Laser radar
阅读说明：本技术 激光雷达 (Laser radar ) 是由 尹向辉 王超 于 2019-03-07 设计创作，主要内容包括：本发明涉及一种激光雷达。一种激光雷达,包括：发射装置,用于发射N束出射激光,所述N为整数,所述N≥1；接收装置,用于接收被扫描区域内的物体反射的反射激光；所述扫描组件,用于偏转N束出射激光以不同的俯仰角向外出射,包括倾斜设置的反射镜,所述反射镜包括N个同心设置的环形镜,每个所述环形镜与水平面的夹角不同；还用于接收所述反射激光,并将所述反射激光偏转至接收装置；每束所述出射激光及其所述反射激光由对应的所述环形镜进行偏转；以及旋转驱动装置,用于驱动所述扫描组件绕轴旋转,使出射激光沿水平方向进行扫描。上述激光雷达相对于传统的激光雷达光学和结构系统设计简单、成本较低。(The present invention relates to a laser radar. A lidar comprising: the emitting device is used for emitting N beams of emergent laser, wherein N is an integer and is more than or equal to 1; receiving means for receiving reflected laser light reflected by an object within the scanned area; the scanning assembly is used for deflecting N beams of emergent laser to emit outwards at different pitch angles and comprises obliquely arranged reflectors, each reflector comprises N concentric annular reflectors, and the included angle between each annular reflector and the horizontal plane is different; the laser deflection device is also used for receiving the reflected laser and deflecting the reflected laser to a receiving device; each beam of emergent laser and the reflected laser thereof are deflected by the corresponding annular mirror; and the rotation driving device is used for driving the scanning assembly to rotate around the shaft so as to enable the emergent laser to scan along the horizontal direction. Compared with the traditional laser radar optical and structural system, the laser radar has the advantages of simple design and lower cost.)
1. A lidar, comprising:
the emitting device is used for emitting N beams of emergent laser, wherein N is an integer and is more than or equal to 1;
receiving means for receiving reflected laser light reflected by an object within the scanned area;
the scanning assembly is used for deflecting N beams of emergent laser to emit outwards at different pitch angles and comprises obliquely arranged reflectors, each reflector comprises N concentric annular reflectors, and the included angle between each annular reflector and the horizontal plane is different; the laser deflection device is also used for receiving the reflected laser and deflecting the reflected laser to the receiving device; each beam of emergent laser and the reflected laser thereof are deflected by the corresponding annular mirror; and
and the rotation driving device is used for driving the scanning assembly to rotate around the shaft so as to enable the emergent laser to scan along the horizontal direction.
2. The lidar of claim 1, wherein the angles between the plurality of annular mirrors of the reflector and the horizontal plane are increased from inside to outside.
3. Lidar according to claim 2, wherein the area of the plurality of annular mirrors of the reflector is equal or increases from inside to outside.
4. The lidar of claim 2, wherein a gap exists between adjacent ones of the ring mirrors.
5. The lidar of claim 4, wherein the scanning assembly further comprises a light extinction component; the light extinction component is arranged at the gap between the annular mirrors and is used for eliminating stray light at the gap.
6. The lidar of claim 1, wherein the receiving means comprises a detector and a focusing mirror group, the focusing mirror group being disposed at a front side of the detector; the focusing mirror group is used for focusing the reflected laser to the receiving device.
7. Lidar according to claim 6, wherein the number of detectors is 1.
8. The lidar of claim 1, wherein the transmitting device comprises a collimating lens group and N lasers arranged in a linear manner, the collimating lens group being configured to collimate the outgoing laser light emitted by the lasers.
9. The lidar of claim 8, wherein N of the lasers emit outgoing laser light sequentially in a time-division multiplexed manner.
10. The lidar of claim 1, further comprising a housing having a transmissive region disposed thereon, the transmissive region being disposed at an angle.
Technical Field
The invention relates to the technical field of laser detection, in particular to a laser radar.
Background
The laser radar is a system for detecting characteristic quantities such as the position, the speed and the like of a detection object by emitting a laser beam, and is widely applied to the field of laser detection.
At present, a plurality of transmitting-receiving pairs are arranged in the vertical direction for detection by the laser radar, the number of lines is the number of the transmitting-receiving pairs in the vertical direction, and the vertical resolution of the laser radar is determined by the number of lines. A plurality of transmitting-receiving pairs can detect a plurality of directions, and meanwhile, the whole laser radar rotates in the working process, so that the detection of the surrounding environment of the laser radar is realized.
However, the transmitting plate and the receiving plate arranged in the vertical direction occupy a certain space, which limits the increase of the number of laser radar lines and the improvement of the vertical resolution; multiple transmit-receive pairs, requiring multiple components to increase cost, while increasing power consumption and internal heat generation; the working state of the laser radar is rotating, power supply and communication are needed for transmitting-receiving pairs on the rotating module, and the system design is complex.
Disclosure of Invention
In view of the above, there is a need to provide a lidar that addresses the problems of high cost, complex optical and structural system design of conventional lidars.
A lidar comprising:
the emitting device is used for emitting N beams of emergent laser, wherein N is an integer and is more than or equal to 1;
receiving means for receiving reflected laser light reflected by an object within the scanned area;
the scanning assembly is used for deflecting N beams of emergent laser to emit outwards at different pitch angles and comprises obliquely arranged reflectors, each reflector comprises N concentric annular reflectors, and the included angle between each annular reflector and the horizontal plane is different; the laser deflection device is also used for receiving the reflected laser and deflecting the reflected laser to the receiving device; each beam of emergent laser and the reflected laser thereof are deflected by the corresponding annular mirror; and
and the rotation driving device is used for driving the scanning assembly to rotate around the shaft so as to enable the emergent laser to scan along the horizontal direction.
In one embodiment, the included angles between the annular mirrors of the reflecting mirror and the horizontal plane are increased from inside to outside.
In one embodiment, the area of the plurality of annular mirrors of the reflector is equal or sequentially increased from inside to outside.
In one embodiment, a gap exists between adjacent ones of the ring mirrors.
In one embodiment, the scanning assembly further comprises a light extinction component; the light extinction component is arranged at the gap between the annular mirrors and is used for eliminating stray light at the gap.
In one embodiment, the receiving device comprises a detector and a focusing mirror group, wherein the focusing mirror group is arranged on the front side of the detector; the focusing mirror group is used for focusing the reflected laser to the receiving device.
In one embodiment, the number of detectors is 1.
In one embodiment, the emission device includes a collimator set and N lasers arranged linearly, and the collimator set is used for collimating the outgoing laser light emitted by the lasers.
In one embodiment, the N lasers sequentially emit outgoing laser light in a time division multiplexing manner.
In one embodiment, the display device further comprises a housing, wherein a transmission area is arranged on the housing, and the transmission area is obliquely arranged.
The laser radar comprises a transmitting device, a receiving device, a scanning assembly and a rotary driving device; the scanning component comprises a reflector, the reflector comprises a plurality of annular mirrors with different included angles with the horizontal plane, the annular mirrors with different inclined angles enable N beams of emergent laser emitted by the emitting device to be deflected and then to be emitted to the scanning area at different pitching angles, and the reflected laser reflected by an object in the scanning area is deflected to the receiving device; meanwhile, the outgoing laser is scanned along the horizontal direction by the pivoting of the scanning assembly. In the laser radar, the scanning component is used as a light beam deflection element, and only the scanning component rotates, so that the load is small, and the power consumption is low; the reflecting mirror in the scanning assembly is a passive optical device, and power supply and communication are not needed for the reflecting mirror; the transmitting device and the receiving device are both fixed; the control and structural system design inside the laser radar are simplified, and the reliability of the laser radar is improved. The outgoing laser reflected from the reflector is scanned along the horizontal direction within 360 degrees through the rotation of the scanning assembly, and the change of the included angle of the outgoing laser between a scanning area and the horizontal plane is realized by setting different inclination angles of each annular mirror, so that the scanning of longitudinal different directions is realized, namely, the N outgoing lasers are emitted at different pitch angles. N lasers in the transmitting device sequentially transmit emergent laser in a time division multiplexing mode, so that only one detector is needed in the receiving device to detect the reflected laser, the internal structure of the laser radar is further simplified, and the cost is reduced.
Drawings
Fig. 1 is a schematic diagram of an internal structure of a laser radar in an embodiment.
FIG. 2 is a schematic diagram of the reflective surface of the mirror in the embodiment of FIG. 1.
Fig. 3 is a schematic diagram of the optical paths of the outgoing laser light and the reflected laser light in the embodiment of fig. 1.
Fig. 4 is a schematic internal structural view of a laser radar in another embodiment.
FIG. 5 is a side view of the adjusting mirror and focusing mirror assembly of the embodiment of FIG. 4.
FIG. 6 is a top view of the adjusting mirror and the focusing mirror assembly in the embodiment of FIG. 4.
FIG. 7 is a schematic view of the reflective surface of the mirror in the embodiment of FIG. 4.
Detailed Description
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 the description of the present application, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner" and "outer" etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application. Further, when an element is referred to as being "formed on" another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present.
Fig. 1 is a schematic diagram of an internal structure of a laser radar in an embodiment. Referring to fig. 1, the lidar includes a transmitting apparatus 100, a receiving apparatus 200, a scanning assembly 300, and a rotation driving apparatus 400.
The emitting device 100 is used for emitting N beams of emergent laser, wherein N is an integer and N is more than or equal to 1. The transmitting device 100 comprises a laser group 110, wherein the laser group 110 comprises N lasers which are linearly arranged. When the laser group 110 includes a plurality of lasers, the emitted laser light generated by each laser is parallel to and spaced apart from each other. In the present embodiment, a 4-line lidar is taken as an example, but the present invention is not limited to the 4-line lidar. The laser group 110 in fig. 1 contains 4 lasers. The frequency of the outgoing laser light emitted by the emitting device 100 can be set as desired. The emitted laser beam may be a visible light beam or a non-visible light beam. The present application is not particularly limited.
The receiving device 200 is used for receiving the reflected laser light reflected by the object in the scanning area and converting the received reflected laser light into an electrical signal which can be recognized by a processor or a processing chip. The reflected laser light is laser light in which the emitted laser light is reflected by an object in the scanning area. In the present embodiment, the receiving device 200 is disposed on the same side as the transmitting device 100.
The scanning assembly 300 is used for deflecting the N outgoing laser beams to be outgoing at different pitch angles. The scanning assembly 300 includes a mirror that is angularly disposed. As shown in fig. 2, the reflecting mirror includes N concentrically arranged ring mirrors, and the number of the ring mirrors is set as required. The number of ring mirrors may be the same as the number of outgoing laser light emitted by the emitting device 100. The included angle between each annular mirror and the horizontal plane is different, so that the deflection angle of the emergent laser projected onto each annular mirror is also different, namely the N emergent lasers are emitted outwards at different pitch angles, and the scanning of different longitudinal directions is realized. Therefore, the angle range of the outgoing laser light projected to the scanning area from the horizontal plane can be realized by adjusting the angle at which each ring mirror is tilted. Optionally, the angle range between the outgoing laser projected from each annular mirror to the scanning area and the horizontal plane is controlled to be-10 ° to 2 ° by adjusting the inclination angle of each annular mirror. The scanning assembly 300 is further configured to receive the reflected laser light reflected by the object in the scanning area and deflect each reflected laser light to the receiving device 200. Each beam of emergent laser and reflected laser is deflected by a corresponding annular mirror. The deflection of each beam of emergent laser and the reception of the reflected laser are completed by the same annular mirror, so the area of the light transmission caliber of the emergent laser and the reflected laser required by the laser radar is N times of that of the laser radar which uses the plane mirror to deflect and receive.
In this embodiment, the included angles between the plurality of ring mirrors of the reflecting mirror and the horizontal plane are sequentially increased from inside to outside, that is, the inclined angle between the ring mirror closer to the central rotating shaft and the horizontal plane in the reflecting mirror is smaller, so that the emergent laser is sequentially scattered in the vertical direction when being projected to the scanning area after being reflected by each ring mirror, and is respectively projected to the scanning area at different pitch angles. The inclined angles of the annular mirrors are arranged, so that the included angle between the most marginal annular mirror and the horizontal plane is the largest, and the included angles between the annular mirrors in the direction close to the rotating shaft and the horizontal plane are sequentially reduced.
In this embodiment, the areas of the plurality of annular mirrors of the reflector are sequentially increased from inside to outside. The area of the outer ring of the annular mirror is larger than that of the inner ring, more emergent lasers deflected by the outer ring and received reflected lasers are provided, and more energy can be received, so that the emergent lasers deflected by the outer ring have longer detection distance.
The rotation driving device 400 is used for driving the scanning assembly 300 to rotate around the shaft, so that the emitted laser can perform 360-degree scanning along the horizontal direction. In the present embodiment, the rotation driving device 400 includes a motor 410 and a rotation shaft 420. The motor 410 is coupled to the scan assembly 300 by a rotating shaft 420. Wherein there is no relative motion between each of the ring mirrors of the scanning assembly 300, the scanning assembly 300 as a whole is rotated by the rotary drive 400. The lidar may also include a decoding assembly 500 and a control board 600. The decoding assembly 500 is used to measure the position and speed of rotation of the scanning assembly 300 to achieve better control over the outgoing laser scanning process. The control board 600 is electrically connected to the transmitter 100, the receiver 200, the decoder 500, and the rotation driving device 400 through wires. Optionally, the diameter of the wire is smaller than 1mm, and the wire is arranged in the blind area range of the outgoing laser and the reflected laser, so that interference to the scanning process of the laser radar is avoided, and real scanning along the horizontal direction within 360 degrees is realized.
The laser radar comprises a transmitting device 100, a receiving device 200, a scanning assembly 300 and a rotary driving device 400; the scanning assembly 300 includes a reflecting mirror, the reflecting mirror includes a plurality of annular mirrors having different included angles with the horizontal plane, the annular mirrors having different inclined angles enable the N beams of emergent laser light emitted by the emitting device 100 to be deflected and then emitted at different pitch angles to the scanning area, and deflect the reflected laser light reflected by the object in the scanning area to the receiving device 200; at the same time, the pivoting of the scanning assembly 300 causes the exiting laser to scan in the horizontal direction. In the laser radar, the scanning assembly 300 is used as a light beam deflection element, only the scanning assembly 300 rotates, and the laser radar is small in load and low in power consumption; the mirrors in the scanning assembly 300 are passive optical devices, requiring no power and communication to the mirrors; both the transmitting device 100 and the receiving device 200 are stationary; the control and structural system design inside the laser radar are simplified, and the reliability of the laser radar is improved. The outgoing laser reflected from the reflector is scanned along the horizontal direction within 360 degrees through the rotation of the scanning assembly 300, and the change of the included angle of the outgoing laser between a scanning area and the horizontal plane is realized by setting different inclination angles of each annular mirror, so that the scanning of different longitudinal directions is realized, namely, the N outgoing lasers are emitted at different pitch angles.
In this embodiment, as shown in fig. 1, the laser radar may further include an
In this embodiment, a gap exists between adjacent annular mirrors. The reflecting mirror comprises a plurality of annular mirrors which are not at the same angle, so that the reflecting surfaces of the annular mirrors are not on the same plane, and a gap exists between the adjacent annular mirrors, so that the condition that the light transmission is influenced due to shielding when the emergent laser or the reflected laser deflects can be avoided.
In this embodiment, the scanning assembly 300 also includes an extinction member disposed at the gap between the annular mirrors. The light extinction member is used for eliminating stray light at the gap. The phenomenon that when emergent laser or reflected laser is projected onto the corresponding annular mirror, stray light is generated when residual light is projected onto the gap, and the scanning result is inaccurate is avoided. Optionally, a light absorbing material is applied at the gap as a light extinction member.
In the present embodiment, as shown in fig. 1, the receiving apparatus 200 includes a detector 210 and a focusing
In the present embodiment, the receiving apparatus 200 includes only one detector 210. Optionally, the detector 210 is an Avalanche Photodiode (APD). The reflected laser beams in different directions are finally reflected by the corresponding ring mirrors to form parallel light, and then are reflected by the adjusting
In the present embodiment, as shown in fig. 1, the emitting device 100 includes a collimating lens group 120 and N lasers arranged linearly. Generally, the light is divergent, and in order to make the light in the outgoing laser more concentrated, each outgoing laser is the laser collimated by the collimating lens group 120. The lasers in the laser group 110 are spatially and sequentially arranged along the longitudinal direction, and the collimator group 110 includes a plurality of collimators. Each collimating lens corresponds to each laser one by one, and emergent laser emitted by each laser is collimated by the corresponding collimating lens. The outgoing laser light emitted by the laser group 110 passes through the collimating lens group 120 to form a group of parallel light. To minimize the longitudinal dimension of the exiting laser, a short focal length lens with a small curvature may be used. In this embodiment, the transmitting device 100 and the receiving device 200 further respectively include an optical filter 130, and the optical filter 130 is used for passing light in a predetermined radiation band, so as to reduce stray light and interference light.
In this embodiment, N lasers sequentially emit outgoing laser light in a time division multiplexing manner. As shown in fig. 1, each laser emits outgoing laser according to a preset time sequence, each outgoing laser is reflected by a corresponding ring mirror and then emitted along a specific direction, the laser group 110 completes one-time sequential emission and emits along different pitch angles in space after being reflected by each ring mirror, that is, scanning of the laser radar within a certain longitudinal field angle range can be realized without any scanning structure. Under the driving of the rotation driving device 400, each annular mirror rotates around a vertical axis, so that the emitted laser scans along the horizontal direction, and finally a certain spatial point cloud distribution is output. The laser radar belongs to a multi-sending and single-receiving time division multiplexing laser radar, only one receiving device 200 is needed to receive reflected laser, the complexity of the laser radar is further reduced, the cost is reduced, better compatibility of multi-line laser radars can be achieved, and particularly better compatibility of the laser radars above 4 lines is achieved.
In this embodiment, the laser radar further includes a housing 700. The emitting device 100, the receiving device 200, the scanning assembly 300, and the rotation driving device 400 are disposed in the housing 700. The housing 700 includes a transmissive region 710 located around the scanning assembly 300. Optionally, transmissive region 710 is disposed toward scanning assembly 300. When the laser radar works, only the annular mirror inclined along a specific angle is rotated, the width of the transmission area 710 on the shell 700 is larger than the light transmission apertures for emitting laser and reflecting laser, and a certain inclination angle is formed, so that the misjudgment or saturation probability of the reflected light of the transmission area 710 by the receiving device 200 is reduced. Specifically, when the laser beam emitted from the scanning assembly 300 to the scanning area passes through the transmission area 710, a part of the laser beam is reflected on the transmission area 710 to generate a reflected light, and the upper end of the transmission area 710 is inclined inward, so that the reflected light is not projected toward the receiving device 200, which ensures that the reflected light does not interfere with the receiving device 200 to receive the reflected laser beam, thereby further increasing the reliability of the laser radar.
In this embodiment, the removable module 800 of FIG. 1 is provided as a separate module that is separable from the lidar base. The module 800 integrates the transmitting device 100, the receiving device 200, the adjusting
In another embodiment, as shown in FIG. 4, the reflecting surface of the
In the present embodiment, as shown in fig. 7, the reflecting surfaces of the respective ring mirrors are equal in area, and the widths of the respective ring mirrors in the radial direction are different. The light spot of the reflected laser of the object is much larger than that of the emergent laser, and the equal area of the adjacent circular rings in the annular mirror can ensure the same energy utilization rate of the reflected signals in different directions. When each beam of emergent laser is collimated by the collimating mirror group 120, the aperture of a single collimating mirror is smaller than the projection width of the ring width with the narrowest width in the ring mirror in the horizontal direction.
In this embodiment, the receiving device 200 is disposed at the bottom of the lidar, and the lidar further includes a heat sink 190, as shown in fig. 4. The heat sink 190 and the receiving device 200 are disposed on the same side. The heat sink 190 not only can dissipate heat for the laser radar, but also can play a role of a counterweight because it has a certain weight and is disposed at the bottom of the laser radar scanning device.
In other embodiments, the lidar may also include a processing system. And the processing system is used for calculating information such as the distance and the speed of the object relative to the laser radar according to the reflected laser. Therefore, the user can directly know information such as the distance, the speed and the like of the object in the scanning area through the laser radar. For example, the device is assembled in an automobile, and the device is assisted by a certain control unit, so that information of pedestrians, vehicles, obstacles and the like in a certain range can be tested to realize the unmanned technology.
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 invention, 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 inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
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