CN112034478A - Laser radar and ranging method thereof - Google Patents
Laser radar and ranging method thereof Download PDFInfo
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- CN112034478A CN112034478A CN201910478692.3A CN201910478692A CN112034478A CN 112034478 A CN112034478 A CN 112034478A CN 201910478692 A CN201910478692 A CN 201910478692A CN 112034478 A CN112034478 A CN 112034478A
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- 238000000034 method Methods 0.000 title claims description 12
- 230000003287 optical effect Effects 0.000 claims abstract description 43
- 238000005259 measurement Methods 0.000 abstract description 25
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000001788 irregular Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application relates to a laser radar, in particular to a laser radar which can meet the requirements of measurement stability and low cost in a complex environment. The laser radar comprises a plurality of transmitting light sources, one or more optical systems and a receiving device, wherein emergent light of the transmitting light sources irradiates a target through the optical systems, and an echo signal reflected by the target enters the receiving device. The embodiment of the application can realize the detection of the area in a larger angle by using a scheme of multiplexing a plurality of transmitting light sources and the same receiving structure. Compared with a single-point radar, the scheme has better performance and resolution under a larger measurement view field and better measurement stability under a complex environment, and the measurement error is small. Compared with a multipoint detection radar, the hardware and algorithm system required by the scheme are simpler and more stable, and the ranging performance and cost of each ranging point are more advantageous. Thus, both the measurement requirements and the cost requirements are met.
Description
Technical Field
The invention relates to a laser radar and a distance measuring method, in particular to a laser radar with low measurement stability and low cost in a complex environment.
Background
The optical distance measuring radar is a radar system for detecting the position, speed and other characteristic quantities of a target by using a light beam, and has the advantages of high resolution and strong anti-interference capability, so that the application is wide.
According to the number of detection points, the range radar can be divided into a single-point detection radar and a multi-point detection radar. Compared with a multipoint detection radar, the single-point detection radar has the advantages of large measurement range, high measurement precision, low cost and the like, but certain distance measurement errors can be caused when a measured object is a non-planar object. As shown in fig. 1, the single-point detection radar is used alone, the light emitted from the light source 1 irradiates on the target 4, when an irregular object 7 appears on the target 4, the irregular object 7 may generate a complex and indistinguishable multi-echo interference, so that the waveform of the echo signal 10 received by the receiving device 3 is distorted, and the precision and resolution of the spatial distance measurement are reduced, especially in a large-angle measurement field of view. Therefore, when the single-point radar is actually used, a plurality of single-point radars are needed to ensure that the measurement cannot be misjudged, but the use cost is greatly increased. Although the multi-point detection radar has higher spatial resolution, the cost is also high, the stability, the service life and the detection performance of each area pixel are also insufficient, and because a plurality of receiving elements are adopted, the isolation and processing of signals among the plurality of receiving elements require more complex hardware and algorithm systems.
Disclosure of Invention
The embodiment of the application aims to provide a laser radar and a ranging method thereof, solves the problems that the existing radar cannot meet the measurement stability in a complex environment and is low in cost at the same time, and adopts the following technical scheme for achieving the purpose:
in one aspect, the laser radar comprises a plurality of transmitting light sources, one or more optical systems and a receiving device, emergent light of the transmitting light sources irradiates a target through the optical systems, and an echo signal reflected by the target enters the receiving device.
In a possible implementation mode, the distance between the emergent light sources is 1-5 cm, the divergence angle of the emergent light is 0-45 degrees, and the receiving angle of view is 0-120 degrees.
In a possible implementation mode, the distance between the emergent light sources is 1-4.5 cm, the divergence angle of the emergent light is 0-30 degrees, and the receiving angle of view is 0-90 degrees.
In a possible implementation mode, the light emitting source emits light in a time-sharing mode or simultaneously, and the time interval of the light emitting source emitting light in a time-sharing mode is 0.1-50 ms.
In a possible implementation manner, when the number of the optical systems is multiple, the optical systems correspond to the emission light sources one by one, and the number of the optical systems and the emission light sources is 2-10.
In a possible implementation manner, the emitting light source is an LED or a laser, the optical system is a lens or a lens group, and the receiving device is a photosensitive sensor.
In a possible implementation manner, the laser radar further includes a control module, and the control module is configured to control the transmitting light sources to operate in a time-sharing manner or in a simultaneous manner.
On the other hand, each transmitting light source works in a time-sharing mode, light is emitted in respective working time, the emergent light irradiates a target through an optical system, and a target reflects an echo signal to enter a receiving device.
In one possible implementation, the operation time of each emission light source is 0.1-10ms, and the operation interval is 0.1-20 ms.
On the other hand, each transmitting light source works simultaneously, emergent light is processed by the optical system and irradiates on a target, and the target reflects an echo signal to enter a receiving device.
The embodiment of the application can realize the detection of the area in a larger angle by using a scheme of multiplexing a plurality of transmitting light sources and the same receiving structure. Compared with a single-point radar, the scheme has better performance and resolution under a larger measurement view field and better measurement stability under a complex environment, and the measurement error is small. Compared with a multipoint detection radar, the hardware and algorithm system required by the scheme are simpler and more stable, and the ranging performance and cost of each ranging point are more advantageous. Thus, both the measurement requirements and the cost requirements are met.
Drawings
Fig. 1 is a background art schematic.
Fig. 2 is a schematic diagram of a lidar principle employing a multi-optical system according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a multi-optical system lidar with a control module according to an embodiment of the application.
Fig. 4 is a schematic diagram of a laser radar employing a single optical system according to an embodiment of the present application.
In the figure: 1. an emission light source; 2. an optical system; 3. a receiving device; 4. a target; 5. emergent light; 6. a control module; 7. an irregular object; 8. an angle of divergence; 9. receiving a field angle; 10. an echo signal.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application 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 should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device 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 device.
The embodiments of the present application
As shown in fig. 2, a laser radar includes a plurality of emitting light sources 1, a plurality of optical systems 2, and a receiving device 3, wherein an emitting light 5 of the emitting light sources 1 is irradiated onto a target 4 through the optical systems 2, and an echo signal 10 reflected by the target enters the receiving device 3.
As can be seen from fig. 2, when an irregular object 7 appears on the target 4, the scheme of multiplexing multiple emitted light beams with the same receiving structure is used, so that multiple small areas within a large angle can be respectively detected, and the accurate distance between the laser radar and the irregular object 7 can be detected. Compared with a multi-receiving device of a multi-point detection radar, the hardware and algorithm system required by the scheme are simpler and more stable, and the ranging performance and cost on each ranging point are more advantageous. Compared with a single-point radar, the scheme has a larger measurement view field, has more advantages in the aspects of performance, resolution ratio, measurement stability in a complex environment and the like under the larger measurement view field, and can effectively reduce the possibility of measurement misjudgment caused by irregular measured objects.
The distance between the emergent light sources 1 is 1-5 cm, the divergence angle 8 of the emergent light 5 is 0-45 degrees, and the receiving field angle 9 is 0-120 degrees.
The distance between the emergent light sources 1 is 1-5 cm, interference exists between the light sources with too small distance, and the overall volume of the radar is larger due to too large distance. The divergence angle 8 is set to be 0-45 degrees, when the divergence angle is too small, the irregular object cannot be completely included in the measuring range of a single emergent light source when being irradiated, interference echoes still exist, and the divergence angle is too large, which means that the energy required by the same measuring distance is larger, and the requirement on heat dissipation is higher besides energy waste. The divergence angles 8 combine to form the launch angle of the lidar, which is less than the receive field angle 9. The receiving field angle is 0-120 degrees, and the measurement requirement is met.
When the laser radar needs to detect an object with a specific view field angle distribution or a specific horizontal distance interval, the optical axis direction of each transmitting light source 1 can be designed only according to the angle, multiple light beams are aligned to multiple measured objects in different directions, the divergence angle of each emergent light beam is compressed, the measurement misjudgment of irregular objects is reduced, and the radar system with high precision and high environmental adaptability is realized.
Further, the distance between the emergent light sources 1 is 1-4.5 cm, the divergence angle 8 of the emergent light 5 is 0-30 degrees, and the receiving angle of view 9 is 0-90 degrees.
The effect is better in the range of the distance between the emergent light sources, the divergence angle of the emergent light and the receiving field angle.
The emission light source 1 emits light in a time-sharing mode or simultaneously, and the time interval is 0.1-50ms when the light is emitted in a time-sharing mode.
The laser radar can multiplex the receiving device 3 through time-sharing emergent light, and can realize the differentiation of multiple emergent light beams by reducing the frame rate, wherein the time interval of the time-sharing emergent light 5 is generally 10-50 ms; the laser radar can also emit and receive multiple emitted light beams simultaneously, and the measured value can be the weight of the distance change in all the field angles or the change trend in all the target areas to be measured.
The number of the laser radar optical systems 2 is one or more, as shown in fig. 2, when the number of the optical systems is multiple, the optical systems 2 correspond to the emission light sources 1 one by one, and the number of the optical systems and the emission light sources is 2-10.
The plurality of emission light sources 1 emit emission light 5 at a predetermined angle through the respective optical systems 2. Each emission light source 1 and its optical system 2 constitute an independent emission module. The direction of the outgoing light 5 and the interval between the beams depend on the spatial position arrangement among the respective optical modules. The solution is relatively complex in structure, high in structural cost, but low in optical design requirements. The independent emission modules are only related to self design and assembly on emission beam parameters, and the respective consistency can be ensured. And the scheme is more convenient for realizing multiple emitted light beams with mutually parallel optical axes.
As shown in fig. 4, when the number of the optical systems 2 is one, the optical systems 2 pass all the outgoing light 5.
The plurality of emission light sources 1 emit emission light 5 at a predetermined angle by using the same optical system 2. The spacing and distribution of the outgoing light 5 depends on the spacing of the emission light sources 1 and the focal length of the optical system 2. The scheme is relatively simple in structure and low in cost, but the design requirement is high. After each emission light source 1 passes through the optical system 2, parameters of each emergent light 5 have certain difference, including uniformity of light beams, divergence angle of single light beams, angle interval between light beams and the like. And the scheme is difficult to realize multiple emitted light beams with mutually parallel optical axes.
The emitting light source 1 is an LED or a laser, the optical system 2 is a lens or a lens group, and the receiving device 3 is a photosensitive sensor.
The emitting light source 1, the optical system 2 and the receiving device 3 are common devices in the technical field.
As shown in fig. 3, the lidar further includes a control module 6, and the control module 6 is configured to control the transmitting light sources 1 to operate in a time-sharing manner or in a simultaneous manner.
The laser radar can control the working state of the transmitting light source 1 through the control module 6, and can also control the transmitting light source 1 by adopting an external control device.
On the other hand, in the laser radar distance measuring method, each transmitting light source 1 works in a time-sharing mode, the emergent light 5 is emitted in respective working time, the emergent light 5 is irradiated onto a target 4 through an optical system 2, and a target reflection echo signal 10 enters a receiving device 3.
The working time of each emission light source 1 is 0.1-10ms, and the working interval is 0.1-20 ms.
The transmitting light source 1 works in a time-sharing mode, each path of transmitting and receiving form a complete radar system in respective working time, and the radar system has the ranging characteristic of a single-point radar. This approach increases measurement resolution at the expense of reducing measurement frame rate.
A laser radar distance measuring method is characterized in that each transmitting light source 1 works simultaneously, emergent light 5 is processed by an optical system 2 and irradiates a target 4, and a target reflection echo signal 10 enters a receiving device 3.
The multiple beams are directly and simultaneously emitted and received, and can be used for expanding the field angle, concentrating the energy of the emitted beams or monitoring aiming at a plurality of specific spatial positions, and the measured value can be the weight of distance change in all the field angles or the change trend in all the target areas to be measured.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (9)
1. The laser radar is characterized by comprising a plurality of transmitting light sources, one or more optical systems and a receiving device, wherein emergent light of the transmitting light sources irradiates a target through the optical systems, and an echo signal reflected by the target enters the receiving device.
2. The lidar of claim 1, wherein the distance between the emitting light sources is 1-5 cm, the divergence angle of the emitting light is 0-45 °, and the receiving field angle is 0-120 °.
3. The lidar of claim 2, wherein the distance between the emitting light sources is 1-4.5 cm, the divergence angle of the emitting light is 0-30 °, and the receiving field angle is 0-90 °.
4. The lidar of claim 3, wherein the emitting light source emits light in a time-sharing manner or simultaneously, and the time interval of the emitting light in the time-sharing manner is 0.1-50 ms.
5. The lidar of claim 4, wherein when the number of the optical systems is plural, the optical systems correspond to the emitting light sources one by one, and the number of the optical systems and the emitting light sources is 2-10.
6. The lidar of claim 5, wherein the emitting light source is an LED or a laser, the optical system is a lens or a lens group, and the receiving device is a photosensor.
7. The lidar of claim 6, further comprising a control module configured to control the transmitting light sources to operate in a time-shared or simultaneous manner.
8. A laser radar ranging method is characterized by comprising a plurality of transmitting light sources, one or more optical systems and a receiving device, wherein each transmitting light source works in a time-sharing mode, emergent light is emitted in respective working time, the emergent light irradiates a target through the optical systems, and a target reflects an echo signal to enter the receiving device.
9. A lidar ranging method according to claim 8, characterized in that each transmitting light source has an operating time of 0.1-10ms and an operating interval of 0.1-20 ms.
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| CN201910478692.3A CN112034478A (en) | 2019-06-03 | 2019-06-03 | Laser radar and ranging method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113759382A (en) * | 2021-10-19 | 2021-12-07 | 上海兰宝传感科技股份有限公司 | Distance measuring circuit and application thereof |
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| CN211123271U (en) * | 2019-06-03 | 2020-07-28 | 北醒（北京）光子科技有限公司 | Laser radar |
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| CN113759382A (en) * | 2021-10-19 | 2021-12-07 | 上海兰宝传感科技股份有限公司 | Distance measuring circuit and application thereof |
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