人 于 2020-07-29 设计创作，主要内容包括：本申请涉及一种准直装置、激光雷达发射系统和激光雷达收发系统,其中一种准直装置,包括移动反射器件,反射来自激光发射器的探测激光并形成反射激光；移动反射器件可相对于激光发射器进行移动,并调整反射激光相对于移动反射器件的反射角；准直投影镜头,对反射激光进行准直,并将准直后的反射激光投射至目标区域。通过反射装置将激光发射器发射的、未经准直的探测激光反射至准直投影镜头处,准直投影镜头接收未经的探测激光,并对其进行准直,且将准直后的反射激光投射到目标区域,移动反射器件只需进行小范围的移动即可实现激光的准直出射,从而可降低对移动反射器件的要求,进而可降低准直装置的体积,并减小准直装置的整体成本。(The application relates to a collimating device, a laser radar transmitting system and a laser radar receiving and transmitting system, wherein the collimating device comprises a movable reflecting device, a laser receiving device and a laser transmitting device, wherein the movable reflecting device reflects detection laser from a laser transmitter and forms reflected laser; the movable reflecting device can move relative to the laser emitter, and the reflecting angle of the reflected laser relative to the movable reflecting device is adjusted; and the collimation projection lens is used for collimating the reflected laser and projecting the collimated reflected laser to a target area. The detection laser which is emitted by the laser emitter and is not collimated is reflected to the collimating projection lens through the reflecting device, the collimating projection lens receives the detection laser which is not collimated, the detection laser is collimated, the collimated reflection laser after being collimated is projected to a target area, the collimating emitting of the laser can be realized only by moving the reflecting device in a small range, the requirement for moving the reflecting device can be lowered, the size of the collimating device can be further reduced, and the overall cost of the collimating device is reduced.)

1. A collimating apparatus, comprising:

a moving reflector that reflects the detection laser from the laser emitter and forms reflected laser; the movable reflecting device can move relative to the laser emitter and adjust the reflecting angle of the reflected laser relative to the movable reflecting device;

and the collimation projection lens is used for collimating the reflected laser and projecting the collimated reflected laser to a target area.

2. The collimating apparatus of claim 1, wherein the moving reflective device comprises a mirror and a drive module; the driving module is connected with the reflecting mirror;

the driving module drives the reflector to rotate.

3. A collimating device as in claim 2, wherein the reflector is a polyhedron structure.

4. The collimating apparatus of claim 1, wherein the collimating projection lens comprises a set of image point position compensating lenses and a set of collimating lenses;

the movable reflection device, the image point position compensation mirror group and the collimating mirror group are arranged in sequence.

5. The collimating device of claim 4, wherein the set of collimating lenses is a unitary lens structure;

or

The collimating lens group comprises a lens group; the lens group includes at least 2 lenses.

6. The collimating apparatus of claim 1, wherein the moving reflective device is a MEMS lens.

7. The collimating apparatus of claim 1, wherein the moving reflective device is a rotating prism.

8. The collimating device of claims 1 to 7, wherein the collimating projection lens is a unitary structure.

9. A lidar transmission system comprising a laser transmitter and the collimating assembly of any one of claims 1 to 8;

the laser transmitter transmits detection laser;

the collimating device is arranged on a propagation path of the detection laser; the collimating device reflects the detection laser to obtain reflected laser, and projects the collimated reflected laser to a target area.

10. A lidar transceiver system comprising a lidar receiver system and the lidar transmitter system of claim 9.

Technical Field

The application relates to the technical field of photoelectric information, in particular to a collimating device, a laser radar transmitting system and a laser radar receiving and transmitting system.

Background

With the development of detection and ranging technology, lidar systems have emerged. Traditional laser radar system can be as shown in fig. 1, laser radar transmitting system directly launches a bundle of laser through lens collimation processing, and the prism reflects laser, and the motor drives the prism rotatory to accessible prism transmits laser to the detection scope in. The rotation of the prism drives the laser to move, so that the aim of scanning and detecting can be fulfilled. And the object in the detection range reflects the laser, and the reflected light is transmitted to the receiver through the prism, so that the laser receiving and transmitting are completed.

However, in the implementation process, the inventor finds that at least the following problems exist in the conventional technology: in the conventional technology, the collimation degree of laser emitted to a reflecting device has high requirement, a complicated emitting light path needs to be designed to realize the emitting laser with high collimation degree, and the problem of large volume exists.

Disclosure of Invention

In view of the above, it is necessary to provide a collimating device, a lidar transmission system, and a lidar transmission/reception system that can reduce the complexity of the outgoing light path and the size of the transmitter.

In order to achieve the above object, an embodiment of the present application provides a collimating apparatus, including:

the mobile reflection device reflects the detection laser from the laser transmitter and forms reflected laser; the movable reflecting device can move relative to the laser emitter, and the reflecting angle of the reflected laser relative to the movable reflecting device is adjusted;

and the collimation projection lens is used for collimating the reflected laser and projecting the collimated reflected laser to a target area.

In one embodiment, a moving mirror device includes a mirror and a drive module; the driving module is connected with the reflecting mirror;

the driving module drives the reflector to rotate.

In one embodiment, the reflector is a polyhedral structure.

In one embodiment, the collimating projection lens comprises an image point position compensating lens group and a collimating lens group;

the movable reflection device, the image point position compensation lens group and the collimating lens group are arranged in sequence.

In one embodiment, the collimating lens group is an integrated lens structure;

or

The collimating lens group comprises a lens group; the lens group includes at least 2 lenses.

In one embodiment, the moving reflective device is a MEMS lens.

In one embodiment, the moving reflective device is a rotating prism.

In one embodiment, the collimating projection lens is a unitary structure.

The embodiment of the application provides a laser radar transmitting system, which comprises a laser transmitter and a collimating device in any embodiment;

the laser emitter emits detection laser;

the collimating device is arranged on the propagation path of the detection laser; the collimating device reflects the detection laser to obtain reflected laser, and projects the collimated reflected laser to a target area.

The embodiment of the application provides a laser radar receiving and transmitting system, which comprises a laser radar receiving system and a laser radar transmitting system in any one of the embodiments.

One of the above technical solutions has the following advantages and beneficial effects:

the collimating device in each embodiment of the application comprises a movable reflecting device and a collimating projection lens, wherein the movable reflecting device reflects detection laser from a laser emitter and forms reflected laser; the movable reflecting device can move relative to the laser emitter, and the reflecting angle of the reflected laser relative to the movable reflecting device is adjusted; and the collimation projection lens is used for collimating the reflected laser and projecting the collimated reflected laser to a target area. The detection laser which is emitted by the laser emitter and is not collimated is reflected to the collimating projection lens through the reflecting device, the collimating projection lens receives the detection laser which is not collimated, the detection laser is collimated, the collimated reflection laser after being collimated is projected to a target area, the collimating emitting of the laser can be realized only by moving the reflecting device in a small range, the requirement for moving the reflecting device can be lowered, the size of the collimating device can be further reduced, and the overall cost of the collimating device is reduced.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic block diagram of a conventional lidar system;

FIG. 2 is a block diagram showing a first schematic configuration of a collimator device according to an embodiment;

FIG. 3 is a second schematic block diagram of a collimating apparatus in one embodiment;

FIG. 4 is a schematic diagram illustrating the propagation path of the reflected laser light in the collimating projection lens in one embodiment;

fig. 5 is a schematic block diagram of a lidar transmission system in one embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. In the present application "plurality" may be at least two.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

A conventional lidar system may be as shown in fig. 1, where a transmitter emits laser light collimated by a lens, and the laser light is projected into a detection area by a rotating prism. Laser scans and detects the detection area, relies on the rotation angle of rotating prism, requires that rotating prism should possess great rotation angle for rotating prism plane of reflection is big, has increased rotating prism's whole volume, and then has increased laser radar transmitting system's volume and cost. Meanwhile, the scanning angle of the laser depends on the rotation angle of the rotating prism, but the rotation speed of the rotating prism is generally slow, so that the scanning speed of the laser radar system is reduced.

The collimating projection lens receives the non-collimated detection laser and collimates the non-collimated detection laser, and the collimated detection laser is projected to a target area, and the mobile reflection device only needs to move in a small range to realize the collimated emission of the laser, so that the requirement for moving the reflection device can be reduced, the size of the collimating device can be reduced, and the overall cost of the collimating device can be reduced.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 2, there is provided a collimating apparatus comprising:

a movable reflection device 110, the movable reflection device 110 reflecting the detection laser from the laser emitter and forming a reflected laser; the movable reflecting device 110 can move relative to the laser emitter and adjust the reflecting angle of the reflected laser relative to the movable reflecting device 110;

and the collimating projection lens 120 collimates the reflected laser and projects the collimated reflected laser to a target area.

Specifically, the collimating means includes a moving reflecting device 110 and a collimating projection lens 120. The movable reflection device 110 may be disposed on a propagation path of the detection laser and configured to reflect the detection laser emitted by the laser emitter, and in this application, the detection laser reflected by the movable reflection device 110 is a reflected laser.

The moving reflective device 110 is movable relative to the laser emitter, and an incident angle of the detection laser incident on the moving reflective device 110 changes when the moving reflective device 110 moves relative to the laser emitter. When the incident angle of the detection laser incident on the movable reflection device 110 is adjusted, the reflection angle of the reflected laser relative to the movable reflection device 110 is changed accordingly, so that the incident angle of the reflected laser incident on the collimating projection lens 120 is changed, and the target area can be scanned.

Referring to fig. 2 and 3, the laser transmitter is stationary relative to the ground, and when the mobile reflective device 110 is at position 1, the propagation path of the detection laser can be shown as the solid line in fig. 2; when the moving reflective device 110 is in position 2. The propagation path of the probe laser may be shown as a dashed line in fig. 3.

The case where the movable reflective device 110 moves relative to the laser emitter includes, but is not limited to, any one or any combination of the following: (1) moving reflecting device 110 in translation in any direction relative to the laser transmitter; (2) the movable reflecting device 110 rotates about an arbitrary axis as a rotation axis. It should be noted that, the moving direction, the moving speed and the moving distance of the moving reflection device 110 in the present application can be determined according to practical situations and design requirements, and are not limited to the solutions described in the present application.

The collimating projection lens 120 is configured to collimate and project the received light, that is, when the non-collimated light enters the collimating projection lens 120, the collimating projection lens 120 collimates the non-collimated light, and projects the collimated light to a target area.

It should be noted that the collimating projection lens 120 may be designed according to the target area, for example, based on the size and area of the target area, and/or based on the relative position of the lidar transmission system and the target area.

In the present application, the collimating projection lens 120 can be implemented by various embodiments, and is not limited to the cases listed in the present specification. Various lens parameters of the collimating projection lens 120 can be determined based on actual conditions and design requirements, and those skilled in the art can design the collimating projection lens 120 meeting the requirements according to the application scenario, the design requirements, the implementation precision, and the like of the laser emission system, that is, the lens parameters of the collimating projection lens 120 are not limited to the conditions listed in the embodiments of the present application.

The laser emitter emits the non-collimated detection laser, and the mobile reflection device 110 can reflect the non-collimated detection laser to obtain the non-collimated reflected laser. The collimating projection lens 120 is disposed on a propagation path of the reflected laser light, so as to receive the reflected laser light that is not collimated, collimate the reflected laser light that is not collimated, and transmit the collimated reflected laser light, so that the collimated reflected laser light can be transmitted to a target area, and the target area can be detected by the collimated reflected laser light.

The collimating projection lens 120 has a corresponding divergence angle, the moving reflection device 110 only needs to move the laser emitter in a small range to realize the collimating emission of the laser, and the moving reflection device 110 does not need to move in a large angle, so that the volume of the collimating device and the requirements on the moving reflection device 110 can be reduced, and the cost of the collimating device can be further reduced.

When the movable reflection device 110 moves relative to the laser emitter, the incident angle of the detection laser incident on the movable reflection device 110 changes, so that the incident angle of the reflection laser incident on the collimating projection lens 120 changes accordingly, and the propagation path of the reflection laser in the collimating projection lens 120 changes correspondingly, so that the laser can be transmitted to different positions in the target area by moving the movable reflection device 110, and the target area can be scanned.

In the collimating device of the application, by adding the collimating projection lens 120 after the reflecting device 110 is moved, the detection laser does not need to be collimated before the detection laser passes through the moving reflecting device 110, but can reach the required emergent light through the collimating projection lens 120, so that the requirement on laser collimation can be effectively reduced.

The collimating device comprises a movable reflecting device 110 and a collimating projection lens 120, wherein the movable reflecting device 110 reflects detection laser from a laser emitter and forms reflected laser; the movable reflecting device 110 can move relative to the laser emitter and adjust the reflecting angle of the reflected laser relative to the movable reflecting device 110; and the collimating projection lens 120 collimates the reflected laser and projects the collimated reflected laser to a target area. The detection laser which is emitted by the laser emitter and is not collimated is reflected to the collimating projection lens 120 through the reflecting device, the collimating projection lens 120 receives the detection laser which is not collimated, the detection laser is collimated, the collimated reflection laser is projected to a target area, the collimating emission of the laser can be realized only by moving the reflecting device 110 in a small range, so that the requirement on moving the reflecting device 110 can be lowered, the size of the collimating device can be further reduced, and the overall cost of the collimating device can be reduced.

In one embodiment, there is provided a collimating apparatus comprising:

a movable reflection device 110, the movable reflection device 110 reflecting the detection laser from the laser emitter and forming a reflected laser; the movable reflecting device 110 can move relative to the laser emitter and adjust the reflecting angle of the reflected laser relative to the movable reflecting device 110;

and the collimating projection lens 120 collimates the reflected laser and projects the collimated reflected laser to a target area.

Wherein the moving reflection device 110 includes a mirror and a driving module; the driving module is connected with the reflecting mirror;

the driving module drives the reflector to rotate.

Specifically, the mobile reflection device 110 may include a mirror and a driving module, where the mirror may include one or more reflection surfaces, and when the mirror includes a plurality of reflection surfaces, the arrangement manner of each reflection surface may be determined according to actual situations and design requirements, and is not limited to the situations listed in the present specification. In the mobile reflective device 110, the driving module is connected to the mirror, so as to drive the mirror to rotate.

In this application, the number of the reflecting mirrors may be one or more, when the number of the reflecting mirrors is plural, the number of the reflecting surfaces included in each reflecting mirror may be equal or different, and the arrangement manner of the reflecting surfaces of each reflecting mirror may be the same or different.

The driving module can drive the reflector to rotate around any rotating shaft, and the driving module can drive the reflector to rotate by a preset angle. The preset angle may be a smaller angle, and the angle range of the rotation of the movable reflection device 110 may be determined according to the collimating projection lens 120 and the target area. In the application, the driving module only needs to move the reflector within a small angle range, and collimation and emergence can be realized through the collimation projection lens 120, so that the scanning speed of a target area is increased, and the volume of the collimation device is reduced. In one example, the drive module may be a motor.

Further, the moving reflective device 110 may be any type of rotating mirror. It should be noted that, in the present application, the moving reflection device 110 may be implemented by various embodiments, for example, by a lens, or by a prism. Various parameters of the mobile reflective device 110 can be determined based on practical situations and design requirements, and the implementation manner is not limited to the situations listed in the present specification.

In a specific embodiment, the reflector is a polyhedral structure.

In particular, the reflector may be a polyhedral structure, which may reduce the requirements on the driving module and the cost of the collimating device.

In a particular embodiment, the moving reflective device 110 is a MEMS lens.

Specifically, the moving reflective device 110 may be a MEMS (Micro-Electro-Mechanical System) lens.

In one particular embodiment, the moving reflective device 110 is a rotating prism.

Specifically, the moving reflection device 110 may be a rotating prism, and the rotating prism may include a motor and a rotating mirror, and the rotating mirror is connected to the motor so as to be rotated by the motor. Further, the rotating prism may further include a shaft encoder. It should be noted that the rotating prism in the present application may be any type of rotating prism, and the included components may be different from those shown in the present application. It should be understood that, those skilled in the art can design or select a rotating prism satisfying the requirements according to the application scenario, design requirements and implementation precision of the collimating device, and the rotating prism is not limited to the cases listed in the embodiments of the present application.

In this application, the rotating prism receives the detection laser that laser emitter launched, it is not collimated, and reflect the detection laser, obtain the reflection laser that it is not collimated, collimation projection lens 120 collimates the reflection laser that it is not collimated, and the reflection laser after will collimating transmits to the target area, the rotating prism only needs to remove in very little within range can realize the collimation outgoing of laser, it removes to need not to remove reflection device 110 and carries out large angle ground, the rotation angle requirement to the rotating prism has been reduced, thereby can reduce the area of rotating prism plane of reflection, and then can reduce collimating device's volume and cost.

In the above collimating device, the movable reflection device 110 includes a reflector and a driving module, the driving module is connected to the reflector, and the driving module drives the reflector to rotate, so that the collimator can occupy a smaller space to complete the movement, thereby reducing the size of the collimating device.

In one embodiment, there is provided a collimating apparatus comprising:

a movable reflection device 110, the movable reflection device 110 reflecting the detection laser from the laser emitter and forming a reflected laser; the movable reflecting device 110 can move relative to the laser emitter and adjust the reflecting angle of the reflected laser relative to the movable reflecting device 110;

and the collimating projection lens 120 collimates the reflected laser and projects the collimated reflected laser to a target area.

The collimating projection lens 120 includes an image point position compensating lens group and a collimating lens group;

the mobile reflection device 110, the image point position compensation mirror group and the collimating mirror group are arranged in sequence.

Specifically, the collimating projection lens 120 may include an image point position compensating lens group and a collimating lens group, the mobile reflection device 110, the image point position compensating lens group and the collimating lens group are sequentially disposed, the mobile reflection device 110 reflects the detection laser emitted by the laser emitter, the image point position compensating lens group performs image point position compensation on the reflection laser, the collimating lens group collimates the compensated reflection laser, and the collimated reflection laser transmits to the target area. In one example, the propagation path of the reflected laser light at the collimating projection lens 120 may be as shown in fig. 4.

In a specific embodiment, the collimating lens group is an integrated lens structure.

In a specific embodiment, the collimating lens group comprises a lens group; the lens group includes at least 2 lenses.

Specifically, the collimating lens group may include a lens group, the lens group may include at least 2 lenses, and the optical parameters of each lens may be determined according to the overall incident parameters and the overall exit parameters of the collimating lens group. By combining 2 lenses, the lens group can collimate the uncollimated detection laser. This application adopts the battery of lenses to realize collimating lens group, has simple structure, the simple advantage of light path design.

In one embodiment, as shown in fig. 5, there is provided a lidar transmission system including a laser transmitter 130, and a collimating device of any of the above embodiments;

the laser transmitter 130 transmits detection laser;

the collimating device is arranged on the propagation path of the detection laser; the collimating device reflects the detection laser to obtain reflected laser, and projects the collimated reflected laser to a target area.

In particular, the structure of the collimating means may be as shown in any of the embodiments described above. The laser emitters 130 may be any type and/or number of laser emitters 130. The laser emitter 130 may be kept stationary relative to the ground, the mobile reflection device 110 in the collimating apparatus may be moved relative to the laser emitter 130, and when the mobile reflection device 110 moves relative to the laser emitter 130, an incident angle of the detection laser incident on the mobile reflection device 110 changes, and a reflection angle of the reflection laser relative to the mobile reflection device 110 also changes, so that an incident angle of the reflection laser incident on the collimating projection lens 120 also changes, and the target area may be scanned.

It should be noted that the number of collimating devices and the number of laser emitters 130 are not necessarily related in this application.

In one embodiment, a lidar transceiver system is provided that includes a lidar receiver system, and a lidar transmitter system of any of the above embodiments.

Specifically, the structure of the laser radar transmission system can refer to any of the above embodiments, the laser transmitter in the laser radar transmission system transmits the uncollimated detection laser, and the moving reflection device 110 collimates and reflects the uncollimated detection laser. The collimating projection lens 120 receives the reflected laser light reflected by the moving reflection device 110 and not collimated, collimates the reflected laser light, and projects the collimated laser light to a target area. If the target object exists in the target area, the target object reflects the collimated laser emitted by the laser radar emitting system, and the laser radar receiving system can receive the laser reflected by the target object and obtain the image of the target object according to the laser reflected by the target object.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.