CN112526480A

CN112526480A - Solid-state laser radar and solid-state laser radar control method

Info

Publication number: CN112526480A
Application number: CN202011164709.7A
Authority: CN
Inventors: 邱纯鑫; 刘乐天
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2017-09-19
Filing date: 2017-09-19
Publication date: 2021-03-19
Anticipated expiration: 2037-09-19
Also published as: CN112526480B; CN107664760B; WO2019056565A1; CN107664760A

Abstract

The embodiment of the invention discloses a solid-state laser radar and a control method of the solid-state laser radar, wherein the solid-state laser radar comprises the following components: a cylindrical lens disposed between the focusing unit and the receiver, for converging the reflected laser light; the reflected laser is the laser of the emergent laser emitted by the solid laser radar after being reflected by the measured object. The embodiment of the invention can enable the solid-state laser radar to have a larger field angle.

Description

Solid-state laser radar and solid-state laser radar control method

The application is a divisional application with the patent name of 201710844939X patent application number of 09/19/2017, and a solid-state laser radar control method.

Technical Field

The invention relates to the field of detection, in particular to a solid-state laser radar and a solid-state laser radar control method.

Background

The laser radar is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is that the detection laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after appropriate processing, the relevant information of the target, such as the parameters of the target distance, the direction, the height, the speed, the attitude, even the shape and the like, can be obtained.

The existing laser radar is divided into a mixed solid-state laser radar and a solid-state laser radar, the mixed solid-state laser radar is large in size, low in vertical resolution and incapable of meeting the higher and higher requirements. The solid-state laser radar has higher vertical resolution and smaller volume, so the application field is more and more extensive.

The solid-state lidar includes a transmitting end and a receiving end, and the receiving end usually employs an array APD, i.e. an array receiver. Due to bottlenecks of processes, technologies and the like, the APD of the receiving end of the existing solid-state laser radar is mainly linear array APD. At the receiving end of the solid-state laser radar, the linear array APD is matched with a traditional receiving lens for use, a larger angle of view can be obtained in one direction, but the angle of view is smaller in the other direction perpendicular to the direction. The small angle of view will affect the accuracy and distance of solid-state lidar detection, and the existing solid-state lidar cannot simultaneously obtain a large angle of view in two perpendicular directions.

Disclosure of Invention

The embodiment of the invention provides a solid-state laser radar and a solid-state laser radar control method, which can enable the solid-state laser radar to have a larger field angle.

In order to solve the technical problem, the embodiment of the invention discloses the following technical scheme:

in one aspect, a solid state lidar is provided, the solid state lidar comprising:

a cylindrical lens disposed between the focusing unit and the receiver, for converging the reflected laser light;

the reflected laser is the laser of the emergent laser emitted by the solid laser radar after being reflected by the measured object.

Preferably, the cylindrical lens is a plano-convex cylindrical lens.

Preferably, the cylindrical lens has a convex surface facing the focusing unit.

Preferably, the receiver of the solid-state laser radar is a linear array APD, and the linear array APD is horizontally arranged.

Preferably, if the linear array APDs operate in parallel, the convergence direction of the cylindrical lens is perpendicular to the horizontal plane.

Preferably, if the linear array APD operates in a time-sequential manner, the convergence direction of the cylindrical lens is parallel to the horizontal plane.

Preferably, the linear array APDs are disposed on a focal plane of the cylindrical lens.

In a second aspect, a method for controlling a solid-state lidar is provided, the method comprising: the cylindrical lens converges the reflected laser;

the cylindrical lens is arranged between the focusing unit and the receiver, and the reflected laser is laser emitted by the solid laser radar and reflected by a measured object.

Preferably, if the linear arrays APD operate in parallel, the convergence direction of the cylindrical lenses is perpendicular to the horizontal plane.

The embodiment of the invention discloses a solid-state laser radar, wherein a cylindrical lens is arranged between a focusing unit and a receiver, and the cylindrical lens can converge and reflect laser, which is equivalent to reducing the focal length of an optical system at a receiving end of the solid-state laser radar, so that the field angle of the solid-state laser radar can be enlarged, and the solid-state laser radar has a larger field angle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a solid state lidar according to an embodiment of the invention;

FIG. 2 is a schematic view of a cylindrical lens according to an embodiment of the present invention;

FIG. 3 is a schematic view of a solid state lidar in the prior art;

FIG. 4 is a schematic view of the solid-state lidar field of view of the present invention;

FIG. 5 is a schematic diagram of a light spot of a solid-state lidar according to an embodiment of the invention;

FIG. 6 is a schematic diagram of a prior art solid state lidar spot;

FIG. 7 is a schematic diagram of a light spot of a solid-state lidar according to an embodiment of the invention;

fig. 8 is a schematic diagram of a light spot of the solid-state lidar according to the embodiment of the invention.

Detailed Description

The following embodiments of the present invention provide a solid-state laser radar and a control method of the solid-state laser radar, so that the solid-state laser radar has a larger field angle.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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.

Fig. 1 is a schematic diagram of a solid-state lidar according to an embodiment of the present invention, as shown in fig. 1, the solid-state lidar includes:

a cylindrical lens 110 disposed between the focusing unit 120 and the receiver 130, for converging the reflected laser light;

The solid-state lidar shown in fig. 1 further includes a transmitter 140, a collimating unit 150, a galvanometer 160, and a measured object 170 in fig. 1.

Fig. 2 is a schematic diagram of a cylindrical lens according to an embodiment of the present invention, and as shown in fig. 2, the cylindrical lens according to an embodiment of the present invention is a plano-convex cylindrical lens, i.e., a lens with one surface being a plane and the other surface being a convex lens.

In the embodiment of the invention, the convex surface of the cylindrical lens faces the focusing unit.

The cylindrical lens shown in fig. 2 can converge light in one direction, which is called the converging direction, and 200 in fig. 2 is the converging direction.

Fig. 3 is a schematic view of a field angle of a solid-state lidar in the prior art, where as shown in fig. 3, θ is the field angle, d is an image plane width in the direction, i.e., a length of a linear array APD, and f is a focal length of a solid-state lidar focusing unit.

The field angle and the focal length f, the image surface width d are satisfied

Fig. 4 is a schematic view of the angle of view of the solid-state lidar of the present invention, as shown in fig. 3, a cylindrical lens is inserted between the focusing unit and the receiver, the cylindrical lens has a converging effect on light, which is equivalent to reducing the focal length of the optical system at the receiving end of the solid-state lidar, when the angle of view is θ ', the focal length of the optical system at the receiving end is f', and d is the image plane width in the direction, then

Since f '< f, θ' > θ.

Therefore, the solid-state laser radar of the embodiment of the invention has a larger field angle.

In the solid-state laser radar disclosed by the invention, the cylindrical lens is arranged between the focusing unit and the receiver, and can converge and reflect laser, which is equivalent to reducing the focal length of an optical system at a receiving end of the solid-state laser radar, so that the field angle of the solid-state laser radar can be enlarged, and the solid-state laser radar has a larger field angle. In addition, in the solid-state laser radar and the control method of the solid-state laser radar of the embodiments of the present invention, the angle of view is enlarged, but the focal length of the receiving lens does not need to be reduced, and the aperture of the receiving lens does not need to be reduced, so that the detection distance of the laser radar does not decrease.

The configuration of the solid-state laser radar using the rod lens according to the embodiment of the present invention will be described in detail below.

Referring to fig. 1, in the embodiment of the present invention, the receiver of the solid-state laser radar is a linear array APD, and the linear array APD is horizontally disposed.

The linear array APD has two working modes, one is parallel at the same time, and the other is triggered according to time sequence.

In the embodiment of the invention, if the linear array APDs work in parallel at the same time, the convergence direction of the cylindrical lens is vertical to the horizontal plane.

The parallel connection means that all the APD units in the linear array APD are started to receive simultaneously when receiving, and receive echo output signals together, that is, receive reflected laser together, and 1 × N APD units work simultaneously at the same time. When the linear arrays APDs are parallel, due to the use of the cylindrical lens, the reflected light rays within the central field range are converged in advance, and the light spot in the horizontal direction is linear, as shown in fig. 5. The light spot is linear and can still be received by the linear array APD, the energy loss is very small, and therefore the detection distance of the solid-state laser radar is ensured.

The time-sequential triggering means that each APD unit on the linear array APD sequentially turns on a received signal according to a certain time sequence. The linear array APD is arranged on a horizontal focal plane of the receiving end optical system, and a vertical line is arranged on a detection plane.

In the prior art, if a circular light spot is on the detection surface when the cylindrical lens is not used, as shown in fig. 6, the light spot will disappear rapidly as the field angle increases to a certain extent.

After the cylindrical lens is adopted, the shape of the light spot is a line, as shown in fig. 7, even if the image center is already away from the effective imaging plane of the linear APD, a part of energy can enter the effective imaging plane, so that the field angle of the solid-state laser radar using the cylindrical lens in the vertical direction is increased.

When the linear array APDs are triggered in time sequence, the convergence direction of the cylindrical lens may also be a horizontal plane, and the light spot on the linear array APD is vertical at this time, as shown in fig. 8.

According to the solid-state laser radar provided by the embodiment of the invention, the cylindrical lens is adopted, reflected laser is converged in advance, and the field angle of the solid-state laser radar can be increased.

Corresponding to the solid-state laser radar, an embodiment of the present invention further provides a method for controlling a solid-state laser radar, where the method includes:

the cylindrical lens converges the reflected laser;

In an embodiment of the invention, the cylindrical lens is a plano-convex cylindrical lens, and a convex surface of the cylindrical lens faces the focusing unit.

In the embodiment of the invention, the receiver of the solid-state laser radar is a linear array APD, and the linear array APD is horizontally arranged.

In the control method of the solid-state laser radar of the embodiment of the invention, the cylindrical lens is adopted to converge the reflected laser in advance, so that the field angle of the solid-state laser radar can be increased.

The embodiment of the invention discloses a solid-state laser radar and a control method of the solid-state laser radar. In addition, in the solid-state laser radar and the control method of the solid-state laser radar of the embodiments of the present invention, the angle of view is enlarged, but the focal length of the receiving lens does not need to be reduced, and the aperture of the receiving lens does not need to be reduced, so that the detection distance of the laser radar does not decrease.

Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention may be implemented by software plus necessary general hardware, including general purpose integrated circuits, general purpose CPUs, general purpose memories, general purpose components, etc., or by special purpose hardware, including special purpose integrated circuits, special purpose CPUs, special purpose memories, special purpose components, etc., but the former is a better implementation in many cases. Based on such understanding, the technical solutions in the embodiments of the present invention may be substantially implemented or portions thereof that contribute to the prior art may be embodied 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), a magnetic disk, an optical disk, and so on, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute the method in the embodiments or some portions thereof.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A solid state lidar, characterized in that the solid state lidar comprises:

a cylindrical lens disposed between the focusing unit and the receiver, for converging the reflected laser light; the cylindrical lens is a plano-convex cylindrical lens, and the convex surface of the cylindrical lens faces the focusing unit;

the reflected laser is the laser emitted by the solid laser radar and reflected by the measured object; the receiver of the solid-state laser radar is a linear array APD, the linear array APD is horizontally arranged, and the linear array APD is arranged on the focal plane of the cylindrical lens;

and if the working mode of the linear array APD is triggered according to the time sequence, the convergence direction of the cylindrical lens is parallel to the horizontal plane.

2. A method of controlling a solid state lidar, the method comprising:

the cylindrical lens converges the reflected laser; the cylindrical lens is a flat-convex cylindrical lens;

the cylindrical lens is arranged between the focusing unit and the receiver, the convex surface of the cylindrical lens faces the focusing unit, and the reflected laser is the laser emitted by the solid laser radar after the emergent laser is reflected by the object to be measured; the receiver of the solid-state laser radar is a linear array APD, the linear array APD is horizontally arranged, and the linear array APD is arranged on the focal plane of the cylindrical lens;