CN107153194B - Multi-line laser radar and multi-line laser radar control method - Google Patents
Multi-line laser radar and multi-line laser radar control method Download PDFInfo
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- CN107153194B CN107153194B CN201611255426.7A CN201611255426A CN107153194B CN 107153194 B CN107153194 B CN 107153194B CN 201611255426 A CN201611255426 A CN 201611255426A CN 107153194 B CN107153194 B CN 107153194B
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- optical
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- lidar
- laser radar
- laser light
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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
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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
- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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- 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 embodiment of the invention discloses a multi-line laser radar and a multi-line laser radar control method, wherein the multi-line laser radar comprises the following components: a laser emitter for emitting laser light; an optical fiber for conducting the laser; and the optical beam splitter is used for uniformly dividing the laser conducted by the optical fiber into a plurality of emission lasers. The embodiment of the invention can improve the vertical resolution of the multi-line laser radar.
Description
Technical Field
The invention relates to the field of detection, in particular to a multi-line laser radar and a multi-line laser radar control method.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle is that the laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after proper processing, the related information of the target, such as the parameters of the distance, the azimuth, the height, the speed, the gesture, the even the shape and the like of the target, can be obtained.
The multi-line laser radar is one type of laser radar, which emits laser light through a semiconductor laser emitter and detects echo light signals, and includes a plurality of laser emitters, each of which can measure a distance. The emitting circuit device of the laser is complex, the volume is large, so that enough laser lines cannot be stacked in a small range, namely the stacking number of the laser transmitters in a unit range is an important factor affecting the vertical resolution of the multi-line laser radar, and the vertical resolution of the multi-line laser radar in the prior art is still low.
It can be seen that the existing multi-line lidar is bulky and has low vertical resolution.
Disclosure of Invention
The embodiment of the invention provides a multi-line laser radar which can reduce the volume and improve the vertical resolution.
In order to solve the technical problems, the embodiment of the invention discloses the following technical scheme:
in one aspect, there is provided a multi-line lidar comprising:
a laser emitter for emitting laser light;
an optical fiber for conducting the laser;
and the optical beam splitter is used for uniformly dividing the laser conducted by the optical fiber into a plurality of emission lasers.
Optionally, the laser radar further includes:
an optical unit for collimation of the plurality of emitted laser light.
The optical unit is also used for focusing the multiple reflected lasers.
Optionally, the laser radar further includes:
and the optical circulator is arranged between the optical beam splitter and the optical unit and is used for separating the multiple emission lasers from the multiple reflection lasers.
Optionally, the laser radar further includes:
and a beam combiner for directing reflected laser light via the different optical circulators to the laser receiver.
Optionally, the laser radar further includes:
and the laser receiver is used for receiving the reflected laser light through the optical combiner.
Optionally, the laser radar further includes:
the optical switches are arranged between the optical beam splitters and the optical circulators, correspond to the optical circulators one by one and are used for controlling the on-off of the optical paths of the multipath emission laser.
In a second aspect, a multi-line lidar control method is provided, including:
a laser emitter emits laser light;
an optical fiber conducts the laser;
the beam splitter uniformly divides the laser conducted by the optical fiber into a plurality of emission lasers;
an optical unit collimates the plurality of emitted laser light.
Optionally, the method further comprises:
the optical unit focuses the plurality of reflected laser light.
Optionally, the method further comprises:
a light circulator separates the plurality of emitted laser light from the plurality of reflected laser light;
the optical combiner directs reflected laser light via the different optical circulators to the laser receiver.
Optionally, the method further comprises:
the optical switches control the on-off of the optical paths of the multipath emission laser;
the optical switches are arranged between the optical beam splitters and the optical circulators and correspond to the optical circulators one by one.
The embodiment of the invention discloses a multi-line laser radar, which adopts optical fiber to conduct laser, and uses a beam splitter to split the laser into a plurality of emission lasers, so that the laser radar can be closely installed due to the thin outer diameter of the optical fiber, and meanwhile, the beam splitter is used to split one beam of laser into a plurality of laser beams, so that the using number of laser transmitters can be reduced and the volume of the laser radar can be reduced for the multi-line laser radar with the same line number; meanwhile, if the same number of laser transmitters are adopted, the number of lines can be obviously increased, so that the vertical spatial resolution of the laser radar is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a multi-line lidar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a multi-line lidar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the multi-line lidar of the present invention.
Detailed Description
The following embodiment of the invention provides a multi-line laser radar and a control method of the multi-line laser radar, which can reduce the volume and improve the vertical resolution.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a multi-line laser radar according to an embodiment of the present invention, as shown in fig. 1, where the laser radar includes:
a laser emitter 110 for emitting laser light;
an optical fiber 120 for conducting the laser light;
and a beam splitter 130 for uniformly dividing the laser light conducted by the optical fiber into a plurality of emission laser light.
In embodiments of the present invention, the laser transmitter 110 and the optical fiber 120 may be integrated.
The embodiment of the invention discloses a multi-line laser radar, which adopts optical fiber to conduct laser, and uses a beam splitter to split the laser into a plurality of emission lasers, so that the laser radar can be closely installed due to the thin outer diameter of the optical fiber, and meanwhile, the beam splitter is used to split one beam of laser into a plurality of laser beams, so that the using number of laser transmitters can be reduced and the volume of the laser radar can be reduced for the multi-line laser radar with the same line number; meanwhile, if the same number of laser transmitters are adopted, the number of lines can be obviously increased, so that the vertical spatial resolution of the laser radar is improved.
In the embodiment of the invention, because the optical fiber and the optical beam splitter are used, only the position and the posture of the emergent port are required to be adjusted when the emergent laser is adjusted, the direct adjustment of the circuit board is avoided, the safety performance is improved, and the installation and debugging efficiency is improved.
Fig. 2 is a schematic structural diagram of a multi-line laser radar according to an embodiment of the present invention, as shown in fig. 2, where the laser radar further includes:
an optical unit 210 for collimating the plurality of emitted laser light.
The optical unit 210 is also used for focusing the multiple reflected lasers.
In the embodiment of the invention, the emergent laser and the reflected laser share one set of optical unit, so that the space and the cost can be saved.
The lidar further comprises:
an optical circulator 220 disposed between the beam splitter 130 and the optical unit 210 for separating the plurality of emitted laser beams and the plurality of reflected laser beams.
The lidar further comprises:
and a beam combiner 230 for directing reflected laser light via the different optical circulators to the laser receiver. In the embodiment of the invention, only one laser receiver is provided.
The optical combiner is adopted, so that the requirement on the area of the laser receivers can be reduced, and the number of the laser receivers is reduced.
The lidar further comprises:
a laser receiver 240 for receiving the reflected laser light via the beam combiner. In the embodiment of the invention, only one beam of laser light is emitted by the beam combiner.
The lidar further comprises:
the optical switches 250 are disposed between the optical beam splitter 130 and the optical circulator 220, and are in one-to-one correspondence with the optical circulator, so as to control on-off of the optical paths of the multiple paths of emitted laser light.
In the embodiment of the present invention, the laser transmitter 110 transmits laser light, the optical fiber 120 transmits the laser light, and the beam splitter 130 uniformly splits the laser light into a plurality of transmitted laser light. A plurality of optical switches 220 are arranged between the optical beam splitter 130 and the optical circulator 220, and each optical switch 220 can control the on-off of one path of emitted laser. The emitted laser light passes through the optical circulator 220, is emitted through the optical unit 130, is reflected after being detected by the object to be detected, is focused through the optical unit 130, is separated by the optical circulator 220, passes through the beam combiner 230, and is received by the laser receiver 240. Therefore, the embodiment of the invention can reduce the use number of the laser transmitters and reduce the volume of the laser radar; meanwhile, if the same number of laser transmitters are adopted, the number of lines can be obviously increased, so that the vertical spatial resolution of the laser radar is improved.
Fig. 3 is a schematic structural diagram of a multi-line laser radar according to an embodiment of the present invention, as shown in fig. 3, the multi-line laser radar includes a rotation mechanism 310, a communication system 320, and a fixing mechanism 330.
The rotating mechanism 310 is provided with an FPGA main control system 311 and a transmitting and system 312.
The transmission and reception system 312 includes the laser transmitter, the optical fiber, the optical beam splitter, the optical unit, the optical circulator, the optical combiner, the laser receiver, and the optical switch of the above-described embodiments. The specific structure and function of the transmitting and receiving system 312 are as described in the above embodiments, and will not be described here again.
The communication system 320 may be a wireless communication system with energy transfer or a wired communication system for communication between the rotating mechanism 310 and the stationary mechanism 330.
The fixing mechanism 330 is provided with a high-precision rotation angle measurement system 331, an fpga data integration system 332, a multi-path laser ranging data output interface 333, and the like.
The multi-line laser radar provided by the embodiment of the invention has the advantages of small volume, low cost and high vertical resolution.
Corresponding to the multi-line laser radar, the embodiment of the invention also provides a multi-line laser radar control method, which comprises the following steps:
a laser emitter emits laser light;
an optical fiber conducts the laser;
the beam splitter uniformly divides the laser conducted by the optical fiber into a plurality of emission lasers;
an optical unit collimates the plurality of emitted laser light.
Optionally, the method further comprises:
the optical unit focuses the plurality of reflected laser light.
Optionally, the method further comprises:
a light circulator separates the plurality of emitted laser light from the plurality of reflected laser light;
the optical combiner directs reflected laser light via the different optical circulators to the laser receiver.
Optionally, the method further comprises:
the optical switches control the on-off of the optical paths of the multipath emission laser;
the optical switches are arranged between the optical beam splitters and the optical circulators and correspond to the optical circulators one by one.
The multi-line laser radar provided by the embodiment of the invention has the advantages of small volume, low cost and high vertical resolution.
The embodiment of the invention discloses a multi-line laser radar, which adopts optical fiber to conduct laser, and uses a beam splitter to split the laser into a plurality of emission lasers, so that the laser radar can be closely installed due to the thin outer diameter of the optical fiber, and meanwhile, the beam splitter is used to split one beam of laser into a plurality of laser beams, so that the using number of laser transmitters can be reduced and the volume of the laser radar can be reduced for the multi-line laser radar with the same line number; meanwhile, if the same number of laser transmitters are adopted, the number of lines can be obviously increased, so that the vertical spatial resolution of the laser radar is improved. In addition, in the embodiment of the invention, because the optical fiber and the optical beam splitter are used, only the position and the posture of the emergent port are required to be adjusted when the emergent laser is adjusted, the direct adjustment of the circuit board is avoided, the safety performance is improved, and the efficiency of installation and debugging is improved.
It will be apparent to those skilled in the art that the techniques in the embodiments of the present invention may be implemented by software plus necessary general purpose hardware, including general purpose integrated circuits, general purpose CPUs, general purpose memories, general purpose components, etc., but of course may be implemented by special purpose hardware, including application specific integrated circuits, special purpose CPUs, special purpose memories, special purpose components, etc., although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution in the embodiments of the present invention may be embodied essentially or what contributes to the prior art in the form of a software product, which may be stored in a storage medium, such as a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some portions of the embodiments of the present invention.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The embodiments of the present invention described above do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (6)
1. A multi-line lidar comprising:
a laser emitter for emitting laser light;
an optical fiber for conducting the laser, wherein the laser emitter and the optical fiber are integrated into one body;
the optical beam splitter is used for uniformly dividing the laser conducted by the optical fiber into a plurality of emission lasers;
an optical unit for collimation of the plurality of emitted laser beams and focusing of the plurality of reflected laser beams;
and the optical circulator is arranged between the optical beam splitter and the optical unit and is used for separating the multiple emission lasers from the multiple reflection lasers.
2. The lidar of claim 1, wherein the lidar further comprises:
and a combiner for directing reflected laser light via different optical circulators to the laser receiver.
3. The lidar of claim 2, wherein the lidar further comprises:
and the laser receiver is used for receiving the reflected laser light through the optical combiner.
4. A lidar according to any of claims 1 to 3, wherein the lidar further comprises:
the optical switches are arranged between the optical beam splitters and the optical circulators, correspond to the optical circulators one by one and are used for controlling the on-off of the optical paths of the multiple laser beams.
5. A multi-line lidar control method, comprising:
a laser emitter emits laser light;
an optical fiber conducts the laser, wherein the laser transmitter and the optical fiber are integrated into a whole;
the beam splitter uniformly divides the laser conducted by the optical fiber into a plurality of emission lasers;
an optical unit collimates the plurality of emission lasers;
the optical unit focuses a plurality of reflected lasers;
a light circulator separates the plurality of emitted laser light from the plurality of reflected laser light;
the optical combiner directs reflected laser light via different optical circulators to the laser receiver.
6. The method of claim 5, wherein the method further comprises:
the optical switches control the on-off of the optical paths of the multiple beams of emitted laser;
the optical switches are arranged between the optical beam splitters and the optical circulators and correspond to the optical circulators one by one.
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| CN201611255426.7A CN107153194B (en) | 2016-12-30 | 2016-12-30 | Multi-line laser radar and multi-line laser radar control method |
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| CN201611255426.7A CN107153194B (en) | 2016-12-30 | 2016-12-30 | Multi-line laser radar and multi-line laser radar control method |
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| CN107153194B true CN107153194B (en) | 2023-05-23 |
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Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| DE102017223658A1 (en) * | 2017-12-22 | 2019-06-27 | Robert Bosch Gmbh | LIDAR device (100) for detecting an object |
| JP7322037B2 (en) * | 2018-01-15 | 2023-08-07 | 上海禾賽科技有限公司 | LASER RADAR AND METHOD OF OPERATION THEREOF |
| CN107976665A (en) * | 2018-03-19 | 2018-05-01 | 岭纬科技（厦门）有限公司 | A kind of laser radar based on distributed MEMS |
| US10429495B1 (en) | 2018-04-03 | 2019-10-01 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| WO2019237581A1 (en) | 2018-06-13 | 2019-12-19 | Hesai Photonics Technology Co., Ltd. | Lidar systems and methods |
| CN111256611A (en) * | 2018-12-03 | 2020-06-09 | 中国商用飞机有限责任公司 | Three-dimensional scanning light output device and three-dimensional scanning system |
| CN109696731A (en) * | 2019-03-04 | 2019-04-30 | 合肥嘉东光学股份有限公司 | A kind of optical emission system of multi-line laser radar |
| CN110133620B (en) * | 2019-04-19 | 2021-10-19 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN110031191A (en) * | 2019-04-29 | 2019-07-19 | 深圳市华星光电半导体显示技术有限公司 | The optical test path device of display panel |
| CN111856658B (en) * | 2019-04-30 | 2022-03-25 | 华为技术有限公司 | Optical communication device and wavelength selection method |
| CN110174663A (en) * | 2019-05-31 | 2019-08-27 | 昂纳信息技术（深圳）有限公司 | A kind of light power distribution method and optical power fluctuation device and system of laser radar |
| CN110398752A (en) * | 2019-08-05 | 2019-11-01 | 昂纳信息技术（深圳）有限公司 | A kind of laser radar system of more visual fields |
| CN110703223B (en) * | 2019-11-07 | 2023-06-30 | 上海禾赛科技有限公司 | Adjusting method applied to laser radar and electronic equipment |
| EP4267986A1 (en) | 2020-12-23 | 2023-11-01 | OURS Technology, LLC | Coherent lidar system including optical antenna array |
| CN116027303A (en) * | 2021-10-26 | 2023-04-28 | 上海禾赛科技有限公司 | FMCW laser radar and optical path conversion module and detection method thereof |
| CN116774235A (en) * | 2022-03-11 | 2023-09-19 | 华为技术有限公司 | Laser radar, light emitting device, control method and related device thereof |
| CN117665771A (en) * | 2022-08-29 | 2024-03-08 | 上海禾赛科技有限公司 | Laser radar transmitting module, transmitting and receiving device and laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201527471U (en) * | 2009-06-24 | 2010-07-14 | 中国科学院安徽光学精密机械研究所 | Laser radar with compact and stable structure |
| WO2012069017A1 (en) * | 2010-11-26 | 2012-05-31 | 山西飞虹激光科技有限公司 | Laser antireflection device and laser apparatus comprising same |
| CN105068087B (en) * | 2015-09-17 | 2018-04-10 | 中国科学技术大学 | The molecular scattering Doppler lidar of Coherent optical path |
| CN105824029B (en) * | 2016-05-10 | 2018-09-04 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN106154281A (en) * | 2016-09-08 | 2016-11-23 | 齐龙舟 | A kind of optical-fiber laser radar system |
| CN206321794U (en) * | 2016-12-30 | 2017-07-11 | 深圳市速腾聚创科技有限公司 | multi-line laser radar |
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