CN109254297B - Optical path system of laser radar and laser radar - Google Patents
Optical path system of laser radar and laser radar Download PDFInfo
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- CN109254297B CN109254297B CN201811273358.6A CN201811273358A CN109254297B CN 109254297 B CN109254297 B CN 109254297B CN 201811273358 A CN201811273358 A CN 201811273358A CN 109254297 B CN109254297 B CN 109254297B
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- laser
- galvanometer
- vibrating mirror
- path system
- optical path
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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
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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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
The application provides a laser radar light path system and a laser radar with the same, wherein the light path system comprises: the laser source emits laser, the laser is divided into at least two laser beams through the optical fiber, the laser beams are collimated by the collimating lens and emitted to the first vibrating mirror, reflected by the first vibrating mirror to the second vibrating mirror, and then reflected to the target object through the second vibrating mirror. The first galvanometer and the second galvanometer move in different directions at different frequencies. The laser beam reflected from the target object is converged by the converging lens and then received by the receiving device. After the technical scheme is adopted, the laser radar does not need a mechanical rotating structure and a plurality of lasers, and has larger scanning area and higher scanning density.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to an optical path system of a laser radar and the laser radar.
Background
The laser radar technology is widely applied in the fields of navigation, map mapping, satellite positioning and the like. In the field of unmanned automobiles, lidar plays a key role in map mapping and scene location.
Most of the existing lidars are mechanical lidars. Mechanical lidar generally requires a mechanical rotation mechanism, and the laser radar system is driven to perform spatial rotation scanning through rotation.
The machining precision requirement of the mechanical rotary structure of the traditional mechanical laser radar is high, the rotary structure is easy to wear in use, and the long-term stability is poor. In addition, mechanical lidar generally requires multiple line measurements in order to achieve higher resolution, and the use of multiple lasers is costly.
Because the mechanical laser radar realizes surface scanning through a plurality of side-by-side laser rotations, the scanning area and the scanning density are smaller, and the market demand is difficult to meet. Therefore, there is a need to develop an optical path system for a laser radar which does not require a mechanical rotation structure and a plurality of lasers, and which has a large scanning area and a high scanning density, and a laser radar having the optical path system.
Disclosure of Invention
In order to overcome the technical defects, the application aims to provide an optical path system of a laser radar which does not need a mechanical rotating structure and a plurality of lasers and has large scanning area and high scanning density and the laser radar with the optical path system.
The application discloses an optical path system of a laser radar, which comprises:
a laser source for emitting laser light; the optical fiber is connected with the laser source, is used for the laser to pass through and divides the laser into at least two laser beams; the collimating lenses are arranged in the outgoing direction of the laser beams, the number of the collimating lenses is the same as that of the laser beams, and the laser beams are collimated; the first vibrating mirror is arranged in the outgoing direction of the laser beam collimated by the collimating lens, periodically and reciprocally rotates around a first axis, and reflects the laser beam; the second vibrating mirror is arranged in the outgoing direction of the laser beam reflected by the first vibrating mirror, periodically and reciprocally rotates around a second shaft or rotates around the second shaft in a single direction, the second shaft is perpendicular to the first shaft, the frequency of the second vibrating mirror is different from that of the first vibrating mirror, and the second vibrating mirror reflects the laser beam to a target object; a converging lens converging the laser beam reflected from the target object; and the receiving device is arranged in the emergent direction of the converged laser beams and is used for receiving the laser beams.
Preferably, the first galvanometer is a one-dimensional mems galvanometer.
Preferably, the second galvanometer periodically reciprocates around a second axis, and the number of mirror surfaces of the second galvanometer is 1.
Preferably, the second galvanometer rotates around the second axis along a single direction, and the number of mirror surfaces of the second galvanometer is 2-6.
Preferably, the frequency of the first galvanometer and the frequency of the second galvanometer have the following relationship:
first galvanometer frequency = second galvanometer frequency x number of scan lines x number of mirrors of second galvanometer 2;
the number of scanning lines is the number of scanning lines that a single laser beam forms to and fro on the target object.
Preferably, the frequency of the first vibrating mirror is 5-30 Hz.
Preferably, the number of scanning lines is 80 to 1080.
Preferably, the number of scanning lines is 300 to 600.
Preferably, the receiving means is an avalanche photodiode.
The application also discloses a laser radar which is provided with the optical path system.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. the laser radar changes the emitting direction of laser through the vibrating mirror, realizes the scanning of space, and does not need a mechanical rotating structure.
2. The laser radar of the application increases the scanning area by splitting the laser emitted by the laser source.
3. The laser radar of the application passes through two vibrating mirrors with different frequencies, thereby increasing the scanning density.
Drawings
FIG. 1 is a schematic view of an optical path system of a laser beam emitted from a light source to a target object according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an optical path system of a portion of a laser beam reflected from a target object to be received by a receiving device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of the second galvanometer mirror surface.
FIG. 4 is a schematic diagram of a scanning track formed by laser on a scanned surface;
reference numerals:
the laser scanning device comprises a 1-laser source, a 2-optical fiber, a 3-collimating lens, a 4-first vibrating mirror, a 5-second vibrating mirror, a 6-target object, a 61-scanned surface, a 7-converging lens, an 8-receiving device and a 9-scanning line.
Detailed Description
Advantages of the application are further illustrated in the following description, taken in conjunction with the accompanying drawings and detailed description.
Referring to fig. 1 and fig. 2, an optical path system of a laser radar includes:
a laser source 1 for emitting laser light. The laser source 1 may preferably be a solid state laser, which may preferably be a fiber laser, or a semiconductor laser, or a gas laser.
-an optical fiber 2, said optical fiber 2 being connected to said laser source 1 for passing said laser light and dividing said laser light into not less than 2 laser beams. Preferably, a laser beam splitter is disposed on the optical fiber 2 for splitting the laser light into a plurality of beams. The laser beam splitter is preferably a one-dimensional linear beam splitter.
-collimator lenses 3, said collimator lenses 3 being arranged in the outgoing direction of said laser beams, the number of collimator lenses 3 being the same as the number of laser beams, collimating said laser beams. Since the laser emitted by the laser source 1 has a large divergence angle, the energy is not concentrated, which is unfavorable for ranging of the laser radar, so the laser beam needs to be collimated. The collimating lens 3 may preferably be a spherical single lens or a combined spherical lens or a combined cylindrical lens. The laser beams collimated by the collimating lens 3 are not parallel to each other and converge toward the first galvanometer 4.
A first galvanometer 4, said first galvanometer 4 being arranged in the outgoing direction of the laser beam collimated by said collimating lens 3, said first galvanometer 4 being periodically reciprocally rotated about a first axis, said first galvanometer 4 reflecting said laser beam. The first galvanometer 4 is preferably a one-dimensional microelectromechanical system galvanometer (MEMS galvanometer, micro Electro Mechanical system galvanometer), i.e. the MEMS galvanometer can change the direction of the light path in one direction. The driving mode of the MEMS galvanometer can preferably adopt an electromagnetic driving mode. Electromagnetic driving is generally in two forms, one is an electromagnet type, a micro-electromechanical system vibrating mirror with good magnetic conductivity metal such as iron, cobalt, nickel and the like attached on the surface is placed in an alternating magnetic field which changes according to a certain frequency, and the alternating magnetic field is used for generating magnetic force to drive the vibrating mirror to twist around a central shaft through interaction of the alternating magnetic field and the metal; the other is bipolar, which requires depositing magnetic material on the vibrating mirror of the micro-electromechanical system, and driving the vibrating mirror to twist around a central axis by using the acting force generated by the magnetic material under the alternating electric field. When the alternating magnetic field and the alternating electric field have periodic frequencies, the vibrating mirror can be driven to periodically reciprocate around a central shaft, so that the laser beam incident on the mirror surface is driven to periodically deflect. Preferably, the driving mode of the mems vibrating mirror may also adopt electrostatic driving, piezoelectric driving or electrothermal driving.
A second galvanometer 5, said second galvanometer 5 being arranged in the outgoing direction of the laser beam reflected by said first galvanometer 4, said second galvanometer 5 being periodically reciprocally rotated about a second axis, or being rotated in a single direction about a second axis, said second axis being perpendicular to said first axis. By the perpendicular arrangement of the first axis and the second axis, the laser beams reflected by the first galvanometer 4 and the second galvanometer 5 can be moved in two directions perpendicular to each other, thereby realizing two-dimensional scanning.
In some embodiments, as shown in fig. 3, the second galvanometer 5 periodically reciprocates around the second axis, where the number of mirrors of the second galvanometer 5 is 1 (as shown in the first graph in fig. 3), that is, there is only one reflecting surface, and the second galvanometer 5 may be a one-dimensional mems galvanometer. In other embodiments, the second galvanometer 5 rotates in a single direction about a second axis, where the number of mirrors of the second galvanometer 5 is 2-6 (the second through fifth figures in FIG. 3 show a number of mirrors of 3-6; the number of mirrors of 2 is similar to the first figure, except that there are 2 reflective surfaces), i.e., 2-6 reflective surfaces, and the second axis is centered in the mirror pattern in the figure, in a direction perpendicular to the plane of the paper. The term single direction as used herein refers to a clockwise or counterclockwise direction.
The frequency of the second galvanometer 5 is different from the frequency of the first galvanometer 4, and the frequency is different from the frequency of the periodic reciprocating rotation of the second galvanometer 5 or the frequency of the periodic reciprocating rotation of the first galvanometer in a single direction. Since the rotation axis direction of the first galvanometer 4 and the second galvanometer 5 is vertical, if the frequencies of the periodic reciprocating rotation of the two galvanometers are the same, the laser beam moves in the direction forming an angle of 45 degrees with the edge of the scanned area, and the scanning density is fixed. Thus, by periodically reciprocating the first galvanometer 4 and the second galvanometer 5 at different frequencies, specifically, rapidly rotating in one direction and slowly rotating in one direction, dense scanning of the scanned area can be achieved. Referring to fig. 4, a schematic diagram of a scanning track formed by a laser beam on a scanned surface 61 of a target object 6 is shown. As can be seen from the figure, the single laser beam moves fast in the vertical direction of the scanned surface and moves slowly in the horizontal direction, so that dense scanning in the two-dimensional direction is realized, and the scanning area is doubled due to the existence of multiple laser beams. Preferably, the frequency of the first galvanometer 4 and the frequency of the second galvanometer 5 have the following relationship:
first galvanometer frequency=second galvanometer frequency×scanning line number×mirror number of second galvanometer ≡2
The number of scanning lines is the number of scanning lines 9 that a single laser beam forms back and forth on the scanned surface of the target object.
The frequency of the second vibrating mirror is determined according to the refresh rate of the laser radar, and is usually 5-30 Hz. The number of scan lines is typically in the range of 80 to 1080, with the particular value being determined based on the scan effect to be achieved by the lidar. Preferably, the number of scan lines is generally 300 to 600.
The following table shows the preferred scan line number, the mirror number of the second galvanometer, the second galvanometer frequency, and the first galvanometer frequency.
A converging lens 7 for converging the laser beam reflected from the target object 6, focusing the laser beam on the receiving device 8, and converging the reflected laser beam on a smaller area by the converging lens 7, so that the receiving device 8 can achieve a better receiving effect without being made large. The whole volume of the laser radar device and the cost of the receiving device are reduced.
-receiving means 8 arranged in the outgoing direction of the converged laser beam for receiving said laser beam. Preferably, the receiving means 8 are a plurality of Avalanche Photodiodes (APDs). In some embodiments, the receiving means 8 is fixed in position. In other embodiments, the receiving device 8 rotates synchronously with the second galvanometer to achieve better receiving effect.
The specific working process of the optical path system of the laser radar is as follows: the laser source 1 emits laser light, the emitted laser light is divided into at least two laser beams through the optical fiber 2, and each laser beam is collimated by the collimating lens 3 arranged behind the laser light and emitted to the first galvanometer 4, reflected by the first galvanometer 4 to the second galvanometer 5, and then reflected by the second galvanometer 5 to the target object 6. The first galvanometer 4 periodically reciprocates around a first axis, and the second galvanometer 5 periodically reciprocates around a second axis or rotates in a single direction around the second axis, and the first axis and the second axis are perpendicular to each other. At the same time, the first galvanometer 4 and the second galvanometer 5 rotate at different frequencies. Because the first galvanometer 4 and the second galvanometer 5 are perpendicular and the frequency of the periodic reciprocating rotation is different, the scanning of higher density can be realized in the two-dimensional direction by a single laser beam. And a plurality of laser beams may form a plurality of scanning areas, so that the total scanning area increases. The laser beam reflected from the target object 6 is converged by the converging lens 7 and then received by the receiving device 8. Further, the central control system on the laser radar can accurately measure the position (distance and angle), motion state (speed, vibration and gesture) and shape of the target object 6 according to the condition of laser emission and receiving and combining the frequency and angle information of the first vibrating mirror 4 and the second vibrating mirror 5, and detect, identify, distinguish and track the target.
In some embodiments, after being collimated by the collimating lens 3, the laser beam passes through the second galvanometer 5, then passes through the first galvanometer 4, and then exits toward the target object 6.
The application also discloses a laser radar which is provided with the optical path system.
It should be noted that the embodiments of the present application are preferred and not limited in any way, and any person skilled in the art may make use of the above-disclosed technical content to change or modify the same into equivalent effective embodiments without departing from the technical scope of the present application, and any modification or equivalent change and modification of the above-described embodiments according to the technical substance of the present application still falls within the scope of the technical scope of the present application.
Claims (6)
1. An optical path system of a laser radar is characterized in that,
the optical path system includes:
a laser source for emitting laser light;
the optical fiber is connected with the laser source, is used for the laser to pass through and divides the laser into at least two laser beams;
the collimating lenses are arranged in the outgoing direction of the laser beams, the number of the collimating lenses is the same as that of the laser beams, and the laser beams are collimated;
the first vibrating mirror is arranged in the outgoing direction of the laser beam collimated by the collimating lens, periodically reciprocates around a first axis, and reflects the laser beam;
the second vibrating mirror is arranged in the outgoing direction of the laser beam reflected by the first vibrating mirror, periodically and reciprocally rotates around a second shaft or rotates around the second shaft in a single direction, the second shaft is perpendicular to the first shaft, the frequency of the second vibrating mirror is different from that of the first vibrating mirror, and the second vibrating mirror reflects the laser beam to a target object;
a converging lens converging the laser beam reflected from the target object;
the receiving device is arranged in the emergent direction of the converged laser beams and used for receiving the laser beams;
the second vibrating mirror rotates around the second shaft along a single direction, and the number of mirror surfaces of the second vibrating mirror is 2-6;
the frequency of the first vibrating mirror and the frequency of the second vibrating mirror have the following relation:
first galvanometer frequency = second galvanometer frequency x number of scan lines x number of mirrors of second galvanometer 2;
the scanning line number is the number of the scanning lines which are formed by the single laser beam on the target object and are reciprocated back and forth;
the first galvanometer is a one-dimensional micro-electromechanical system galvanometer;
the second vibrating mirror periodically rotates around the second shaft in a reciprocating mode, and the number of mirror surfaces of the second vibrating mirror is 1.
2. The optical path system of claim 1 wherein the first galvanometer has a frequency of 5 Hz to 30Hz.
3. The optical path system of claim 2, wherein the number of scan lines is 80 to 1080.
4. The optical path system of claim 3 wherein the number of scan lines is 300 to 600.
5. The optical path system of claim 1, wherein the receiving means is an avalanche photodiode.
6. A lidar characterized in that it has an optical path system according to any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811273358.6A CN109254297B (en) | 2018-10-30 | 2018-10-30 | Optical path system of laser radar and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811273358.6A CN109254297B (en) | 2018-10-30 | 2018-10-30 | Optical path system of laser radar and laser radar |
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| CN109254297A CN109254297A (en) | 2019-01-22 |
| CN109254297B true CN109254297B (en) | 2023-09-08 |
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| CN113030912B (en) * | 2019-12-09 | 2024-05-28 | 觉芯电子(无锡)有限公司 | Laser radar system based on scanning galvanometer |
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| CN109254297A (en) | 2019-01-22 |
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