CN106291509A - Laser radar optical system - Google Patents
Laser radar optical system Download PDFInfo
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- CN106291509A CN106291509A CN201610890551.9A CN201610890551A CN106291509A CN 106291509 A CN106291509 A CN 106291509A CN 201610890551 A CN201610890551 A CN 201610890551A CN 106291509 A CN106291509 A CN 106291509A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 43
- 230000033228 biological regulation Effects 0.000 claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 claims abstract description 6
- 239000007788 liquid Substances 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000007935 neutral effect Effects 0.000 claims description 6
- 239000004065 semiconductor Substances 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 61
- 208000001491 myopia Diseases 0.000 abstract description 28
- 230000004379 myopia Effects 0.000 abstract description 28
- 230000001276 controlling effect Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 239000000523 sample Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 206010020675 Hypermetropia Diseases 0.000 description 2
- 201000009310 astigmatism Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004313 glare Effects 0.000 description 2
- 201000006318 hyperopia Diseases 0.000 description 2
- 230000004305 hyperopia Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- 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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of laser radar optical system, this system includes laser beam emitting device, laser receiver and regulation unit, laser beam emitting device includes the first LASER Light Source, the second LASER Light Source, the first light-splitting device and zoom collimating mirror group, laser receiver includes the first detector, the second detector, the second light-splitting device and zoom converging lenses group, and regulation unit is for regulating the burnt length of zoom collimating mirror group and zoom converging lenses group.The optical system that the present invention provides is by controlling the first LASER Light Source and the switching of the second LASER Light Source, first detector and the switching of the second detector, and zoom collimating mirror group and the burnt long of zoom converging lenses group convert, just the switching between myopia field and far visual field can be realized, optical system is made to switch to myopia field mode when needs carry out myopia field scanning, far visual field pattern is switched to, to meet different visual fields and the requirement of resolution when needs carry out far visual field scanning.
Description
Technical field
The present invention relates to laser radar technique field, especially relate to a kind of laser radar optical system.
Background technology
Along with the progress of science and technology, people have had higher requirement to vehicle safety, and laser radar technique has obtained widely
Application.Laser radar emission system projects laser beam to target, and target face is scattered back beam of laser light beam and is connect by laser radar
Receipts system receive, by laser beam from the time difference being transmitted between reception calculate between laser radar and target away from
From.
Target in preset range is detected by existing known laser radar system with fixing visual field and resolution.
Owing to visual field and the resolution of laser radar system are fixed, therefore between near-field scan and far-field scanning, there is contradiction.If swashed
Optical detection and ranging system visual field and resolution meet the far-field range observation to target, the scanning of the laser radar system near field range
Linear field narrows, can only the part of coverage goal, it is impossible to carry out the object space in the near field range of detector front effectively
Detection.If laser radar system visual field and resolution meet the interior observation to target of near field range, the laser in far-field range
The scan line visual field of radar system will be more much larger than target to be measured, and a part of visual field will be higher than target to be measured, and this part regards
Spatial information in Chang is useless for vehicle, and the visual field of laser radar can not make full use of.Meanwhile, detection is met near field
In the case of requirement, the resolution step-down of far-field laser radar, there is the biggest blind area between adjacent scan paths, so cause
Laser radar system is insufficient to the detection of target in the range of specifying, it is impossible to provide target accurate information to be measured.
For example, Fig. 1 is existing laser radar at the vertical direction visual field near field and far field and the schematic diagram of resolution.
The number of scanning lines of laser radar in the vertical direction is N, and the near-field scan visual field of laser radar is α, and near-field scan resolution is
α/(N-1), the near field range of laser radar is 0～L1, and laser radar is the scan line visual field substantially H1 of vertical direction at L1
=L1 × tan α, thing side's vertical direction scanning resolution is h1=H1/ (N-1).Now in the range of vehicle front near field, swash
Optical radar meets suitable sweep limits, also ensure that the fineness of near-field scan simultaneously.Situation at this near field mode
Under, scan line visual field substantially H2=L2 × tan α of laser radar at the L2 of far field, thing side's surface sweeping resolution is h2=H2/ (N-
1).Owing to L2 is 3～5 times of L1, even 10 times, therefore much bigger than H1 of H2, now the scanning overhead visual field of laser radar its
Have been positioned at the top of front vehicles in fact, the scope that the detection viewing field of laser radar can use beyond reality, causes significant portion
The waste of visual field.Meanwhile, h2 compares h1 also can be much larger, and h2 is 3～5 times of h1, even 10 times.Owing to laser radar does not fill
, between the scanning of adjacent two-way, there is the biggest blind area in the vertical direction scanning resolution of foot.
The far-field range of laser radar is L1～L2, and in the case of laser radar is in Far Field Pattern, laser radar is remote
The vertical direction scanning field of view of field is β, and scanning resolution is β/(N-1), and the linear field that laser radar scans at L2 is H3=
L2 × tan β, thing side's surface sweeping resolution is h3=H3/ (N-1).Vehicle front far field objects is detected by laser radar, meets
The fineness of laser radar far-field scanning, also ensure that enough vertical direction scanning field of view simultaneously.But at Far Field Pattern
In the case of, at the L1 of near field, the scan line visual field of laser radar is H4=L1 × tan β, and thing side's surface sweeping resolution is h4=H4/ (N-
1), owing to L2 is 3～5 times of L1, even 10 times, therefore H4 is more much smaller than H3, in the case of H3 meets scanning field of view, and H4 ratio
The sweep limits being actually needed is much smaller, is only capable of detecting the sub-fraction of detector front vehicles, it is impossible to provide enough things
Spatial information, it is impossible to meet the demand of visual field in the case of near field.
Visible, the laser radar meeting the requirement of myopia field is not suitable for carrying out far visual field scanning, meets what far visual field required
Laser radar is not suitable for carrying out myopia field scanning, it is therefore desirable to the laser radar optical system of a kind of changeable visual field, with full
Foot is to different visual fields and the requirement of resolution.
Summary of the invention
For disadvantages described above, the present invention provides a kind of laser radar optical system, it is possible to achieve myopia field and far visual field it
Between switching, to meet different visual fields and the requirement of resolution.
The laser radar optical system that the present invention provides includes laser beam emitting device, laser receiver and regulation unit,
Wherein:
Described laser beam emitting device includes the first LASER Light Source, the second LASER Light Source, the first light-splitting device and zoom collimation
Mirror group, described first light-splitting device laser that position is suitable to make described first LASER Light Source send is set in described first light splitting
On device reflection after enter described zoom collimating mirror group and make described second LASER Light Source send laser in described first light splitting
Entering described zoom collimating mirror group on device after transmission, described zoom collimating mirror group is after collimating the laser received
It is projected in the field range corresponding to current burnt length of described zoom collimating mirror group；
Described laser receiver includes the first detector, the second detector, the second light-splitting device and zoom converging lenses group,
Described zoom converging lenses group is for swashing of returning the field range inscattering corresponding to the current burnt length of described zoom converging lenses group
Light converges, described second light-splitting device laser that position is suitable to make described zoom converging lenses group converge is set described
On two light-splitting devices reflection after enter described first detector and make described zoom converging lenses group converge laser described second
Described second detector is entered after transmission on light-splitting device；
Described regulation unit is for regulating the burnt length of described zoom collimating mirror group and described zoom converging lenses group.
Optionally, described system also includes:
First optical filter, is arranged between described first detector and described second light-splitting device, is used for suppressing outside miscellaneous
The astigmatism interference to described first detector；And/or
Second optical filter, is arranged between described second detector and described second light-splitting device, is used for suppressing outside miscellaneous
The astigmatism interference to described second detector.
Optionally, described first laser instrument and described second laser are suitable to send the laser of phase co-wavelength, and described first
Light-splitting device and described second light-splitting device are neutral spectroscope.
Optionally, the spectroscopical splitting ratio in described center is 0.5～0.9.
Optionally, described first laser instrument and described second laser are suitable to send the laser of different wave length, and described first
Light-splitting device and described second light-splitting device are double-tone spectroscope.
Optionally, described zoom collimating mirror group and/or described zoom converging lenses group include liquid lens, plus lens and bear thoroughly
Mirror.
Optionally, described first LASER Light Source and/or described second LASER Light Source include multiple half arranged in array
Conductor laser or an array laser device.
Optionally, described first detector and/or described second detector include multiple snowslides two of arrangement in array
Pole pipe or an array avalanche diode.
Optionally, the size of the light-emitting area of described first LASER Light Source and the photosensitive receiving plane of described first detector is mutually
Join, and/or, the light-emitting area of described second LASER Light Source matches with the size of the photosensitive receiving plane of described second detector.
Optionally, described laser beam emitting device and described laser receiver are distributed in the axis of described optical system
Both sides.
The optical system that the present invention provides is by controlling the first LASER Light Source and the switching of the second LASER Light Source, and first detects
Device and the switching of the second detector, and the long conversion of Jiao of zoom collimating mirror group and zoom converging lenses group, just can realize myopia
Switching between field and far visual field, makes optical system switch to myopia field mode when needs carry out myopia field scanning, at needs
Carry out switching to far visual field pattern during far visual field scanning, to meet different visual fields and the requirement of resolution.
Accompanying drawing explanation
In order to be illustrated more clearly that disclosure embodiment or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Discloseder embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these figures.
Fig. 1 shows the existing laser radar far and near visual field schematic diagram at vertical direction；
Fig. 2 shows the structural representation of laser radar optical system in one embodiment of the invention；
Fig. 3 shows the schematic diagram that laser beam emitting device in one embodiment of the invention is under myopia field mode；
Fig. 4 shows the schematic diagram that laser receiver in one embodiment of the invention is under myopia field mode；
Fig. 5 shows laser radar optical system schematic diagram under myopia field mode in one embodiment of the invention；
Fig. 6 shows laser radar optical system schematic diagram under far visual field pattern in one embodiment of the invention；
Description of reference numerals:
100-laser beam emitting device；110-the first LASER Light Source；120-the second LASER Light Source；130-the first light-splitting device；
140-zoom collimating mirror group；The liquid lens of 141-zoom collimating mirror group；142-minus lens；143-plus lens；
200-laser receiver；210-the first detector；220-the second detector；230-the second light-splitting device；240-
Zoom converging lenses group；The liquid lens of 241-zoom converging lenses group；The minus lens of 242-zoom converging lenses group；243-zoom converges
The plus lens of mirror group；251-the first optical filter；252-the second optical filter；
The axis of 300-laser radar optical system；The axis of 301-laser beam emitting device；302-laser pick-off fills
The axis put.
Detailed description of the invention
Below in conjunction with the accompanying drawing in disclosure embodiment, the technical scheme in disclosure embodiment is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the disclosure, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of disclosure protection.
The present invention provides a kind of laser radar optical system, as in figure 2 it is shown, this system includes laser beam emitting device 100, swashs
Optical pickup apparatus 200 and regulation unit, wherein:
Described laser beam emitting device 100 includes first LASER Light Source the 110, second LASER Light Source the 120, first light-splitting device
130 and zoom collimating mirror group 140, the position that arranges of described first light-splitting device 130 is suitable to make described first LASER Light Source 110
The laser gone out enters described zoom collimating mirror group 140 after reflecting on described first light-splitting device 130 and makes described second laser
The laser that light source 120 sends enters described zoom collimating mirror group 140, described change on described first light-splitting device 130 after transmission
Focus collimation mirror group 140 is projected to the current burnt long of described zoom collimating mirror group 140 after collimating the laser received
In corresponding field range；
Described laser receiver 200 includes first detector the 210, second detector the 220, second light-splitting device 230 and
Zoom converging lenses group 240, described zoom converging lenses group 240 is for corresponding to the current burnt length to described zoom converging lenses group 240
The laser that returns of field range inscattering converge, the position that arranges of described second light-splitting device 230 is suitable to make described zoom
The laser that converging lenses group 240 converges enters described first detector 210 and makes institute after reflecting on described second light-splitting device 230
The laser stating the convergence of zoom converging lenses group 240 enters described second detector after transmission on described second light-splitting device 230
220；
Described regulation unit is for regulating the burnt length of described zoom collimating mirror group 140 and described zoom converging lenses group 240.
Pass through it will be appreciated that the laser beam emitting device 100 in the optical system of present invention offer is launched to vehicle front
The laser beam of collimation, laser beam is radiated on a range of object of vehicle front or road surface, then by object table
The back scattered laser beam in face or road surface is received by laser receiver 200, by calculating laser beam from being transmitted into reception
Time obtain vehicle front specify in the range of spatial information.
It will be appreciated that the visual field size of launching of discharger is decided by overall dimensions and the zoom collimating mirror of LASER Light Source
The burnt length of group 140, resolution sizes is decided by distance and Jiao of zoom collimating mirror group 140 of the middle adjoining laser of LASER Light Source
Long.Being similar to, the field of view of receiver receiving device is decided by the overall dimensions of detector and the burnt long of zoom converging lenses group 240, point
The spacing of the size of resolution adjacent probe unit in being decided by detector and the burnt length of zoom converging lenses group 240.Therefore, at laser
In the case of between the overall dimensions of light source and its internal adjoining laser, spacing is constant, can be by controlling zoom collimating mirror group
The burnt length of 140, controls to launch size and the resolution of visual field.Same, at overall dimensions and the internal detection unit of detector
Between spacing constant in the case of, by controlling the burnt long of zoom converging lenses group 240, can control field of view of receiver size and
Resolution.
Assume burnt long, the current overall dimensions of the first LASER Light Source 110 of Jiao in zoom collimating mirror group 140 a length of first and
Transmitting visual field corresponding to the current spacing between laser instrument within the first LASER Light Source 110 is myopia field, at zoom collimating mirror
Swashing within burnt long, the current overall dimensions of the first LASER Light Source 110 of Jiao a length of second of group 140 and the first LASER Light Source 110
Transmitting visual field corresponding to current spacing between light device is far visual field, Jiao a length of 3rd in zoom converging lenses group 240 burnt long, the
The reception that the current spacing between probe unit in the current overall dimensions of two detectors 220 and the second detector 220 is corresponding
Visual field is myopia field, burnt long, the current overall dimensions of the second detector 220 of Jiao in zoom converging lenses group 240 a length of 4th and
In the case of field of view of receiver corresponding to the current spacing between probe unit in the second detector 220 is far visual field, to this
The optical system of bright offer illustrates:
(1) control the first LASER Light Source 110 and the first detector 210 works, the second LASER Light Source 120 and the second detector
220 do not work, and burnt long by zoom collimating mirror group 140 is adjusted to the first burnt length, and burnt long by zoom converging lenses group 240 is adjusted to
3rd is burnt long.Now, the first LASER Light Source 110 sends laser, and this laser enters in the reflecting part of the first light-splitting device 130 and becomes
Focus collimation mirror group 140, projects away after zoom collimating mirror group 140 collimates.The corresponding myopia of laser beam emitting device 100 now
, therefore laser can be transmitted through myopia field by zoom collimating mirror group 140.Meanwhile, the corresponding myopia of laser receiver 200 now
, the laser that therefore zoom collimating mirror group 140 projects away can be received by zoom converging lenses group 240 after scattering in target face,
The laser received sends after being converged by zoom converging lenses group 240 to the second light-splitting device 230, and the second light-splitting device 230 is to swashing
The reflecting part of light is projected on the first detector 210, thus completes Laser emission and the reception of myopia field.
It is to say, when regulating unit by the burnt long regulation of zoom collimating mirror group 140 to the first burnt length and by described zoom
The burnt long regulation of converging lenses group 240 to the 3rd burnt long time, the first burnt long zoom collimating mirror group 140 is for the laser received
Projecting in myopia field, the 3rd burnt long zoom converging lenses group 240 is after the laser returning myopia field inscattering converges
Launch to described second light-splitting device 230, it is possible to achieve the object ranging of myopia field.
(2) control the first LASER Light Source 110 and the first detector 210 does not works, the second LASER Light Source 120 and the second detection
Device 220 works, and burnt long by zoom collimating mirror group 140 is adjusted to the second burnt length, and burnt long by zoom converging lenses group 240 is adjusted to
4th is burnt long.Now, the second LASER Light Source 120 sends laser, and this laser enters change in the transmissive portion of the first light-splitting device 130
Focus collimation mirror group 140, projects away after zoom collimating mirror group 140 collimates.The corresponding hypermetropia of laser beam emitting device 100 now
, therefore laser can be transmitted through far visual field by zoom collimating mirror group 140.Meanwhile, the corresponding hypermetropia of laser receiver 200 now
, the laser that therefore zoom collimating mirror group 140 projects away can be received by zoom converging lenses group 240 after scattering in target face,
The laser received sends after being converged by zoom converging lenses group 240 to the second light-splitting device 230, and the second light-splitting device 230 is to swashing
The transmissive portion of light is projected on the second detector 220, thus completes Laser emission and the reception of far visual field.
It is to say, when regulating unit by the burnt long regulation of described zoom collimating mirror group 140 to the second burnt length and by described
The burnt long regulation of zoom converging lenses group 240 is burnt long to the 4th, and the second burnt long zoom collimating mirror group 140 is for swashing of receiving
Light projects in far visual field, and the 4th burnt long zoom converging lenses group 240 converges for the laser returning far visual field inscattering
Rear transmitting is to described second light-splitting device 230, it is possible to achieve the object ranging of far visual field.
From the foregoing, it will be observed that the optical system that the present invention provides is by controlling the first LASER Light Source 110 and the second LASER Light Source 120
Switching, the first detector 210 and switching of the second detector 220, and zoom collimating mirror group 140 and zoom converging lenses group
The burnt long conversion of 240, just can realize the switching between myopia field and far visual field, makes optical system carry out myopia field at needs and sweeps
Switch to myopia field mode when retouching, switch to far visual field pattern when needs carry out far visual field scanning, to meet different visual fields
Requirement with resolution.
In the specific implementation, as in figure 2 it is shown, laser beam emitting device 100 and laser receiver 200 can be arranged on and be
The both sides, axis 300 of system.For ensureing to launch and mating of receiving, whether still far visual field scene under myopia field scene
Under, make the visual field of discharger identical with the visual field receiving device, the resolution of discharger and the resolution receiving device as far as possible
Rate is identical.It addition, for ensureing to launch and mating of receiving, also can make light-emitting area and the institute of described first LASER Light Source 110 as far as possible
The size of the photosensitive receiving plane stating the first detector 210 matches, and/or, the light-emitting area of described second LASER Light Source 120 and institute
The size of the photosensitive receiving plane stating the second detector 220 matches.
In the specific implementation, described first LASER Light Source 110 and/or described second LASER Light Source 120 can include in battle array
Multiple semiconductor lasers of column arrangement.Owing to launching visual field size by the overall dimensions of LASER Light Source and zoom collimating mirror group
140 burnt long determine, the resolution sizes of discharger is by spacing between adjoining laser in LASER Light Source and zoom collimation
Jiao of mirror group 140 is long to be determined, therefore big for ease of burnt long control visual field size and the resolution according only to zoom collimating mirror group 140
Little, the first LASER Light Source 110 can use same model and the identical LASER Light Source of arrangement mode with the second LASER Light Source 120.
Certainly, in other embodiments, the first LASER Light Source 110 and the second LASER Light Source 120 can also use different model, arrangement side
The LASER Light Source that formula is different.Certainly, in other embodiments, the first LASER Light Source 110 and/or the second LASER Light Source 120 also may be used
To use an array laser device, utilize a laser instrument to realize the transmitting of multi-path laser simultaneously.
In the specific implementation, the first LASER Light Source 110 and the second LASER Light Source 120 can send identical laser, now
First detector 210 includes the centre wavelength that laser that LASER Light Source sends is corresponding with the response range of the second detector 220, and
And neutral spectroscope now can be used can the incident illumination of a part to be entered as the first light-splitting device 130, neutral spectroscope
Row reflection, carries out transmission to the incident illumination of a part.Same, now the second light-splitting device 230 can also use neutral light splitting
Mirror.Wherein, neutral spectroscopical splitting ratio can be 0.5～0.9, such as 0.7, certainly can also is that other values.
In the specific implementation, the first LASER Light Source 110 and the second LASER Light Source 120 can send the laser of different wave length,
It is λ that such as first LASER Light Source 110 sends wavelength1Laser, it is λ that the second LASER Light Source 120 sends wavelength2Laser, now
The response range of one detector 210 is mated with the centre wavelength of the first LASER Light Source 110, the response range of the second detector 220
Mate with the centre wavelength of the second LASER Light Source 120.And double-tone spectroscope now can also be used as the first light-splitting device
130, double-tone spectroscope is λ to the wavelength that the first LASER Light Source 110 sends1Laser reflect, and to the second LASER Light Source
120 wavelength sent are λ2Laser carry out transmission.Same, now the second light-splitting device 230 can also use double-colored light splitting
Mirror.
In the specific implementation, the second LASER Light Source can be arranged on the axis 301 of zoom collimating mirror group, same,
Second detector can be arranged on the axis 302 of zoom converging lenses group.
In the specific implementation, zoom collimating mirror group 140 can include liquid lens 141, plus lens 143 and minus lens 142,
Wherein plus lens 143 and minus lens 142 are conventional lenses, and its focal length will not change.And liquid lens 141 can be by executing
The voltage being added between both front and back liquid is to change the curvature of intermediate interface, and the diopter of collimation liquid lens 141 is sent out therewith
Penetrate change, and then change the burnt long of whole zoom collimating mirror group 140.In actual application, liquid lens, conventional lenses quantity can
To select as required, this present invention is not limited.
In the specific implementation, described first detector 210 and/or described second detector 220 include arranging in array
Multiple avalanche diodes.Owing to field of view of receiver size is determined by the overall dimensions of detector and the burnt long of zoom converging lenses group 240
Fixed, receive the resolution sizes of device by the spacing between probe unit adjacent in detector and Jiao of zoom converging lenses group 240
Long decision, therefore for ease of controlling visual field size and resolution sizes according only to the burnt long of zoom converging lenses group 240, can use
Same model and the identical avalanche diode of arrangement mode.Certainly, in other embodiments, the first detector 210 and second is visited
Surveying device 220 can also different model, the avalanche diode of different arrangement mode.Certainly, in other embodiments, it is also possible to use
One array avalanche diode, utilizes an array avalanche diode to realize the reception of multi-path laser simultaneously.
In the specific implementation, zoom converging lenses group 240 can include liquid lens 241, plus lens 242 and minus lens 243,
Wherein plus lens 242 and minus lens 243 are conventional lenses, and its focal length will not change.And liquid lens 241 can be by executing
The voltage being added between both front and back liquid is to change the curvature of intermediate interface, and the diopter of liquid lens launches change therewith,
And then change the burnt long of whole zoom converging lenses group 240.In actual application, liquid lens, conventional lenses quantity can basis
Need to select, this present invention is not limited.
In the specific implementation, zoom collimating mirror group 140 and zoom converging lenses group 240 can use the mirror group of same form,
The mirror group of multi-form can also be used.
In the specific implementation, the system that the present invention provides can also include the first optical filter 251 and the second optical filter 252,
Wherein: the first optical filter 251 is arranged between described first detector 210 and described second light-splitting device 230, outside being used for suppressing
The interference to described first detector 210 of portion's veiling glare；And/or, the second optical filter 252 is arranged on described second detector 220
And between described second light-splitting device 230, for suppressing the external stray light interference to described second detector 220.
Here, utilize the first optical filter 251 and/or the second optical filter 252 that veiling glare is suppressed, improve and measure accurately
Degree.During actual application, for ensureing the inhibition of optical filter, make centre wavelength and first laser of the first optical filter 251 as far as possible
The centre wavelength of light source the 110, first detector 210 is consistent, makes centre wavelength and second LASER Light Source of the second optical filter 252
120, the centre wavelength of the second detector 220 is consistent.
As it is shown on figure 3, when the first LASER Light Source 110 works, the second LASER Light Source 120 does not works, it is adjusted unit and adjusts
Joint makes a length of first burnt long f1 of Jiao of zoom collimating mirror group 140, and the laser that the first LASER Light Source 110 sends enters the first light-splitting device
Zoom collimating mirror group 140 is entered, outgoing after zoom collimating mirror group 140 collimates after 130 reflections.Now, the first LASER Light Source
Spacing between the size of 110, adjoining laser and zoom collimating mirror group 140 burnt long determines near launches visual field and vertically
Resolution on direction.As shown in Figure 4, when the first LASER Light Source 110 does not works, the second LASER Light Source 120 works, and is adjusted
Unit regulation makes a length of second burnt long f2 of Jiao of zoom collimating mirror group 140, and the laser that the second LASER Light Source 120 sends enters first point
Zoom collimating mirror group 140 is entered, outgoing after zoom collimating mirror group 140 collimates after optical device 130 reflection.Now, second swashs
Spacing between the size of radiant 120, adjoining laser and zoom collimating mirror group 140 burnt long determine remote launch visual field and
The resolution of in the vertical direction.In order to meet transmitting visual field remote, near and the resolution of correspondence, Jiao of zoom collimating mirror group 140
Long f1 is less than the long f2 of Jiao of zoom collimating mirror group 140.
As it is shown in figure 5, work at the first detector 210, when the second detector 220 does not works, it is adjusted unit regulation and makes
The a length of 3rd burnt long f3 of Jiao of zoom converging lenses group 240, what the field of view of receiver internal reflection in the first detector 210 correspondence was returned swashs
Light enters in the first detector 210 after zoom converging lenses group 240 converges again after the second light-splitting device 230 reflection, and first visits
Survey the burnt length of the spacing between the overall dimensions of device 210, the first detector 210 internal detection unit and zoom converging lenses group 240
Determine nearly field of view of receiver now and the resolution of in the vertical direction.As shown in Figure 6, do not work at the first detector 210, and
When second detector 220 works, it is adjusted unit regulation and makes a length of 4th burnt long f4 of Jiao of zoom converging lenses group 240, second
The laser that the field of view of receiver internal reflection of detector 220 correspondence is returned through zoom converging lenses group 240 converge after again through the second beam splitter
Enter in the second detector 220 after part 230 transmission, the overall dimensions of the second detector 220, the second detector 220 internal detection
Spacing and the burnt long of zoom converging lenses group 240 between unit determine now remote field of view of receiver and the resolution of in the vertical direction
Rate.In order to meet in field of view of receiver near, remote and the resolution of correspondence, the long f3 of Jiao of zoom converging lenses group 240 converges less than zoom
The long f4 of Jiao of mirror group 240.
In Figure 5 it can also be seen that laser radar to myopia field in target be observed time, laser beam emitting device
100 and laser receiver 200 be in myopia field mode, now the liquid lens in zoom collimating mirror group 140 and zoom converge
The diopter of the liquid lens in poly-mirror group 240 is respectively Q1 and Q3, zoom collimating mirror group 140 and zoom converging lenses group 240
Burnt long respectively f1 and f3, the first LASER Light Source 110 sends N road laser, through the first light-splitting device 130, then accurate by zoom
Outgoing after straight mirror group 140 collimation, now the scanning field of view of N road laser beam is α, and the scanning between the adjacent two-way of vertical direction divides
Resolution is α/(N-1).Under near field mode, laser receiver 200 is the most right with the visual field of laser receiver 200 and resolution
Should be consistent, the laser beam that myopia field internal object thing reflects received by zoom converging lenses group 240, converge after through the second light splitting
Device 230 reflects, and is finally received by the first detector 210.
In figure 6 it can also be seen that when the target in far visual field is observed by laser radar, laser beam emitting device
100 and laser receiver 200 be in far visual field pattern, now the liquid lens in zoom collimating mirror group 140 and zoom converge
The diopter of the liquid lens in poly-mirror group 240 is respectively Q2 and Q4, zoom collimating mirror group 140 and zoom converging lenses group 240
Burnt long respectively f2 and f4, the second LASER Light Source 120 sends N road laser, through the second light-splitting device 230, then accurate by zoom
Outgoing after straight mirror group 140 collimation, now the scanning field of view of N road laser beam is β, and the scanning between the adjacent two-way of vertical direction divides
Resolution is β/(N-1).Under near field mode, laser receiver 200 is the most right with the visual field of laser receiver 200 and resolution
Should be consistent, the laser beam that far visual field internal object thing reflects received by zoom converging lenses group 240, converge after through the second light splitting
Device 230 reflects, and is finally received by the second detector 220.
In the description of the present invention, illustrate a large amount of detail.It is to be appreciated, however, that embodiments of the invention are permissible
Put into practice in the case of there is no these details.In some instances, it is not shown specifically known method, structure and skill
Art, in order to do not obscure the understanding of this description.
Above example only in order to technical scheme to be described, is not intended to limit；Although with reference to previous embodiment
The present invention is described in detail, it will be understood by those within the art that；It still can be to aforementioned each enforcement
Technical scheme described in example is modified, or wherein portion of techniques feature is carried out equivalent；And these amendment or
Replace, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a laser radar optical system, it is characterised in that include laser beam emitting device, laser receiver and regulation list
Unit, wherein:
Described laser beam emitting device includes the first LASER Light Source, the second LASER Light Source, the first light-splitting device and zoom collimating mirror group,
Described first light-splitting device laser that position is suitable to make described first LASER Light Source send is set at described first light-splitting device
Enter after upper reflection described zoom collimating mirror group and make described second LASER Light Source send laser at described first light-splitting device
Entering described zoom collimating mirror group after upper transmission, described zoom collimating mirror group projects after collimating the laser received
Extremely in the field range corresponding to current burnt length of described zoom collimating mirror group；
Described laser receiver includes the first detector, the second detector, the second light-splitting device and zoom converging lenses group, described
Zoom converging lenses group is entered for the laser returning the field range inscattering corresponding to the current burnt length of described zoom converging lenses group
Row converges, described second light-splitting device laser that position is suitable to make described zoom converging lenses group converge is set at described second point
On optical device reflection after enter described first detector and make described zoom converging lenses group converge laser in described second light splitting
Described second detector is entered after transmission on device；
Described regulation unit is for regulating the burnt length of described zoom collimating mirror group and described zoom converging lenses group.
System the most according to claim 1, it is characterised in that described laser receiver also includes:
First optical filter, is arranged between described first detector and described second light-splitting device, is used for suppressing external stray light
Interference to described first detector；And/or
Second optical filter, is arranged between described second detector and described second light-splitting device, is used for suppressing external stray light
Interference to described second detector.
System the most according to claim 1, it is characterised in that described first laser instrument and described second laser are suitable to send out
Going out the laser of phase co-wavelength, described first light-splitting device and described second light-splitting device is neutral spectroscope.
System the most according to claim 3, it is characterised in that the spectroscopical splitting ratio in described center is 0.5～0.9.
System the most according to claim 1, it is characterised in that described first laser instrument and described second laser are suitable to send out
Going out the laser of different wave length, described first light-splitting device and described second light-splitting device is double-tone spectroscope.
System the most according to claim 1, it is characterised in that described zoom collimating mirror group and/or described zoom converging lenses
Group includes liquid lens, plus lens and minus lens.
System the most according to claim 1, it is characterised in that described first LASER Light Source and/or described second laser light
Source includes in array multiple semiconductor lasers of arrangement or an array laser device.
System the most according to claim 1, it is characterised in that described first detector and/or described second detector bag
Include the multiple avalanche diodes or an array avalanche diode arranged in array.
System the most according to claim 1, it is characterised in that the light-emitting area of described first LASER Light Source is visited with described first
The size of the photosensitive receiving plane surveying device matches, and/or, the light-emitting area of described second LASER Light Source and described second detector
The size of photosensitive receiving plane matches.
System the most according to claim 1, it is characterised in that described laser beam emitting device and described laser receiver
It is distributed in the both sides, axis of described optical system.
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| CN201610890551.9A CN106291509B (en) | 2016-10-12 | 2016-10-12 | Laser radar optical system |
| PCT/CN2016/106372 WO2018068363A1 (en) | 2016-10-12 | 2016-11-18 | Laser radar optical system |
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|---|---|---|---|
| CN201610890551.9A CN106291509B (en) | 2016-10-12 | 2016-10-12 | Laser radar optical system |
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| CN106291509B CN106291509B (en) | 2019-05-17 |
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|---|---|
| WO2018068363A1 (en) | 2018-04-19 |
| CN106291509B (en) | 2019-05-17 |
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