CN109343030A - Scan Architecture and laser radar and the vehicles - Google Patents
Scan Architecture and laser radar and the vehicles Download PDFInfo
- Publication number
- CN109343030A CN109343030A CN201811505624.3A CN201811505624A CN109343030A CN 109343030 A CN109343030 A CN 109343030A CN 201811505624 A CN201811505624 A CN 201811505624A CN 109343030 A CN109343030 A CN 109343030A
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- scanning
- laser
- laser radar
- scan architecture
- scan
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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 provides a kind of Scan Architecture, including multiple scanning elements, each scanning element therein has respective scanning area；Between the multiple scanning element in a manner of splicing, the light beam of transmitting is scanned environment, the scanning area spliced, wherein, the mode of the splicing refers to: after being launched a distance, propagation path occurs overlapping or consistent every two adjacent scanning area rim ray.The present invention also provides corresponding laser radar and the vehicles.The present invention is spliced at a certain angle using multiple groups spatial light modulator, be can achieve a wide range of or 360 ° scanning ranges, is not necessarily to rotary machine structure, arbitrary beam mode can be exported, resists vibration by force, high-precision can be reached with less laser, high efficiency, the scanning effect of high stability.Very little is made in the blind area range-controllable of stitching portion, is nearly free from influence to scanning.With stabilization, low cost, high-precision effect.
Description
Technical field
The present invention relates to technical field of laser detection, more particularly to Scan Architecture and laser radar and the vehicles.
Background technique
Laser radar has that high angular resolution and distance resolution, velocity resolution are high, the range that tests the speed is wide, can obtain
A variety of images of target, strong antijamming capability, it is smaller than the volume and weight of microwave radar the advantages that.This enables laser radar smart
Really measurement target position, motion state and shape, detection, identification, resolution and tracking target.In recent years, with artificial intelligence
Development, automatic Pilot, auxiliary driving, the rise of commercial unmanned plane and intelligent robot, has pushed laser radar in civilian neck
Application in domain.
Current mobile lidar visible on the market is substantially mechanically, and characteristic feature is to possess Machinery Ministry
Part can rotate.And the mechanical several deficiencies for having directly constituted laser radar instantly that design: optical path debugging, assembly are complicated, raw
The production period is very long, and cost is high；Reliability of the mechanical gyro unit under environment be not high, it is difficult to meet the tight of vehicle rule
Severe requirement.In order to which the cost of laser radar is greatly reduced, reliability is improved also for movable part is reduced, meets vehicle rule
It is required that the developing direction of laser radar has turned to solid-state laser radar from mechanical laser radar with smoothly coming out as an article.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of Scan Architectures and laser radar and traffic work
Tool.
A kind of Scan Architecture provided according to the present invention, including multiple scanning elements, each scanning element therein have
Respective scanning area；
Between the multiple scanning element in a manner of splicing, the light beam of transmitting is scanned environment, is spliced
Scanning area, wherein the mode of the splicing refers to: every two adjacent scanning area rim ray be launched one section away from
From rear, propagation path occurs overlapping or consistent.
Preferably, there is no scannings within the scope of 360 degree other than in the first segment for the scanning area of the splicing
Blind area.
Preferably, the scanning element includes any in reflecting element, transmissive element, laser, controllable silicon dimmer
Kind appoints multiple devices.
Preferably, the reflecting element is any one of spatial light modulator, galvanometer, grating or multiple devices；
The transmissive element is any one of spatial light modulator, galvanometer, grating or multiple devices.
Preferably, the spatial light modulator includes: liquid crystal display, liquid crystal light valve, ferroelectric liquid crystals panel, liquid crystal on silicon
Any one of device, Digital Micromirror Device, phase space optical modulator appoint a variety of devices.
Preferably, the reception light of the multiple scanning element, be multiple scanning elements are inputted by multiple lasers, or
It is to input multiple scanning elements after refractive power or light splitting part light splitting by single laser.
Preferably, the scanning element includes optical system, wherein the optical system is for expanding scanning light beam angle
Degree.
Preferably, the propagation path occurs overlapping, including intersects between propagation path itself or propagation path
Between intersect in the projection of the plane of scanning motion.
Preferably, the propagation path is consistent, including be overlapped between propagation path itself or propagation path between sweeping
The projection for retouching plane is overlapped.
A kind of laser radar provided according to the present invention, comprising:
Emitter, for emitting light beam；
Reception device, for receiving signal；
Control device, control and synchronized transmissions device and reception device；
Wherein, the emitter includes Scan Architecture described in any one of claims 1 to 9.
Preferably, the emitter includes refractive power or light splitting part, and the refractive power or light splitting part include prism, reflection
Mirror, semi-transparent semi-reflecting lens, polarization spectroscope, using any one of spectroscope of plated film mode or appoint a variety of devices.
Preferably, including one or more optical filters, the optical filter are produced for filtering spatial light modulator
The raw useless order of diffraction.
Preferably, the emitter swashs comprising semiconductor laser, optical fiber laser, solid state laser, vertical cavity surface
Any one of light device, carbon dioxide laser, He-Ne laser appoint a variety of devices.
Preferably, the emitter includes the optical system for shaping and/or collimation.
Preferably, the reception device is photomultiplier tube detectors, photodiode detector, avalanche photodide
At least one of detector, point photoelectric sensor, array optical electric transducer.
Preferably, the scanning angle of the control system control scanning element, makes to scan in the overlapping of maximum scan range
Region does not overlap.
Preferably, the control system can judge the feedback letter of scanning overlapping region by the time of different Laser emissions
It number is issued by which of multiple scanning elements.
Preferably, a distance away, scanning range is overlapping for the scanning element, for realizing accurate scanning.
A kind of vehicles provided according to the present invention, including above-mentioned laser radar.
Preferably, the vehicles are automobile, and the laser radar is trailer-mounted radar.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention is spliced at a certain angle using multiple groups spatial light modulator, can achieve a wide range of or 360 ° scanning models
It encloses, is not necessarily to rotary machine structure, arbitrary beam mode can be exported, resist vibration by force, can be reached with less laser
In high precision, high efficiency, the scanning effect of high stability.Very little is made in the blind area range-controllable of stitching portion, hardly produces to scanning
It is raw to influence.With stabilization, low cost, high-precision effect.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of biplate spatial light modulator splicing Scan Architecture schematic diagram provided in an embodiment of the present invention.
Fig. 2 is a kind of biplate spatial light modulator splicing Scan Architecture schematic diagram provided in an embodiment of the present invention.
Fig. 3 is a kind of four spatial light modulators splicing Scan Architecture schematic diagram provided in an embodiment of the present invention.
Fig. 4 is a kind of beam-splitting structure schematic diagram provided in an embodiment of the present invention.
It is shown in figure:
Scanning element 100
Laser 200
Prism 300
Dotted line in Fig. 1, Fig. 2, Fig. 3 indicates the rim ray of scanning area；
Dotted line in Fig. 4 indicates the spectro-film being plated on Amici prism.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
Shown in Figure 1 is a kind of biplate spatial light modulator splicing Scan Architecture, the transmitting of control device synchronously control
Device, scanning element, reception device.Emitter includes laser.Two lasers issue laser pulse through optical system standard
Two scanning elements are inputted respectively after straight and/or shaping, there is a room optical modulator and an optics in each scanning element
System, scanning light beam can be generated after passing through spatial light modulator in light beam, and carries out angle enlargement by optical system.Receive dress
It sets for receiving feedback signal, and analyze target information through control device.
The scanning range of single scanning element outgoing beam shown in the present embodiment can achieve 120 °, and two scannings are single
The angle placed in first level differs 60 °, and the distance of the light-emitting window of two scanning elements is at a distance of 5cm, then other than 4.33cm
The scanning of non-blind area within the scope of 180 ° of front may be implemented in distance.
Shown in Figure 2 is another biplate spatial light modulator splicing Scan Architecture.It is single shown in the present embodiment
The scanning range of a scanning element outgoing beam can achieve 110 °, and the placed angle of two scanning elements differs 110 °, perpendicular
Histogram overlaps place upwards, and the scanning light beam for two maximum magnitudes for keeping two scanning elements adjacent is overlapping together.Then may be used
To realize the scanning of the non-blind area within the scope of 220 ° of front.
Shown in Figure 3 splices the Scan Architecture formed by four spatial light modulators.Shown in the present embodiment
The scanning range of single scanning element outgoing beam can achieve 130 °, and four scanning elements are vertically put two-by-two in the horizontal direction
It sets, each scanning element adds the length of laser to be 4cm, then may be implemented within the scope of 360 ° in the distance other than 7.77cm without blind
The scanning in area.
In preferred specific implementation, it can be handed in the vertical direction using the structure of similar Fig. 2, four scanning elements
It stacks and sets, then the scanning of non-blind area within the scope of 360 ° may be implemented.
Shown in Figure 4 is an Amici prism structure, and prism can be divided into four parts, in four parts from the bottom to top
Successively contain 25% transmission 75% of reflection, 33.33% transmission 66.67% of reflection, 50% transmission 50% of reflection, reflection 100% in portion
Four kinds of films.Laser beam is incident from the bottom of prism, by this four tunic successively it is available to the right, it is preceding, left, after four beams
Next 360 ° of scanning then may be implemented, scan blind spot also can control in very little respectively by four scanning elements again in light
Range.
When there is a situation where that maximum scan range overlaps, control system can be adjusted scanning range, to make
Do not occur overlapping region in scanning process.Alternatively, transmitting scanning light beam is carried out by the different scanning element of different time, into
And reception device can judge to be at this time the signal issued by which scanning element in overlapping region.
Applied to the laser radar on automobile, for the more accurate information for judging object, in the two sides of front side
A scanning element is respectively placed, the scanning area of two scanning elements is largely overlapping.The benefit of such laser radar is, two
A scanning element is scanned same position after pulling open a distance, can be to avoid due to the problems such as encountering mirror-reflection object
Caused erroneous judgement.For example, when using single scanning element, after can be potentially encountered mirror-reflection object A and being reflected light beam,
It has got on object B, and the object location information that reception device calculates based on the feedback signal at this time is not just the actual bit of object A
It sets, therefore can judge by accident.But if can solve the problems, such as such, two scanning elements using laser radar recited above
Object A has been arrived being spaced all to scan in the extremely short time, has then been reflected into object B again, (or light beam has been reflected into B, separately
A branch of difference due to angle is not reflected to B), it is inconsistent that the angle for returning to the light come, which is with angle when not reflecting,
, therefore the physical location of object A can be calculated by control system, it is more accurately scanned to realize.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (20)
1. a kind of Scan Architecture, which is characterized in that including multiple scanning elements, each scanning element therein has respective sweep
Retouch region；
Between the multiple scanning element in a manner of splicing, the light beam of transmitting is scanned environment, what is spliced sweeps
Retouch region, wherein the mode of the splicing refers to: every two adjacent scanning area rim ray is being launched a distance
Afterwards, propagation path occurs overlapping or consistent.
2. Scan Architecture according to claim 1, which is characterized in that the scanning area of the splicing the first segment away from
Scan blind spot is not present within the scope of from 360 degree in addition.
3. Scan Architecture according to claim 1, which is characterized in that the scanning element includes reflecting element, transmission member
Any one of part, laser, controllable silicon dimmer appoint multiple devices.
4. Scan Architecture according to claim 3, which is characterized in that the reflecting element be spatial light modulator, galvanometer,
Any one of grating appoints multiple devices；
The transmissive element is any one of spatial light modulator, galvanometer, grating or multiple devices.
5. Scan Architecture according to claim 4, which is characterized in that the spatial light modulator include: liquid crystal display,
Any one of liquid crystal light valve, ferroelectric liquid crystals panel, silicon-based liquid crystal device, Digital Micromirror Device, phase space optical modulator are appointed
A variety of devices.
6. Scan Architecture according to claim 1, which is characterized in that the reception light of the multiple scanning element, be by
Multiple lasers input multiple scanning elements, or input multiple sweep after refractive power or light splitting part light splitting by single laser
Retouch unit.
7. Scan Architecture according to claim 1, which is characterized in that the scanning element includes optical system, wherein institute
Optical system is stated for expanding scanning light beam angle.
8. Scan Architecture according to claim 1, which is characterized in that the propagation path occurs to overlap, including propagates road
Intersect between diameter itself or propagation path between intersect in the projection of the plane of scanning motion.
9. Scan Architecture according to claim 1, which is characterized in that the propagation path is consistent, including propagation path sheet
Be overlapped between body or propagation path between the plane of scanning motion projection be overlapped.
10. a kind of laser radar characterized by comprising
Emitter, for emitting light beam；
Reception device, for receiving signal；
Control device, control and synchronized transmissions device and reception device；
Wherein, the emitter includes Scan Architecture described in any one of claims 1 to 9.
11. laser radar according to claim 10, which is characterized in that the emitter includes refractive power or spectrum part
Part, the refractive power or light splitting part include prism, reflecting mirror, semi-transparent semi-reflecting lens, polarization spectroscope, using the light splitting of plated film mode
Any one of mirror appoints a variety of devices.
12. laser radar according to claim 10, which is characterized in that described including one or more optical filters
Optical filter is used to filter the useless order of diffraction of spatial light modulator generation.
13. laser radar according to claim 10, which is characterized in that the emitter include semiconductor laser,
Any one of optical fiber laser, solid state laser, planar laser with vertical cavity, carbon dioxide laser, He-Ne laser are appointed
A variety of devices.
14. laser radar according to claim 10, which is characterized in that the emitter include for shaping and/or
The optical system of collimation.
15. laser radar according to claim 10, which is characterized in that the reception device is photomultiplier tube detection
Device, photodiode detector, avalanche photodiode detector, point photoelectric sensor, in array optical electric transducer extremely
Few one kind.
16. laser radar according to claim 10, which is characterized in that the scanning of the control system control scanning element
Angle, makes to scan and does not overlap in the overlapping region of maximum scan range.
17. laser radar according to claim 10, which is characterized in that the control system can be sent out by different laser
The feedback signal for the time judgement scanning overlapping region penetrated is issued by which of multiple scanning elements.
18. laser radar according to claim 10, which is characterized in that the scanning element a distance away, is swept
It is overlapping to retouch range.
19. a kind of vehicles, which is characterized in that including laser radar described in any one of claim 10 to 18.
20. the vehicles according to claim 19, which is characterized in that the vehicles are automobile, the laser thunder
Up to for trailer-mounted radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811505624.3A CN109343030A (en) | 2018-12-10 | 2018-12-10 | Scan Architecture and laser radar and the vehicles |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811505624.3A CN109343030A (en) | 2018-12-10 | 2018-12-10 | Scan Architecture and laser radar and the vehicles |
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Cited By (8)
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| CN110244317A (en) * | 2019-06-03 | 2019-09-17 | 深圳市速腾聚创科技有限公司 | Laser radar system |
| CN110398724A (en) * | 2019-08-26 | 2019-11-01 | 上海禾赛光电科技有限公司 | Laser radar |
| CN110927716A (en) * | 2019-12-11 | 2020-03-27 | 中国航空工业集团公司沈阳飞机设计研究所 | Radar scanning terrain blind spot and blind spot shielding determination method thereof |
| CN111766607A (en) * | 2019-03-13 | 2020-10-13 | 科沃斯机器人股份有限公司 | Self-moving equipment and non-contact obstacle detection device |
| CN112433226A (en) * | 2019-08-08 | 2021-03-02 | 北醒（北京）光子科技有限公司 | Laser radar mosaic structure |
| CN112558081A (en) * | 2020-11-18 | 2021-03-26 | 国网智能科技股份有限公司 | Laser radar system based on wireless communication network and working method thereof |
| CN113296109A (en) * | 2021-05-31 | 2021-08-24 | 阿波罗智联(北京)科技有限公司 | Base, roadside sensing equipment and intelligent transportation system |
| CN117890885A (en) * | 2024-03-15 | 2024-04-16 | 之江实验室 | Laser radar scanning mechanism and scanning method thereof |
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| CN112433226A (en) * | 2019-08-08 | 2021-03-02 | 北醒（北京）光子科技有限公司 | Laser radar mosaic structure |
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| CN117890885B (en) * | 2024-03-15 | 2024-06-04 | 之江实验室 | Laser radar scanning mechanism and scanning method thereof |
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