阅读说明：本技术 一种高亮度单管实现多线光发射/接收的激光雷达系统 (Laser radar system for realizing multi-line light emission/reception by high-brightness single tube ) 是由 乔忠良 杨禹霖 赵志斌 陈浩 李再金 曾丽娜 李林 刘国军 曲轶 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种高亮度单管实现多线光发射/接收的激光雷达系统,包括：激光光源系统包括高亮度光源及激光整形耦合系统,激光整形耦合系统对高亮度光源发射的光斑整形并耦合后输出；双锥激光反射体包括双椎体光源侧光高反射面和双椎体探测器侧光高反射面,双椎体光源侧光高反射面用于接收激光光源系统的出射光并反射至目标物,双椎体探测器侧光高反射面用于接收目标物的反射光并反射至云点传感器成像系统；激光探测器阵列接收双锥激光反射体反射的激光,并对其余方向反射光进行探测,将阵列信号发送至云点数量控制系统,将拾取的云点发送至点云成像系统,进行目标物显示。(The invention discloses a laser radar system for realizing multi-line light emission/reception by a high-brightness single tube, which comprises: the laser light source system comprises a high-brightness light source and a laser shaping coupling system, and the laser shaping coupling system shapes and couples light spots emitted by the high-brightness light source and outputs the light spots; the double-cone laser reflector comprises a double-cone light source side light high-reflection surface and a double-cone detector side light high-reflection surface, the double-cone light source side light high-reflection surface is used for receiving emergent light of the laser light source system and reflecting the emergent light to a target object, and the double-cone detector side light high-reflection surface is used for receiving reflected light of the target object and reflecting the reflected light to the cloud point sensor imaging system; the laser detector array receives the laser reflected by the double-cone laser reflector, detects the reflected light in other directions, sends an array signal to the cloud point quantity control system, and sends the picked cloud points to the point cloud imaging system for target object display.)

1. A high-brightness single-tube laser radar system for realizing multi-line light emission/reception, comprising: the device comprises a laser light source system (1), a double-cone laser reflector (2) and a cloud point sensor imaging system (3);

the laser light source system (1) comprises a high-brightness light source (11) and a laser shaping and coupling system (12), wherein the laser shaping and coupling system (12) shapes and couples light spots emitted by the high-brightness light source (11) for outputting;

the double-cone laser reflector (2) comprises a double-cone light source side light high-reflection surface (21) and a double-cone detector side light high-reflection surface (22), the double-cone light source side light high-reflection surface (21) is used for receiving emergent light of the laser light source system (1) and reflecting the emergent light to a target, and the double-cone detector side light high-reflection surface (22) is used for receiving reflected light of the target and reflecting the reflected light to the cloud point sensor imaging system (3);

cloud point sensor imaging system (3) include laser detector array (31), cloud point quantity control system (32) and some cloud imaging system (33), laser detector array (31) receive the laser of bipyramid laser reflector (2) reflection to other direction reverberation is surveyed, with array signal send to cloud point quantity control system (32), carry out cloud point and pick up fast and precision optimization, with the cloud point of picking up send to some cloud imaging system (33), carry out the target object and show.

2. The lidar system as claimed in claim 1, wherein the laser source system (1) further comprises a power supply system (13) and a temperature control system (14), the power supply system (13) is used for supplying power to the high-brightness light source (11), the laser shaping coupling system (12) and the temperature control system (14), and the temperature control system (14) is used for controlling the temperature of the high-brightness light source (11) to prevent the power, the beam quality degradation and the wavelength drift of the light source due to excessive heat accumulation.

3. The lidar system for realizing multi-line light emission/reception by a high-brightness single tube according to claim 1, wherein the conical surfaces at two sides of the double-cone laser reflector (2) are cone assemblies with the same apex angle or different apex angles, and the cone material is optical glass plated with a high-reflection film, a highly polished metal body or a combination thereof.

Technical Field

The invention relates to the technical field of photoelectricity, in particular to a laser radar system for realizing multi-line light emission/reception by a high-brightness single tube.

Background

At present, the optical radar is essential key core equipment in intelligent unmanned driving, distance measurement, remote sensing, the thing networking, and along with scientific and technological development and the popularization of intelligent unmanned driving, people's daily life is more and more walked into to intelligent unmanned driving and thing networking. At present, the existing laser radar for intelligent unmanned driving and Internet of things needs multi-line array type high-precision and long-distance cloud point imaging, so that harsh requirements are provided for a light source, a light source system is required to be arranged in a line array manner, meanwhile, higher requirements are provided for the assembly precision of the system, and meanwhile, the cost is increased sharply. The price of the high-linear array type laser radar system can be even comparable with that of a middle-high-end car, which brings practical problems for the application and popularization of the system.

However, the conventional laser radar needs to determine the cloud point amount according to the accuracy, and the cloud point amount is determined by the multi-line array laser light source. The assembly difficulty, complexity and cost of the whole system are directly determined by the multi-linear array laser light source. Therefore, the development limitation and the application and popularization difficulty of the multi-line array laser radar system are increased. Therefore, finding an alternative to reduce the assembly difficulty, complexity and production cost of the system is a problem that is currently urgently needed to be solved.

Therefore, reducing the assembly difficulty, complexity and production cost of the system is a problem that those skilled in the art need to solve.

Disclosure of Invention

In view of the above, the present invention provides a high-brightness single-tube laser radar system for implementing multi-line light emission/reception; the system comprises a high-brightness laser light source system, a biconical laser reflector and a cloud point sensor imaging system. The high-brightness laser light source system comprises a high-brightness laser light source, a power supply system, a temperature control system and a laser shaping coupling system; the biconical laser reflector is of a biconical integrated structure, and the surfaces of cones at two sides are plated with laser total reflection films aiming at specific wavelengths; the cloud point sensor imaging system comprises a laser detector array, a cloud point quantity control system and a point cloud imaging generation system.

The high-brightness laser light source system emits continuous or narrow pulse laser at a certain divergence angle, the laser irradiates one side of a double-cone laser reflector cone, is reflected by one side of the double-cone laser reflector, is irradiated on a target object, is reflected to the other side of the double-cone laser reflector by the target object, is reflected to the cloud point sensor imaging system by the side, the number and the distribution of collected cloud points can be determined by the cloud point detector imaging system, and finally the distribution and the position information of the target object are determined.

In order to achieve the purpose, the invention adopts the following technical scheme:

a high-brightness single-tube laser radar system for realizing multi-line light emission/reception comprises: the system comprises a laser light source system, a double-cone laser reflector and a cloud point sensor imaging system;

the laser light source system comprises a high-brightness light source and a laser shaping coupling system, and the laser shaping coupling system shapes and couples light spots emitted by the high-brightness light source and outputs the light spots;

the double-cone laser reflector comprises a double-cone light source side light high-reflection surface and a double-cone detector side light high-reflection surface, the double-cone light source side light high-reflection surface is used for receiving emergent light of the laser light source system and reflecting the emergent light to a target object, and the double-cone detector side light high-reflection surface is used for receiving reflected light of the target object and reflecting the reflected light to the cloud point sensor imaging system;

the cloud point sensor imaging system comprises a laser detector array, a cloud point quantity control system and a point cloud imaging system, wherein the laser detector array receives laser reflected by the double-cone laser reflector, detects reflected light in other directions, sends an array signal to the cloud point quantity control system, carries out quick cloud point picking and precision optimization, and sends picked cloud points to the point cloud imaging system for target object display.

Preferably, the laser light source system further comprises a power supply system and a temperature control system, the power supply system is used for supplying power to the high-brightness light source, the laser shaping coupling system and the temperature control system, and the temperature control system is used for controlling the temperature of the high-brightness light source and preventing power, light beam quality degradation and wavelength drift of the light source caused by excessive heat accumulation.

Preferably, the conical surfaces on two sides of the biconical laser reflector are cone assemblies with the same apex angle or different apex angles, and the cone material is optical glass plated with a high-reflection film, a highly polished metal body or a combination thereof. The cones on the two sides can be cone assemblies with the same apex angle or different apex angles, the laser reflectivity for the common wavelength of the laser radar is larger than 90%, and the apex angles of the two cones can be matched and adjusted according to the actual detection distance and the detection precision.

According to the technical scheme, compared with the prior art, the invention discloses the laser radar system which realizes multi-line light emission/reception by the high-brightness single tube; the system comprises a high-brightness laser light source system, a biconical laser reflector and a cloud point sensor imaging system. The high-brightness laser light source system comprises a high-brightness laser light source, a power supply system, a temperature control system and a laser shaping coupling system; the biconical laser reflector is of a biconical integrated structure, and the surfaces of cones at two sides are plated with laser total reflection films aiming at specific wavelengths; the cloud point sensor imaging system comprises a laser detector array, a cloud point quantity control system and a point cloud imaging generation system.

The high-brightness laser light source system emits continuous or narrow pulse laser at a certain divergence angle, the laser irradiates one side of a double-cone laser reflector cone, is reflected by one side of the double-cone laser reflector, is irradiated on a target object, is reflected to the other side of the double-cone laser reflector by the target object, is reflected to the cloud point sensor imaging system by the side, the number and the distribution of collected cloud points can be determined by the cloud point detector imaging system, and finally the distribution and the position information of the target object are determined.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a laser light source system provided by the present invention.

Fig. 2 is a schematic structural diagram of a cloud point sensor imaging system provided by the invention.

Fig. 3 is a schematic structural diagram of a lidar system provided by the present invention.

Fig. 4 is a schematic diagram illustrating the operation of the lidar system provided by the present invention.

Fig. 5 is a schematic structural framework diagram of a laser radar system provided by the invention.

The system comprises a laser light source system 1, a biconical laser reflector 2, a cloud point sensor imaging system 3, a high-brightness light source 11, a laser shaping coupling system 12, a power supply system 13, a temperature control system 14, a double-cone light source side light high-reflection surface 21, a double-cone detector side light high-reflection surface 22, a laser detector array 31, a cloud point quantity control system 32 and a point cloud imaging system 33.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention discloses a laser radar system for realizing multi-line light emission/reception by a high-brightness single tube, which comprises: the device comprises a laser light source system 1, a biconical laser reflector 2 and a cloud point sensor imaging system 3;

the laser light source system 1 comprises a high-brightness light source 11 and a laser shaping coupling system 12, wherein the laser shaping coupling system 12 is used for shaping and coupling light spots emitted by the high-brightness light source 11 and then outputting the light spots;

the double-cone laser reflector 2 comprises a double-cone light source side light high-reflection surface 21 and a double-cone detector side light high-reflection surface 22, the double-cone light source side light high-reflection surface 21 is used for receiving emergent light of the laser light source system 1 and reflecting the emergent light to a target object, and the double-cone detector side light high-reflection surface 22 is used for receiving reflected light of the target object and reflecting the reflected light to the cloud point sensor imaging system 3;

the cloud point sensor imaging system 3 comprises a laser detector array 31, a cloud point number control system 32 and a point cloud imaging system 33, the laser detector array 31 receives laser reflected by the double-cone laser reflector 2, detects reflected light in other directions, sends an array signal to the cloud point number control system 32, carries out fast cloud point pickup and precision optimization, and sends picked cloud points to the point cloud imaging system 33 for target object display.

In order to further optimize the above technical solution, the laser light source system 1 further includes a power supply system 13 and a temperature control system 14, the power supply system 13 is configured to supply power to the high-brightness light source 11, the laser shaping coupling system 12, and the temperature control system 14 is configured to control the temperature of the high-brightness light source 11, so as to prevent power, beam quality degradation, and wavelength drift of the light source due to excessive heat accumulation.

In order to further optimize the technical scheme, conical surfaces on two sides of the biconical laser reflector 2 are cone assemblies with the same apex angle or different apex angles, and the cone materials are optical glass plated with a high-reflection film, a highly polished metal body or a combination thereof. The cones at two sides can be cone assemblies with the same apex angle or different apex angles, the laser reflectivity for the common wavelength of the laser radar is more than 90%, and the apex angles of the two cones can be matched and adjusted according to the actual detection distance and the detection precision

The working process of the planar array type laser detector end is as follows:

the surface array type laser detector end can be powered through a transparent electrode on the laser radar shell, and an antireflection film can be plated outside the transparent electrode to increase the laser transmittance of the protective shell. Meanwhile, the system can be integrated with wifi or 5G, and rapid real-time transmission of data is facilitated. The cone can work normally without rotation.

Operation of the high-brightness laser light source system:

the whole laser radar system is in an external environment during operation. Because lasers are particularly sensitive to temperature, high-brightness laser light source systems require efficient temperature control capabilities. The conventional laser radar light source is arranged in an exposed external environment, while the laser light source is arranged in a cab or an environment which is not in direct contact with the outside, and is provided with an independent temperature control system, and can be output to the biconical laser reflector through the laser shaping coupling system, so that the whole system is simple, reliable and convenient to install.

The working process of the equipment management system comprises the following steps:

when the system works: the hardware and software of each part can be self-checked firstly, and after the self-checking is completed, the starting operation can be carried out, and corresponding photoelectric signals or voice prompts or alarms are provided.

The working process of the biconical laser reflector is as follows:

the two surfaces of the double-cone laser reflector are respectively divided, one surface of the double-cone laser reflector is close to the light source end, the other surface of the double-cone laser reflector is close to the planar array type laser detector end, the cone angles of the two surfaces of the double-cone laser reflector can be different, and the cone angles can be adjusted according to the angles of emitted light and received light, so that the optimal detection of a target object is realized.

The working process of the power supply system comprises the following steps:

the power supply system provides energy support for the whole laser radar system, and the power supply system also comprises a wireless charging module which is specially used for supplying the laser radar, and can be connected with a vehicle-mounted power supply system for charging in real time.

The cloud point collector working process:

the cloud point collector can control the required cloud point amount, the point cloud imaging precision can be controlled by controlling the cloud point amount, the method can be suitable for working modes of different scenes, and the system optimizes the computing resources of the unmanned system. By optimizing the acquisition amount of the cloud point amount, the optimized imaging can be realized on the premise of not influencing the cloud imaging effect.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.