CN111123240A - Laser radar system and detection method - Google Patents
Laser radar system and detection method Download PDFInfo
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- CN111123240A CN111123240A CN201911399973.6A CN201911399973A CN111123240A CN 111123240 A CN111123240 A CN 111123240A CN 201911399973 A CN201911399973 A CN 201911399973A CN 111123240 A CN111123240 A CN 111123240A
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- 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
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Abstract
The invention discloses a laser radar system and a detection method. Wherein, this system includes: the optical component is used for adjusting the test laser of the laser component, the optical component is integrated on a substrate material, and the optical component and the substrate material are of an integrated structure; the laser assembly is used for detecting an object to be detected through test laser, the laser assembly is arranged on the substrate material, and a light path of the test laser passes through the optical component. The invention solves the technical problems of complex flow and low efficiency caused by the fact that optical components of the laser radar need to be assembled and manually adjusted in the related technology.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a laser radar system and a detection method.
Background
The existing laser radar system is generally expensive in manufacturing cost and large in size. In addition, most of the optical systems are traditional lenses and aspheric lenses, the lenses are mainly matched with structural parts by edging, and each laser radar which is difficult to assemble needs manual adjustment, such as: eccentricity, focus, etc. The fabrication is complicated and thus the yield is low.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a laser radar system and a detection method, which at least solve the technical problems of complicated flow and low efficiency caused by the fact that optical components of a laser radar need to be assembled and manually adjusted in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a laser radar system including: the optical component is used for adjusting the test laser of the laser component, the optical component is integrated on a substrate material, and the optical component and the substrate material are of an integrated structure; the laser assembly is used for detecting an object to be detected through test laser, the laser assembly is arranged on the substrate material, and a light path of the test laser passes through the optical component.
Optionally, the optical component is a superlens array; the super lens array is integrated on the substrate material in a photoetching mode; the laser assembly comprises a laser transmitter and a laser receiver; the test laser comprises a first test laser emitted by the laser emitter to the object to be tested and a second test laser reflected by the object to be tested after the first test laser irradiates the object to be tested and received by the laser receiver.
Optionally, the passing of the optical path of the test laser through the optical component includes: the light path of the first test laser starts from the laser transmitter and reaches the object to be tested after passing through the super lens array; and the light path of the second test laser reaches the laser receiver after passing through the superlens array from the object to be tested.
Optionally, the optical component and the substrate material, and the laser assembly fixed on the substrate material are all disposed on a rotatable platform.
Optionally, the optical component and the laser assembly constitute a radar unit, and the lidar system includes a multiline radar including a plurality of radar units.
According to another aspect of the embodiments of the present invention, there is also provided a laser radar detection method, including: emitting test laser through a laser component, wherein the test laser irradiates an object to be tested after passing through an optical component; receiving the test laser reflected by the object to be tested through the laser component, wherein the test laser is received by the laser component after passing through the optical component, the optical component is integrated on a substrate material, the optical component and the substrate material are of an integrated structure, and the laser component is arranged on the substrate material; and detecting the object to be detected according to the test laser.
Optionally, the test laser includes a first test laser emitted by the laser component to the object to be tested, and/or a second test laser reflected by the object to be tested after the first test laser received by the laser component irradiates the object to be tested; the laser assembly comprises a laser transmitter and/or a laser receiver, and the test laser transmitted by the laser assembly comprises: and emitting the first test laser through a laser emitter, wherein the first test laser irradiates an object to be tested through the optical component.
Optionally, the receiving, by the laser component, the test laser reflected by the object to be tested includes: and receiving the second test laser through a laser receiver, wherein the second test laser is received by the laser receiver after passing through the optical component.
Optionally, the optical component is a superlens array, the superlens array is integrated on the substrate material by photolithography, and before the laser assembly emits the test laser, the method further includes: and increasing the number of the super lens arrays to increase the light transmission aperture.
Optionally, before the laser component emits the test laser, the method further includes: and increasing the number of radar units, and carrying out array combination on the plurality of radar units, wherein each radar unit consists of the optical component, the laser assembly and a substrate material.
Optionally, before the laser component emits the test laser, the method further includes: receiving the direction of the object to be detected and determining a rotation angle; and controlling the rotatable platform to rotate according to the rotation angle, wherein the radar unit is arranged on the rotatable platform.
According to another aspect of the embodiments of the present invention, there is also provided a laser radar detection apparatus, including: the transmitting module is used for transmitting test laser through the laser assembly, wherein the test laser irradiates an object to be tested after passing through the optical component; the receiving module is used for receiving the test laser reflected by the object to be tested through the laser component, wherein the test laser is received by the laser component after passing through the optical component, the optical component is integrated on a substrate material, the optical component and the substrate material are of an integrated structure, and the laser component is arranged on the substrate material; and the detection module is used for detecting the object to be detected according to the test laser.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus where the storage medium is located is controlled to execute any one of the above laser radar test methods.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes the laser radar testing method described in any one of the above.
In the embodiment of the invention, an optical component is adopted for adjusting the test laser of the laser assembly, the optical component is integrated on a substrate material, and the optical component and the substrate material are of an integrated structure; the laser assembly is used for detecting an object to be detected through test laser, the laser assembly is arranged on a substrate material, the optical path of the test laser passes through an optical component, the optical component is integrated on the substrate material, the optical component and the substrate material are arranged into an integrated structure, the laser assembly is arranged on the substrate material, the optical component is arranged, the substrate material and the laser assembly are arranged together, the purpose of directly integrating the optical component on the substrate material and directly assembling the optical component and the substrate material simultaneously is achieved, the installation process is simplified, the technical effect of improving the assembly efficiency is achieved, and the technical problems that in the related art, the optical component of a laser radar needs to be assembled and needs to be manually adjusted, the process is complex, and the efficiency is low are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a lidar system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a lidar in accordance with an embodiment of the invention;
FIG. 3 is a schematic diagram of another lidar in accordance with an embodiment of the invention;
fig. 4 is a flow chart of a lidar detection method according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a lidar system, it is noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a schematic diagram of a lidar system according to an embodiment of the invention, as shown in fig. 1, comprising: the optical component 12, the laser assembly 14,
the optical component 12 is used for adjusting the test laser of the laser component 14, the optical component 12 is integrated on the substrate material 16, and the optical component 12 and the substrate material 16 are of an integrated structure; the laser assembly 14 is used for detecting an object to be tested by a test laser, the laser assembly 14 is disposed on the substrate material 16, and an optical path of the test laser passes through the optical component 12.
By the system, the optical component is used for adjusting the test laser of the laser component, the optical component is integrated on the substrate material, and the optical component and the substrate material are of an integrated structure; the laser assembly is used for detecting an object to be detected through test laser, the laser assembly is arranged on a substrate material, the optical path of the test laser passes through an optical component, the optical component is integrated on the substrate material, the optical component and the substrate material are arranged into an integrated structure, the laser assembly is arranged on the substrate material, the optical component is arranged, the substrate material and the laser assembly are arranged together, the purpose of directly integrating the optical component on the substrate material and directly assembling the optical component and the substrate material simultaneously is achieved, the installation process is simplified, the technical effect of improving the assembly efficiency is achieved, and the technical problems that in the related art, the optical component of a laser radar needs to be assembled and needs to be manually adjusted, the process is complex, and the efficiency is low are solved.
The optical component may be a lens, a reflector, a refractor, a prism, a superlens, or the like, and is a device for reflecting, refracting, scattering, or condensing light to change the original path of the light and transmitting the light in other directions. The optical component realizes the adjustment of the light of the test laser in different modes by adjusting the types and different positions of the combined devices.
The laser assembly comprises a laser transmitter and a laser receiver, the test laser comprises a first test laser which is transmitted to the object to be tested by the laser transmitter, and a second test laser which is reflected after the first test laser received by the laser receiver irradiates the object to be tested. So as to realize the radar detection of the object to be detected through the first test laser and the second test laser.
The substrate material is used for bearing the optical component and the laser assembly, and in the related art, the optical component is installed on the substrate material, and the optical component is manually adjusted, so that the adjustment of the optical component on the test laser meets the requirement of the laser assembly. The method comprises the steps of adjusting the angle and the installation position of an optical component so that the first test laser can meet the emission requirement of a laser emitter, and the second test laser can meet the receiving requirement of the laser emitter. Therefore, the first test laser can be effectively sent to the object to be detected, and the second test laser can be effectively received, so that the laser radar can effectively detect the object to be detected according to the first test laser and the second test laser.
The optical member may be integrated with the substrate material, the optical member may be fixed to the substrate material, or the substrate material may be a transparent material, and the optical member may be provided on the substrate material by photolithography to realize a function of the optical member. The test laser enters the substrate material and can meet the requirements of the laser assembly through the adjustment of the optical component of the light in the substrate material. The test laser is received after being successfully reflected by the object to be detected, so that the reliability and accuracy of the laser radar are ensured, and the object to be detected is effectively detected through the test laser.
The test laser is divided into a first test laser and a second test laser, and the optical path of the test laser passes through the optical component to respectively adjust the optical paths of the first test laser and the second test laser. The optical path of the test laser through the optical component includes: the light path of the first test laser starts from the laser emitter and reaches the object to be tested after passing through the super lens array; the light path of the second test laser starts from the object to be tested, passes through the super lens array and then reaches the laser receiver. The above-mentioned first and second test lasers may be adjusted differently in the optical component. Therefore, the first test laser can be effectively sent to the object to be detected, and the second test laser can be effectively received, so that the laser radar can effectively detect the object to be detected according to the first test laser and the second test laser.
The laser assembly may also be disposed on the substrate material, that is, the optical component, the substrate material and the laser assembly are fixed in position, and the optical component is fixed in adjustment mode for the test laser. The optical component can be directly installed when the substrate material is installed, the optical component is not required to be adjusted manually, and the optical component can be directly used after being installed. Therefore, the technical effects of simplifying the installation process and improving the assembly efficiency are achieved, and the technical problems that in the related technology, the optical components of the laser radar need to be assembled and manually adjusted, the process is complex and the efficiency is low are solved.
Optionally, the optical component is a superlens array; the superlens array is integrated on the substrate material by means of photolithography.
Above-mentioned super lens can be formed by negative refractive index electromagnetic wave apparatus, and relative with conventional lens can arouse the red of light to move, super lens can arouse the blue of light to move, and its precision is higher for conventional optical component moreover, and the volume is littleer to improve laser radar's accuracy and volume, in addition, mass production can also reduce cost.
The superlens can be a superlens manufactured by adopting a structure of a dielectric structure which is transversely and directly connected with a wire. Has the focusing function of a common lens. The super lens has a light-gathering function similar to that of a traditional lens, and can respectively adjust the emission angles of the laser in the horizontal direction and the vertical direction and also can continuously adjust the focal length by adjusting the parameters of the super lens. Therefore, the distance measurement of objects with different distances or the continuous tracking measurement of the surface topography of the object can be realized. The application range of the laser radar is improved, and the detection precision of the laser radar is improved.
Optionally, the optical component and the substrate material, and the laser assembly fixed to the substrate material, are disposed on a rotatable platform.
The optical component and the laser component are both mounted on the substrate material, the substrate material may be mounted on a rotatable platform, and the rotatable platform is rotated to transmit first test laser to the object to be tested under the condition that the object to be tested and the current radar have an angle difference. The substrate material may be mounted on the rotatable platform by other means, such as a housing, mounting base, etc. The use flexibility of the laser radar is increased, and more diversified use requirements are met.
Optionally, the optical component and the laser assembly form a radar unit, and the lidar system includes a multiline radar formed by a plurality of radar units. Therefore, the laser radar can realize the function of a multi-line radar.
It should be noted that this embodiment also provides an alternative implementation, which is described in detail below.
The laser radar solution provided by the embodiment has the advantages of high integration degree, obvious reduction of volume and the like, and the optical part is regular in shape and convenient to assemble; the receiving and transmitting light path part is integrated with the circuit, and common structures such as a filter plate and the like are omitted.
The transmitting and receiving lens can be manufactured on an integrated structure in a centralized manner by utilizing a photoetching technology, and intermediate assembly and debugging links are omitted. And the mass production can be realized easily by photoetching on the wafer in batch. The problem of low yield caused by the fact that each laser radar needs to independently adjust the optical path is solved. The adopted super-lens structure is regular in shape and is easy to be connected with other structures of the laser radar. And the super lens array and the circuit part can be etched on the same substrate material, the whole structure is small and exquisite, and the difficulty of adjusting the current circuit board and the light path is eliminated. The step that optical indexes such as eccentricity and focal length need to be manually adjusted in the traditional laser radar structure is eliminated from design, and the laser radar is simple and easy to operate. Furthermore, it is very easy to extend from a single line radar to a multiline radar, since the volume of the superlens itself is small. The method has strong expandability and is convenient to customize.
This provides a new approach for the implementation of a microlens integrated detector, wherein the microlenses are made of the detector substrate material. The newly developed subsurface is a promising candidate for the next generation of optical concentrators that can also be monolithically integrated with infrared focal planes having small pixels. The above-described microlens may be made of the same material as the substrate, and is flat, ultra-thin, and lightweight. The sub-surface is composed of optical elements based on sub-wavelength separated sub-arrays of optical resonators. By precisely designing the optical properties of the elements of the array, the wavefront of the incident light can be shaped and redirected. Therefore, the method can be used not only in a TOF ranging (time of Flight Measurement) type radar, but also in a solid-state type laser radar or a flash radar. Has the applicability of various radars.
Because the super lens breaks through the optical diffraction limit, when the system images, the detail information with the wavelength less than half is carried by the high-frequency wave emitted by the object, and the high-frequency evanescent waves with the sub-wavelength are enhanced at the super lens, so that the detail information and the propagation wave information can be obtained at a distance. The reason why evanescent waves can be enhanced in negatively refractive materials is that evanescent waves can couple into surface modes and are enhanced by resonance. The negative refraction material is the main material of the super lens, so the resolution limit of the traditional optical imaging system is not limited by the diffraction limit of the traditional optics.
The problems of difficult assembly, large volume, complex manufacturing and low yield commonly existing in the laser radar at present can be solved by utilizing the rapidly developing super-lens technology. And the cost can be reduced by batch production.
The super lens manufactured by adopting the structure of the dielectric structure transversely and vertically connecting lines can realize the focusing function like a common lens. Has wide application prospect. Currently, a superlens covering 1550 infrared communication band has been prepared in a laboratory, making it possible to replace a conventional lens as a receiving lens or a transmitting lens of a laser radar. Can be completely introduced into the laser radar, and solves various problems existing in the laser radar at present.
FIG. 2 is a schematic illustration of a lidar according to an embodiment of the present invention, as shown in FIG. 2, with a superlens structure directly etched into a substrate material using photolithographic techniques. An infrared (mwir) nbn type detector or other type of detector integrated with a spherical concentrator is fabricated on the back of the detector. The ranging laser is emitted to an object to be measured through a laser emitter integrated on the back of the super lens unit, reflected by the object to be measured to reach the super lens unit array in the receiving optical path, and directly focused on each pixel of a receiving detector integrated on the back of the super lens unit, so that pixel-level imaging and measurement can be realized. Or as shown in fig. 2, all of the received reflected light is focused onto one detector. And carrying out distance detection.
Fig. 3 is a schematic diagram of another lidar according to an embodiment of the present invention, and as shown in fig. 3, the super lens has a light-gathering function similar to that of a conventional lens, and by adjusting parameters of the super lens, emission angles of laser light in horizontal and vertical directions can be respectively adjusted, and a focal length can be continuously adjusted. Therefore, the distance measurement of objects with different distances or the continuous tracking measurement of the surface topography of the object can be realized.
The first configuration of the lidar shown in fig. 2 or the second configuration of the lidar shown in fig. 3 may be mounted on a 360 ° rotating platform to achieve 360 ° scanning measurements.
The first structure and the second structure can be combined in an array mode, such as up-down, left-right and horizontal expansion, and the function of the multi-line radar is achieved.
The first structure or the second structure can increase the number of the super-lens array units, so that the clear aperture is expanded, and large-field-angle super-resolution measurement is realized.
In this embodiment, a superlens is indispensable. In other alternatives, the wavelength, size, and arrangement of the transceivers may be varied. The base material may be changed accordingly, and is not limited to the gallium arsenide GaSb, but may be other materials. The structure is not limited to the form of laser radar, and as common transceiving split type or transceiving combined type, the structure of flash type imaging laser radar can also be carried out in the imaging mode. Where a lens is available in a conventional lidar, a superlens may be substituted. Nor is it limited to the principle of lidar, and phase, impulse, and phase impulse imaging may be performed in this manner. The number of arrays may be arbitrary. The super lens in the structural schematic diagram is expanded to a two-dimensional structure (X direction and Y direction) and then can be used in the flash type imaging laser radar.
Bio-detection, depth cameras, cameras on cell phones and computers, confocal ion beam microscopy, atomic force microscopy, etc. Has wide application scenes.
Fig. 4 is a flowchart of a lidar detection method according to an embodiment of the present invention, and as shown in fig. 4, according to another aspect of the embodiment of the present invention, a lidar detection method is further provided, which includes the following steps:
step S402, emitting test laser through a laser component, wherein the test laser irradiates an object to be tested after passing through an optical component;
step S404, receiving test laser reflected by an object to be tested through a laser component, wherein the test laser is received by the laser component after passing through an optical component, the optical component is integrated on a substrate material, the optical component and the substrate material are of an integrated structure, and the laser component is arranged on the substrate material;
and step S406, detecting the object to be detected according to the test laser.
Through the steps, the laser assembly is adopted to emit test laser, wherein the test laser irradiates an object to be tested after passing through the optical component; receiving test laser reflected by an object to be tested through a laser assembly, wherein the test laser is received by the laser assembly after passing through an optical component, the optical component is integrated on a substrate material, the optical component and the substrate material are of an integrated structure, and the laser assembly is arranged on the substrate material; according to the mode that test laser detects the object that awaits measuring, through integrated on the substrate material with optical component, set up optical component and substrate material into integral type structure, set up laser subassembly on the substrate material, with above-mentioned optical component, substrate material and laser subassembly set up together, it is direct integrated on the substrate material directly to have reached optical component, directly assemble the purpose simultaneously with the substrate material, thereby realized simplifying the installation procedure, improve the technical effect of assembly efficiency, and then solved among the correlation technique laser radar's optical component and need assemble and need artifically adjust, lead to the flow complicated, the technical problem of inefficiency.
Optionally, the test laser includes a first test laser emitted by the laser component to the object to be tested, and/or a second test laser reflected by the object to be tested after the first test laser received by the laser component irradiates the object to be tested. Therefore, the first test laser can be effectively sent to the object to be detected, and the second test laser can be effectively received, so that the laser radar can effectively detect the object to be detected according to the first test laser and the second test laser.
Optionally, the laser assembly includes a laser transmitter and/or a laser receiver, and the transmitting the test laser by the laser assembly includes: and emitting first test laser through the laser emitter, wherein the first test laser irradiates the object to be tested through the optical component. The laser assembly receives test laser reflected by an object to be tested and comprises: and receiving second test laser through the laser receiver, wherein the second test laser is received by the laser receiver after passing through the optical component. Therefore, the first test laser can be effectively sent to the object to be detected, and the second test laser can be effectively received, so that the laser radar can effectively detect the object to be detected according to the first test laser and the second test laser.
Optionally, the optical component is a superlens array, the superlens array is integrated on the substrate material by photolithography, and before the laser assembly emits the test laser, the method further includes: the number of the super lens arrays is increased so as to increase the aperture of the light transmission. Therefore, the laser radar can realize the function of large-visual-angle super-resolution measurement.
Optionally, before the laser assembly emits the test laser, the method further includes: the number of the radar units is increased, and the plurality of radar units are combined in an array mode, wherein each radar unit is composed of an optical component, a laser assembly and a substrate material. Therefore, the laser radar can realize the function of a multi-line radar.
Optionally, before the laser assembly emits the test laser, the method further includes: receiving the direction of an object to be detected and determining a rotation angle; and controlling the rotatable platform to rotate according to the rotation angle, wherein the radar unit is arranged on the rotatable platform. Thereby enabling the laser radar to realize rotary scanning measurement.
According to another aspect of the embodiments of the present invention, there is also provided a laser radar detection apparatus, including: the transmitting module is used for transmitting test laser through the laser assembly, wherein the test laser irradiates an object to be tested after passing through the optical component; the receiving module is used for receiving the test laser reflected by the object to be tested through the laser component, wherein the test laser is received by the laser component after passing through the optical component, the optical component is integrated on the substrate material, the optical component and the substrate material are of an integrated structure, and the laser component is arranged on the substrate material; and the detection module is used for detecting the object to be detected according to the test laser.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus where the storage medium is located is controlled to execute any one of the above laser radar test methods.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes the laser radar testing method described in any one of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A lidar system, comprising: the optical components, the laser assembly,
the optical component is used for adjusting the test laser of the laser assembly, the optical component is integrated on a substrate material, and the optical component and the substrate material are of an integrated structure;
the laser assembly is used for detecting an object to be detected through test laser, the laser assembly is arranged on the substrate material, and a light path of the test laser passes through the optical component.
2. The lidar system of claim 1, wherein the optical component is a superlens array; the super lens array is integrated on the substrate material in a photoetching mode; the laser assembly comprises a laser transmitter and a laser receiver;
the test laser comprises a first test laser emitted by the laser emitter to the object to be tested and a second test laser reflected by the object to be tested after the first test laser irradiates the object to be tested and received by the laser receiver.
3. The lidar system of claim 2, wherein the optical path of the test laser through the optical component comprises:
the light path of the first test laser starts from the laser transmitter and reaches the object to be tested after passing through the super lens array;
and the light path of the second test laser reaches the laser receiver after passing through the superlens array from the object to be tested.
4. The lidar system of claim 1, wherein the optical component and the backing material, and the laser assembly secured to the backing material, are disposed on a rotatable platform.
5. The lidar system of claim 1, wherein the optical component and the laser assembly comprise a radar unit, and wherein the lidar system comprises a multiline radar comprising a plurality of radar units.
6. A laser radar detection method, comprising:
emitting test laser through a laser component, wherein the test laser irradiates an object to be tested after passing through an optical component;
receiving the test laser reflected by the object to be tested through the laser component, wherein the test laser is received by the laser component after passing through the optical component, the optical component is integrated on a substrate material, the optical component and the substrate material are of an integrated structure, and the laser component is arranged on the substrate material;
and detecting the object to be detected according to the test laser.
7. The method according to claim 6,
the test laser comprises a first test laser emitted by the laser component to the object to be tested and/or a second test laser reflected by the object to be tested after the first test laser received by the laser component irradiates the object to be tested; the laser assembly comprises a laser transmitter and/or a laser receiver;
emitting a test laser through the laser assembly includes: and emitting the first test laser through a laser emitter, wherein the first test laser irradiates an object to be tested through the optical component.
8. The method of claim 7, wherein the laser assembly receiving the test laser light reflected by the object under test comprises:
and receiving the second test laser through a laser receiver, wherein the second test laser is received by the laser receiver after passing through the optical component.
9. A storage medium comprising a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the lidar testing method of any of claims 6 to 8.
10. A processor configured to run a program, wherein the program is configured to perform the lidar testing method of any of claims 6 to 8 when the program is run.
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