WO2020094129A1 - Laser radar system and laser radar - Google Patents

Laser radar system and laser radar Download PDF

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Publication number
WO2020094129A1
WO2020094129A1 PCT/CN2019/116718 CN2019116718W WO2020094129A1 WO 2020094129 A1 WO2020094129 A1 WO 2020094129A1 CN 2019116718 W CN2019116718 W CN 2019116718W WO 2020094129 A1 WO2020094129 A1 WO 2020094129A1
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WO
WIPO (PCT)
Prior art keywords
lens
laser
curved surface
receiving
group
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Application number
PCT/CN2019/116718
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French (fr)
Chinese (zh)
Inventor
刘波
熊剑鸣
Original Assignee
深圳市速腾聚创科技有限公司
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Publication of WO2020094129A1 publication Critical patent/WO2020094129A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone

Definitions

  • the invention relates to the technical field of laser radar, in particular to a laser radar system.
  • lidar systems have been widely used in various measurement fields, such as navigation and positioning technology, engineering ranging technology, and road traffic.
  • the working principle of the lidar system is to first emit a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, the relevant information of the target can be obtained, such as the target distance , Orientation, altitude, speed, attitude, and even shape.
  • the transmitting and receiving optical paths of the laser radar are often affected by various factors such as structure and external environment, which affects the measurement accuracy of the lidar.
  • a lidar system in a first aspect, includes:
  • Laser emitting device and laser receiving device in which:
  • the laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object;
  • the laser receiving device is used to receive echo laser light reflected from the target object;
  • the laser receiving device includes a laser receiver and a receiving optical mirror group, and the receiving optical mirror group is used to correct reflection from the target object
  • the receiving optical lens group includes a receiving end lens, the receiving end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is cylinder.
  • the receiving optical mirror group further includes: the receiving optical mirror group further includes: a first adjusting mirror group; the first adjusting mirror group is used to focus the echo laser light.
  • the first adjustment lens group includes: a first positive lens group and / or a first negative lens group.
  • the corresponding first adjustment lens group has a negative refractive power; if the receiving end lens is a negative lens, the corresponding first adjustment lens The diopter of the group is positive.
  • the receiving optical lens group includes: a first positive lens, a negative lens, and a second positive lens, the first positive lens is a spherical lens, the negative lens is a biconcave lens, and the second positive lens is a receiving end lens; the first The positive lens and the negative lens form an adjustment lens group, the negative lens is located at the exit end of the first positive lens, and the second positive lens is located at the exit end of the negative lens.
  • the generatrix of the receiving lens is perpendicular to the alignment of the receiving lens, the alignment of the receiving lens is parallel to the horizontal plane, and the axis of symmetry of the receiving lens is the same as the first Adjust the optical axis of the mirror group to coincide;
  • the echo laser passes through the first adjusting mirror group, the second curved surface of the receiving end lens and the first curved surface of the receiving end lens in sequence.
  • the absolute value of the radius of the first curved surface of the receiving end lens is greater than the radius of the second curved surface of the receiving end lens.
  • the radius of curvature of the first curved surface of the receiving lens is infinite.
  • the radius of curvature of the first curved surface is a negative value.
  • a lidar system includes: a laser emitting device and a laser receiving device, wherein:
  • the laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object;
  • the laser emitting device includes a laser emitter and an emitting optical mirror group;
  • the emitting optical mirror group is used to correct the outgoing laser light
  • the emitting optical lens group includes an emitting end lens, the emitting end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface;
  • the laser receiving device is used to receive echo laser light reflected from the target object.
  • the emitting optical mirror group further includes: a second adjusting mirror group; the second adjusting mirror group is used to collimate the outgoing laser light.
  • the second adjustment lens group includes: a second positive lens group and / or a second negative lens group.
  • the corresponding second adjustment lens group has a 1 diopter negative; if the emitting end lens is a negative lens, the corresponding second adjustment The lens group has a positive diopter.
  • the second adjustment lens group includes a second positive lens and a second negative lens
  • the second positive lens is a spherical mirror, and the second negative lens is a double concave lens;
  • the second negative lens is located at the exit end of the second positive lens, and the emission end lens is located at the exit end of the second negative lens.
  • the generatrix of the transmitting end lens is perpendicular to the collimating line of the transmitting end lens, the collimating line of the transmitting end lens is parallel to the horizontal plane, and the symmetry axis of the transmitting end lens is the same as the second The optical axes of the adjusting mirror groups coincide; the outgoing laser light is sequentially projected onto the target object through the second adjusting mirror group, the first curved surface of the emitting end lens, and the second curved surface of the emitting end lens.
  • the absolute value of the radius of curvature of the first curved surface of the emitting end lens is greater than the radius of curvature of the second curved surface of the emitting end lens.
  • the radius of curvature of the first curved surface of the emitting end lens is infinite.
  • the radius of curvature of the first curved surface of the emitting end lens is a negative value.
  • a lidar includes the lidar system according to any one of the above aspects.
  • a lidar system provided by the present application includes: a laser emitting device and a laser receiving device, wherein the laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object; the laser receiving device is used to receive reflection from the target object
  • the laser receiving device includes a laser receiver and a receiving optical lens group, the receiving optical lens group is used to correct the spot size of the echo laser light reflected from the target object, and it includes a receiving end lens, and the receiving end lens includes a A curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface;
  • the above-mentioned lidar system uses a receiving lens at a curved surface to correct the spot shape of the echo laser at the receiving end , Can cancel the aberration effect of the cylindrical shell of the lidar system when transmitting the echo laser, thereby improving the detection accuracy of the lidar system for the target object.
  • FIG. 1 is a schematic structural diagram of a lidar system provided by an embodiment
  • FIG. 2 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • FIG. 3 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • 5 is a light spot diagram provided by an embodiment
  • FIG. 6 is a light spot diagram provided by an embodiment
  • FIG. 7 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • FIG. 8 is a schematic structural view of a receiving optical mirror group provided by an embodiment
  • FIG. 9 is a schematic structural view of a receiving optical mirror group provided by an embodiment
  • FIG. 10 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment
  • FIG. 11 is a schematic structural diagram of a laser receiving device provided by an embodiment
  • FIG. 12 is a schematic structural diagram of a laser receiving device provided by an embodiment
  • FIG. 13 is a schematic structural diagram of a laser receiving device provided by an embodiment
  • FIG. 14 is a schematic structural diagram of a lidar system provided by an embodiment
  • 15 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment
  • 16 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment
  • 17 is a schematic structural diagram of a laser emitting device provided by an embodiment
  • FIG. 18 is a schematic structural diagram of a laser emitting device provided by an embodiment
  • 19 is a schematic structural diagram of a laser emitting device provided by an embodiment.
  • FIG. 1 is a schematic structural diagram of a lidar system provided by an embodiment.
  • the lidar system includes: a laser emitting device 10 and a laser receiving device 11.
  • the laser emitting device 10 is used to emit outgoing laser light and project the outgoing laser light to a target object 12;
  • the laser receiving device 11 is used to Receiving the echo laser reflected from the target object 12,
  • the laser receiving device 11 includes a laser receiver 111 and a receiving optical mirror group 112, the receiving optical mirror group 112 is used to correct the spot size of the echo laser reflected from the target object 12;
  • the optical lens group 112 includes a receiving end lens 1122.
  • the receiving end lens 1122 includes a first curved surface and a second curved surface, and at least one of the first curved surface and the second curved surface is a cylindrical surface.
  • the aforementioned laser receiver 111 is a photodetector, which is used to convert the received echo laser into a corresponding electrical signal for analysis, so as to obtain detection information related to the target object 12.
  • the receiver may specifically select an APD detector, a SPAD detector, a SIPM detector, an MPPC detector, etc., which is not limited in this embodiment.
  • the receiving optical lens group 112 is a lens set capable of focusing the echo laser, and various types of lenses can be specifically selected, for example, spherical lenses, aspheric lenses, cylindrical lenses, and the like.
  • the lenses included in the receiving optical lens group 112 are sequentially arranged on the incident optical path of the laser receiver 111 to focus the incident light beam of the laser receiver 111 so that the laser receiver 111 can receive the light spot
  • the smaller echo laser can also correct the spot shape of the echo laser to eliminate the aberration effect of the cylindrical lidar system shell on the echo laser, thereby improving the detection accuracy of the laser receiver 111.
  • the receiving optical lens group 112 in this embodiment includes a receiving end lens 1122, and the receiving end lens 1122 includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface to offset the column
  • the effect of aberration brought by the outer shell of the shape-shaped lidar system further reduces the spot size of the echo laser light received by the laser receiver 111 and improves the focusing energy.
  • the radius of curvature of the first curved surface and the radius of curvature of the second curved surface of the receiving end lens 1122 may be determined according to actual application requirements.
  • any of the components of the laser emitting device 10 and the laser receiving device 11 described above can be arranged in a cavity accommodated in a housing of the lidar system, wherein the housing can be a cylindrical shaped optical glass device, which is a closed
  • the structure of the cavity is not only dustproof in practical applications, but also can filter out-of-boundary stray light to reduce the influence of external stray light on the internal optical path transmission of the lidar system, thereby affecting the detection of the lidar system Precision.
  • the cylindrical shell will bring aberration effects to the outgoing laser and the received echo laser of the lidar system, thereby affecting the detection accuracy of the lidar system. It is precisely because of this application that this application proposes to use the receiving end lens, and It is placed on the incident light path of the laser receiver to eliminate the aberration effect caused by the cylindrical housing.
  • the working principle of the lidar system described in this embodiment is: when the lidar system needs to scan the target object 12 in the surrounding detection field of view, so as to realize the detection of the target object 12, the laser emitting device 10 in the lidar system emits the emitted laser light, and The outgoing laser light is projected onto the target object 12.
  • the receiving optical mirror group 112 focuses the echo laser transmitted through the housing to the laser receiver 111, and uses the receiving end therein
  • the lens 1122 corrects the spot shape of the echo laser to cancel the aberration effect of the lidar system housing on the echo laser.
  • the laser receiver 111 receives the focused and corrected echo laser, it analyzes the received echo laser to obtain detection information related to the target object 12 to realize the detection of the target object 12.
  • the lidar system provided in the above embodiment includes: a laser emitting device and a laser receiving device, wherein: the laser emitting device is used to emit the emitted laser light and project the emitted laser light to the target object; the laser receiving device is used to receive the reflected light from the target object Echo laser; the laser receiving device includes a laser receiver and a receiving optical lens group, the receiving optical lens group is used to correct the spot size of the echo laser light reflected from the target object, and it includes a receiving end lens, and the receiving end lens includes a first The curved surface and the second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface.
  • the receiving optical system correcting the spot size of the echo laser reflected on the target object includes adjusting the size of the spot size and adjusting the shape of the spot size.
  • the above-mentioned lidar system uses a receiving lens with a curved surface as a cylinder, which can adjust the shape of the spot of the echo laser, thereby canceling the cylindrical housing of the lidar system when transmitting the echo laser.
  • the influence of aberrations improves the matching degree of the spot shape of the echo laser and the laser detector, thereby improving the detection accuracy of the above-mentioned lidar system to the target object.
  • FIG. 2 is a schematic structural diagram of a receiving optical mirror set provided by an embodiment. As shown in FIG. 2, the receiving optical mirror group 112 further includes: a first adjusting mirror group 1121; the first adjusting mirror group 1121 is used to focus the echo laser.
  • the first adjustment lens group 1121 is a lens set capable of focusing the echo laser in various directions (vertical and horizontal), and may specifically include various types of lenses, for example, spherical lenses, aspherical lenses, spherical cylinders, and the like.
  • the lenses included in the first adjustment lens group 1121 are sequentially arranged on the incident optical path of the receiving end lens 1122, so that the reflected laser light reflected from the target object 12 can be focused on the receiving end lens 1122,
  • the receiving end lens 1122 can further correct the spot shape of the echo laser to eliminate the aberration effect of the lidar system housing on the echo laser.
  • the working principle of the receiving optical mirror group 112 described in this embodiment is: when the reflected laser light reflected from the target object 12 is transmitted to the receiving optical mirror group 112 through the lidar system casing, the first adjusting mirror group 1121 in the receiving optical mirror group 112 can convert the echo laser Focus on the receiving end lens 1122, and then the receiving end lens 1122 further corrects the spot shape of the focused echo laser beam, so that the spot of the echo laser beam can be completely transmitted to the laser receiver 111, reducing Astigmatism effect. In order to enable the laser receiver 111 to receive as many echo lasers as possible, thereby improving the detection distance and detection accuracy.
  • the specific receiving end lens 1122 may be selected as a spherical lens.
  • the receiving end lens 1122 is a spherical lens, and when the spherical lens generating line is perpendicular to the generating line of the housing, the refractive power of the spherical lens is negative.
  • the first The diopter of the adjustment lens set 1121 is positive.
  • the diopter of the spheroid lens is positive. According to the size requirements of the light spot, the diopter of the first adjustment lens group 1121 can be positive or negative.
  • the specific receiving end lens 1122 may be a cylindrical mirror.
  • the refractive power of the first adjustment lens group 1121 is positive.
  • the first adjustment lens group 1121 includes: a first positive lens group and / or a first negative lens group.
  • the first positive lens group includes at least one positive lens, and the first negative lens group includes at least one negative lens; the positive lens or the negative lens may be specifically one of a spherical lens, an aspheric lens, and a cylindrical lens.
  • the positive lens is a lens with a positive refractive power, and the positive lens satisfies the following conditions: assuming the radius of curvature of the two surfaces of the lens to be R1 and R2, if R1> 0 and R2> 0, then R1 ⁇ R2; if R1 > 0 and R2 ⁇ 0, the lens power is positive; if R1 ⁇ 0 and R2 ⁇ 0, then R1 ⁇ R2.
  • the above-mentioned negative lens is a lens with a negative refractive power.
  • the negative lens satisfies the following conditions: if R1> 0 and R2> 0, then R1> R2; if R1 ⁇ 0 and R2> 0, the lens power is negative; if R1 ⁇ 0 and R2 ⁇ 0, then R1> R2.
  • the first adjusting mirror group 1121 may include only the first positive lens group; optionally, the first adjusting mirror group 1121 may also include only the first negative lens group; optionally, the first The adjustment lens group 1121 may also include a first positive lens group and a first negative lens group at the same time.
  • lens combination modes for the receiving optical mirror group 112 there are various types of lens combination modes for the receiving optical mirror group 112, specifically the following combination modes, and the following embodiments describe these multiple combination modes.
  • the first combination method is: As shown in FIG. 3, if the receiving lens 1122 is a positive lens, the first adjustment lens group 1121 includes a positive lens 1121-1 and a negative lens 1121-2, wherein the positive lens 1121-1 is a spherical mirror
  • the negative lens 1121-2 is a biconcave lens, and the negative lens 1121-2 is located at the exit end of the positive lens 1121-1, and the receiving lens 1122 is located at the exit end of the negative lens 1121-2.
  • the spot pattern of 0 field angle as shown in FIG. 5 detected by the laser radar system of the laser radar system shows that the spot size of the echo laser received by the laser radar system proposed in this application has been reduced and the shape is more regular, so that the laser receiving The detection surface of the detector is more matched with the shape of the light spot, so that the laser receiver 111 can receive as many echo lasers as possible, thereby improving the detection distance and detection accuracy.
  • the positive lens 1121-1 is a spherical mirror, the distance between the positive lens 1121 and the lidar system housing can be reduced, thereby compressing the volume of the lidar system.
  • the receiving end lens 1122 may be a spherical lens, a cylindrical mirror, and other positive lenses whose at least one curved surface is a cylindrical surface, which is not limited herein.
  • the second combination method is: As shown in FIG. 7, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-3 and a positive lens 1121-4, where the negative lens 1121-3 is a spherical mirror, The positive lens 1121-4 is a biconvex lens, and the positive lens 1121-4 is located at the exit end of the negative lens 1121-3, and the receiving end lens 1122 is located at the exit end of the positive lens 1121-4.
  • the negative lens 1121-3 may also be a spherical lens.
  • the third combination method is: As shown in FIG. 8, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-5 and a negative lens 1121-6, wherein the negative lens 1121-5 is a spherical mirror
  • the negative lens 1121-6 is a spherical mirror
  • the receiving lens 1122 is located at the exit end of the negative lens 1121-5
  • the negative lens 1121-6 is located at the exit end of the receiving lens 1122.
  • the negative lens 1121-5 may also be a spherical lens.
  • the fourth combination method is: As shown in FIG. 9, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-7 and a negative lens 1121-8, wherein the negative lens 1121-7 is a double The concave lens, the negative lens 1121-8 is a spherical mirror, and the negative lens 1121-7 is located at the exit end of the receiving end lens 1122, the negative lens 1121-8 is located at the exit end of the negative lens 1121-7, the receiving end lens 1122 is located at the lidar system shell The nearest place.
  • the fifth combination method is: As shown in FIG. 10, if the receiving lens 1122 is a positive lens, the first adjustment lens group 1121 includes a positive lens 1121-9 and a negative lens 1121-10, wherein the positive lens 1121-9 is a double The convex lens, the negative lens 1121-10 is a spherical mirror, and the positive lens 1121-9 is located at the exit end of the receiving end lens 1122, and the negative lens 1121-10 is located at the exit end of the positive lens 1121-9.
  • the above embodiment provides a combination of multiple lenses in the receiving optical lens group 112, and the included receiving end lens 1122 can be set at any position.
  • the above embodiment only provides a few examples of the receiving end lens 1122. This is a placement example, but it does not represent all the arrangement of the receiving end lens 1122.
  • the above-mentioned receiving optical mirror group 112 is only an exemplified form and provides three lens combination forms. In practical applications, the receiving optical mirror group 112 may include more than three lens combination forms. This is not limited in this embodiment.
  • the generating line of the receiving lens 1122 is perpendicular to the alignment of the receiving lens 1122, and the receiving line of the lens 1122 is parallel
  • the symmetry axis of the receiving lens 1122 coincides with the optical axis of the first adjusting mirror group 1121; the echo laser passes through the first adjusting mirror group 1121, the second curved surface 1122-02 of the receiving lens 1122 and the receiving lens 1122 in sequence The first surface 1122-01.
  • the absolute value of the radius of curvature of the first curved surface 1122-01 of the receiving end lens 1122 is greater than the radius of curvature of the second curved surface 1122-02 of the receiving end lens 1122.
  • the radius of curvature of the first curved surface 1122-01 of the receiving end lens 1122 is infinite.
  • the above-mentioned curved surface of infinite radius of curvature is a plane.
  • the radius of curvature of the second curved surface 1122-02 of the receiving lens 1122 may be a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1122-01 is greater than the radius of curvature of the second curved surface 1122-02 . (In Fig. 12, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
  • the radius of curvature of the first curved surface 1122-01 of the lens 1122 at the receiving end is a negative value.
  • the above-mentioned negative surface is a concave surface.
  • the radius of curvature of the second curved surface 1122-02 of the receiving end lens 1122 is a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1122-01 is greater than the radius of curvature of the second curved surface 1122-02. (In FIG. 13, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
  • the lidar system includes: a laser emitting device 10 and a laser receiving device 11.
  • the laser emitting device 10 is used to emit outgoing laser light and project the outgoing laser light to a target object 12;
  • the laser emitting device 10 includes a laser emitter 101 and the emitting optical lens group 102, the emitting optical lens group 102 is used to correct the spot size of the outgoing laser light;
  • the emitting optical lens group 102 includes an emitting end lens 1022, and the emitting end lens 1022 includes a first curved surface and a second curved surface, the first curved surface and At least one of the second curved surfaces is a cylindrical surface;
  • the laser receiving device 11 is used to receive the echo laser reflected from the target object 12. It can be understood that the emitting optical mirror group 102 is used to correct the spot size of the outgoing laser light, which specifically includes: collimating the outgoing laser light and adjusting the spot shape of the outgoing laser light.
  • the laser emitting device 10 may include one or more laser emitters 101, and the laser emitting device 10 may also include an array of emitters.
  • the laser emitter 101 is mostly used, which may include, but not limited to, semiconductor lasers, fiber lasers, solid-state lasers, solid-state lasers in LEDs, vertical cavity surface emitting lasers, laser diode laser emitters, etc. This embodiment is not limited.
  • the above-mentioned emitting optical lens group 102 is a lens set capable of collimating the outgoing laser light and projecting the outgoing laser light to the target object 12 at a certain angle, and various types of lenses can be specifically selected, for example, a spherical lens, an aspheric lens, a cylinder Surface lens, spherical lens, etc.
  • the lenses included in the emitting optical mirror group 102 are sequentially arranged on the exit optical path of the laser emitter 101 to collimate the exit laser of the laser emitter 101.
  • the transmitting optical lens group 102 in this embodiment includes a transmitting-end lens 1022.
  • the transmitting-end lens 1022 includes a first curved surface and a second curved surface. At least one of the first curved surface and the second curved surface is a cylindrical surface to cancel the cylindrical shape
  • the lidar of the lidar system gives the aberration effect of the laser beam.
  • the working principle of the lidar system described in this embodiment is: when the lidar system needs to scan the target object 12 in the surrounding detection field of view, so as to realize the detection of the target object 12, the laser emitting device 10 in the lidar system emits the emitted laser light and emits the optical
  • the transmitting end lens in the mirror group 102 pre-shapes and collimates the outgoing laser beam, so that when the outgoing laser beam is transmitted to the target object 12 through the outer lid of the lidar system, it can counteract the aberration effect of the outer lidar lid on the outgoing laser beam .
  • the target object 12 When the outgoing laser is projected to the target object 12, the target object 12 further transmits the echo laser to the laser receiving device 11 through the outer shell of the lidar system. After receiving the echo laser, the laser receiving device 11 analyzes the received echo Laser, to obtain the detection information related to the target object 12, so as to improve the detection accuracy of the target object 12.
  • the above-mentioned lidar system uses a lens with a curved surface as the emitting end to shape and collimate the outgoing laser at the emitting end, which can offset the aberration effect of the cylindrical shell of the lidar system on the outgoing laser, thereby reducing the outgoing laser
  • the divergence angle further improves the detection accuracy of the above-mentioned lidar system to the target object.
  • FIG. 15 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment.
  • the emitting optical mirror group 102 further includes: a second adjusting mirror group 1021; the second adjusting mirror group 1021 is used to collimate the emitted laser light.
  • the above-mentioned second adjusting lens group 1021 is a lens set capable of collimating outgoing laser light, and may specifically include various types of lenses, for example, spherical lenses, aspherical lenses, spherical cylindrical lenses, and the like.
  • the lenses included in the second adjustment lens group 1021 are sequentially arranged on the incident optical path of the transmitting end lens 1022, so that the collimated outgoing laser light can be projected onto the transmitting end lens 1022, so that the transmitting end lens 1022 can further correct the shape of the spot of the outgoing laser to eliminate the aberration effect of the lidar system shell on the outgoing laser.
  • the specific transmitting end lens 1022 can be selected as a spherical lens.
  • the transmitting end lens 1022 is a spherical lens, and when the spherical lens generating line is perpendicular to the generating line of the housing, the refractive power of the spherical lens is negative, the second The diopter of the adjustment lens group 1021 is positive.
  • the generatrix of the spheroid lens is parallel to the generatrix of the housing, the power of the spheroid lens is positive. According to the size requirements of the light spot, the power of the second adjusting lens group 1021 can be positive or negative.
  • the specific transmitting end lens 1022 may be a cylindrical mirror.
  • the transmitting end lens 1022 is a cylindrical mirror, the refractive power of the second adjusting lens group 1021 is positive.
  • the working principle of the emitting optical mirror group 102 described in this embodiment is: the outgoing laser light emitted by the laser emitter 101 is incident on the emitting optical mirror group 102, and the second adjusting mirror group 1021 in the emitting optical mirror group 102 can collimate the outgoing laser light and collimate the outgoing laser light after collimation It is projected on the transmitting end lens 1022, and the transmitting end lens 1022 further aligns the spot shape of the outgoing laser beam after being aligned, and projects it to the target object 12.
  • the second adjustment lens group 1021 includes: a second positive lens group and / or a second negative lens group.
  • the second positive lens group includes at least one positive lens, and the second negative lens group includes at least one negative lens; the positive lens or the negative lens may specifically be one of a spherical lens, an aspheric lens, and a cylindrical lens.
  • the present application provides a combination of emitting optical lens groups 102, as shown in FIG. 16, that is, if the emitting lens 1022 is a positive lens, the second adjusting lens group 1021 includes a second positive lens 1021 -1 and the second negative lens 1021-2; wherein, the second positive lens 1021-1 is a spherical mirror, the second negative lens 1021-2 is a biconcave lens; the second negative lens 1021-2 is located on the second positive lens 1021-1 At the exit end, the launch end lens 1022 is located at the exit end of the second negative lens 1021-2.
  • lens combination modes for the transmitting optical lens group 102.
  • the specific combination mode is the same as the foregoing description of the receiving optics in the laser receiving device 11
  • the combination method of the mirror group 112 is the same.
  • the specific content please refer to the foregoing description, and the redundant description will not be repeated here.
  • the generatrix of the lens 1022 at the emitting end is perpendicular to the guideline of the lens 1022 at the emitting end, and the guideline of the lens 1022 at the emitting end is parallel
  • the symmetry axis of the transmitting lens 1022 coincides with the optical axis of the second adjusting lens group 1021; the outgoing laser light passes through the second adjusting lens group 1021, the first curved surface 1022-01 of the emitting lens 1022, and the The second curved surface 1022-02 is projected onto the target object 12.
  • the absolute value of the radius of curvature of the first curved surface 1022-01 of the emitting end lens 1022 is greater than the radius of curvature of the second curved surface 1022-02 of the emitting end lens 1022.
  • the radius of curvature of the first curved surface 1122-01 of the lens 102 at the emitting end is infinite.
  • the above-mentioned curved surface of infinite radius of curvature is a plane.
  • the radius of curvature of the second curved surface 1122-02 of the transmitting end lens 102 may be a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1022-01 is greater than the radius of curvature of the second curved surface 1022-02 . (In Fig. 18, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
  • the radius of curvature of the first curved surface 1022-01 of the lens 102 at the emitting end is a negative value.
  • the above-mentioned negative surface is a concave surface.
  • the radius of curvature of the second curved surface 1022-02 of the emitting end lens 102 is a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1022-01 is greater than the radius of curvature of the second curved surface 1022-02. (The curvature radius of the second curved surface 1122-02 in FIG. 19 is a positive value for example)
  • the present application also provides a lidar, which includes the lidar system described in any one of the foregoing embodiments.
  • a lidar which includes the lidar system described in any one of the foregoing embodiments.

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Abstract

A laser radar system and a laser radar, the system comprising: a laser emitting device (10) and a laser receiving device (11), wherein the laser emitting device (10) is configured to emit outgoing laser light and to project the outgoing laser light onto a target object (12), and the laser receiving device (11) is configured to receive an echo laser light reflected from the target object (12). The laser receiving device (11) comprises a laser receiver (111) and a receiving optical lens group (112). The receiving optical lens group (112) is configured to correct the spot size of the echo laser light reflected from the target object (12). The receiving optical lens group (112) comprises a receiver lens (1122). The receiver lens (1122) comprises a first curved surface and a second curved surface. At least one of the first curved surface and the second curved surface is a cylindrical surface. The laser radar system uses a receiver lens (1122) having a curved surface which is cylindrical to perform spot correction on the echo laser light transmitted through a housing of the laser radar system, so that the aberration effect of the cylindrical housing on the echo laser light is eliminated, the size of the focusing spot is greatly reduced, thereby improving the focusing energy.

Description

激光雷达***及激光雷达Lidar system and lidar
相关申请的交叉引用Cross-reference of related applications
本申请要求于2018年11月09日提交中国专利局，申请号为201811328852.8，申请名称为“激光雷达光学***及激光雷达”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application requires filing with the China Patent Office on November 09, 2018, the application number is 201811328852.8, the priority of the Chinese patent application with the name "Lidar Optical System and Lidar", the entire content of which is incorporated by reference in this application .
技术领域Technical field
本发明涉及激光雷达技术领域，特别是涉及一种激光雷达***。The invention relates to the technical field of laser radar, in particular to a laser radar system.
背景技术Background technique
随着技术的发展，激光雷达***已广泛应用于各种测量领域，例如，导航定位技术领域、工程测距技术及道路交通领域等。目前，激光雷达***的工作原理是先向目标发射探测激光光束，然后将接收到的从目标反射回来的信号与发射信号进行比较，作适当处理后，就可获得目标的有关信息，例如目标距离、方位、高度、速度、姿态、甚至形状等参数。With the development of technology, lidar systems have been widely used in various measurement fields, such as navigation and positioning technology, engineering ranging technology, and road traffic. At present, the working principle of the lidar system is to first emit a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, the relevant information of the target can be obtained, such as the target distance , Orientation, altitude, speed, attitude, and even shape.
但是，在实际应用中，激光的雷达的发射光路和接收光路经常会受到结构、外界环境等多种因素的影响，从而影响激光雷达的测量精度。However, in practical applications, the transmitting and receiving optical paths of the laser radar are often affected by various factors such as structure and external environment, which affects the measurement accuracy of the lidar.
发明内容Summary of the invention
基于此，有必要针对上述技术问题，提供一种能够消除外壳对出射激光或回波激光的像差影响，同时提高激光雷达的测量精度。Based on this, it is necessary to provide a solution that can eliminate the aberration effect of the housing on the outgoing laser beam or the echo laser beam while improving the measurement accuracy of the lidar.
第一方面，一种激光雷达***，激光雷达***包括：In a first aspect, a lidar system. The lidar system includes:
激光发射装置和激光接收装置，其中：Laser emitting device and laser receiving device, in which:
所述激光发射装置用于发射出射激光，并将所述出射激光投射至目标物体；The laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object;
所述激光接收装置用于接收从所述目标物体反射的回波激光；所述激光接收装置包括激光接收器和接收光学镜组，所述接收光学镜组用于校正从所述目标物体上反射的回波激光的光斑尺寸；所述接收光学镜组包括接收端透镜，所述接收端透镜包括第一曲面和第二曲面，所述第一曲面和所述第二曲面中的至少一个曲面为柱面。The laser receiving device is used to receive echo laser light reflected from the target object; the laser receiving device includes a laser receiver and a receiving optical mirror group, and the receiving optical mirror group is used to correct reflection from the target object The spot size of the echo laser beam; the receiving optical lens group includes a receiving end lens, the receiving end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is cylinder.
在其中一个实施例中，接收光学镜组还包括：所述接收光学镜组还包括：第一调节镜组；所述第一调节镜组用于聚焦所述回波激光。In one of the embodiments, the receiving optical mirror group further includes: the receiving optical mirror group further includes: a first adjusting mirror group; the first adjusting mirror group is used to focus the echo laser light.
在其中一个实施例中，所述第一调节镜组包括：第一正透镜组和/或第一负透镜组。In one of the embodiments, the first adjustment lens group includes: a first positive lens group and / or a first negative lens group.
在其中一个实施例中，若所述接收端透镜为正透镜，对应的所述第一调节镜组具有的屈光度为负；若所述接收端透镜为负透镜，对应的所述第一调节镜组具有的屈光度为正。In one of the embodiments, if the receiving end lens is a positive lens, the corresponding first adjustment lens group has a negative refractive power; if the receiving end lens is a negative lens, the corresponding first adjustment lens The diopter of the group is positive.
在其中一个实施例中，接收光学镜组包括：第一正透镜、负透镜、第二正透镜，第一正透镜为球面镜，负透镜为双凹透镜，第二正透镜为接收端透镜；第一正透镜和负透镜组成调节镜组，负透镜位于第一正透镜的出射端，第二正透镜位于负透镜的出射端。In one embodiment, the receiving optical lens group includes: a first positive lens, a negative lens, and a second positive lens, the first positive lens is a spherical lens, the negative lens is a biconcave lens, and the second positive lens is a receiving end lens; the first The positive lens and the negative lens form an adjustment lens group, the negative lens is located at the exit end of the first positive lens, and the second positive lens is located at the exit end of the negative lens.
在其中一个实施例中，所述接收端透镜的母线垂直于所述接收端透镜的准线，所述接收端透镜的准线平行于水平面，所述接收端透镜的对称轴与所述第一调节镜组的光轴重合；In one embodiment, the generatrix of the receiving lens is perpendicular to the alignment of the receiving lens, the alignment of the receiving lens is parallel to the horizontal plane, and the axis of symmetry of the receiving lens is the same as the first Adjust the optical axis of the mirror group to coincide;
所述回波激光依次经过所述第一调节镜组、所述接收端透镜的第二曲面及接收端透镜的第一曲面。The echo laser passes through the first adjusting mirror group, the second curved surface of the receiving end lens and the first curved surface of the receiving end lens in sequence.
在其中一个实施例中，所述接收端透镜的所述第一曲面的半径的绝对值大于所述接收端透镜第二曲面的半径。In one of the embodiments, the absolute value of the radius of the first curved surface of the receiving end lens is greater than the radius of the second curved surface of the receiving end lens.
在其中一个实施例中，所述接收透镜的所述第一曲面的曲率半径为无穷大。In one of the embodiments, the radius of curvature of the first curved surface of the receiving lens is infinite.
在其中一个实施例中，所述第一曲面的曲率半径为负值。In one of the embodiments, the radius of curvature of the first curved surface is a negative value.
第二方面，一种激光雷达***，所述激光雷达***包括：激光发射装置和激光接收装置，其中：In a second aspect, a lidar system includes: a laser emitting device and a laser receiving device, wherein:
所述激光发射装置用于发射出射激光，并将所述出射激光投射至目标物体；所述激光发射装置包括激光发射器和发射光学镜组；所述发射光学镜组用于校正所述出射激光的光斑尺寸；所述发射光学镜组包括发射端透镜，所述发射端透镜包括第一曲面和第二曲面，所述第一曲面和所述第二曲面中的至少一个面为柱面；The laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object; the laser emitting device includes a laser emitter and an emitting optical mirror group; the emitting optical mirror group is used to correct the outgoing laser light The size of the light spot; the emitting optical lens group includes an emitting end lens, the emitting end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface;
所述激光接收装置用于接收从所述目标物体反射的回波激光。The laser receiving device is used to receive echo laser light reflected from the target object.
在其中一个实施例中，所述发射光学镜组还包括：第二调节镜组；所述第二调节镜组用于准直所述出射激光。In one of the embodiments, the emitting optical mirror group further includes: a second adjusting mirror group; the second adjusting mirror group is used to collimate the outgoing laser light.
在其中一个实施例中，所述第二调节镜组包括：第二正透镜组和/或第二负透镜组。In one of the embodiments, the second adjustment lens group includes: a second positive lens group and / or a second negative lens group.
在其中一个实施例中，若所述发射端透镜为正透镜，对应的所述第二调节镜组具有的1屈光度为负；若所述发射端透镜为负透镜，对应的所述第二调节镜组具有的屈光度为正。In one of the embodiments, if the emitting end lens is a positive lens, the corresponding second adjustment lens group has a 1 diopter negative; if the emitting end lens is a negative lens, the corresponding second adjustment The lens group has a positive diopter.
在其中一个实施例中，若所述发射端透镜为正透镜，所述第二调节镜组包括第二正透镜和第二负透镜；In one of the embodiments, if the emitting end lens is a positive lens, the second adjustment lens group includes a second positive lens and a second negative lens;
所述第二正透镜为球面镜，所述第二负透镜为双凹透镜；The second positive lens is a spherical mirror, and the second negative lens is a double concave lens;
所述第二负透镜位于所述第二正透镜的出射端，所述发射端透镜位于所述第二负透镜的出射端。The second negative lens is located at the exit end of the second positive lens, and the emission end lens is located at the exit end of the second negative lens.
在其中一个实施例中，所述发射端透镜的母线垂直于所述发射端透镜的准线，所述发射端透镜的准线平行于水平面，所述发射端透镜的对称轴与所述第二调节镜组的光轴重合；所述出射激光依次经过所述第二调节镜组、所述发射端透镜的第一曲面、所述发射端透镜的第二曲面投射及至所述目标物体。In one of the embodiments, the generatrix of the transmitting end lens is perpendicular to the collimating line of the transmitting end lens, the collimating line of the transmitting end lens is parallel to the horizontal plane, and the symmetry axis of the transmitting end lens is the same as the second The optical axes of the adjusting mirror groups coincide; the outgoing laser light is sequentially projected onto the target object through the second adjusting mirror group, the first curved surface of the emitting end lens, and the second curved surface of the emitting end lens.
在其中一个实施例中，所述发射端透镜的第一曲面的曲率半径的绝对值大于所述发射端透镜的第二曲面的曲率半径。In one of the embodiments, the absolute value of the radius of curvature of the first curved surface of the emitting end lens is greater than the radius of curvature of the second curved surface of the emitting end lens.
在其中一个实施例中，所述发射端透镜的第一曲面的曲率半径为无穷大。In one of the embodiments, the radius of curvature of the first curved surface of the emitting end lens is infinite.
在其中一个实施例中，所述发射端透镜的第一曲面的曲率半径为负值。In one of the embodiments, the radius of curvature of the first curved surface of the emitting end lens is a negative value.
第三方面，一种激光雷达，所述激光雷达包括上述任一方面所述的激光雷达***。According to a third aspect, a lidar includes the lidar system according to any one of the above aspects.
本申请提供的一种激光雷达***，包括：激光发射装置和激光接收装置，其中，激光发射装置用于发射出射激光，并将出射激光投射至目标物体；激光接收装置用于接收从目标物体反射的回波激光；激光接收装置包括激光接收器和接收光学镜组，接收光学镜组用于校正从目标物体上反射的回波激光的光斑尺寸，且其包括接收端透镜，接收端透镜包括第一曲面和第二曲面，第一曲面和第二曲面中的至少一个曲面为柱面；上述激光雷达***采用一个曲面为柱面的接收端透镜，在接收端对回波激光的光斑形状进行矫正，可以抵消激光雷达***的柱形外壳在对回波激光透射时带来的像差影响，进而提高了上述激光雷达***对目标物体的探测精度。A lidar system provided by the present application includes: a laser emitting device and a laser receiving device, wherein the laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object; the laser receiving device is used to receive reflection from the target object The laser receiving device includes a laser receiver and a receiving optical lens group, the receiving optical lens group is used to correct the spot size of the echo laser light reflected from the target object, and it includes a receiving end lens, and the receiving end lens includes a A curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface; the above-mentioned lidar system uses a receiving lens at a curved surface to correct the spot shape of the echo laser at the receiving end , Can cancel the aberration effect of the cylindrical shell of the lidar system when transmitting the echo laser, thereby improving the detection accuracy of the lidar system for the target object.
附图说明BRIEF DESCRIPTION
图1为一个实施例提供的一种激光雷达***的结构示意图；1 is a schematic structural diagram of a lidar system provided by an embodiment;
图2为一个实施例提供的接收光学镜组的结构示意图；2 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment;
图3为一个实施例提供的接收光学镜组的结构示意图；3 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment;
图4为一个实施例提供的一种光斑图；4 is a light spot diagram provided by an embodiment;
图5为一个实施例提供的一种光斑图；5 is a light spot diagram provided by an embodiment;
图6为一个实施例提供的一种光斑图；6 is a light spot diagram provided by an embodiment;
图7为一个实施例提供的接收光学镜组的结构示意图；7 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment;
图8为一个实施例提供的接收光学镜组的结构示意图；8 is a schematic structural view of a receiving optical mirror group provided by an embodiment;
图9为一个实施例提供的接收光学镜组的结构示意图；9 is a schematic structural view of a receiving optical mirror group provided by an embodiment;
图10为一个实施例提供的接收光学镜组的结构示意图；10 is a schematic structural diagram of a receiving optical mirror group provided by an embodiment;
图11为一个实施例提供的激光接收装置的结构示意图；11 is a schematic structural diagram of a laser receiving device provided by an embodiment;
图12为一个实施例提供的激光接收装置的结构示意图；12 is a schematic structural diagram of a laser receiving device provided by an embodiment;
图13为一个实施例提供的激光接收装置的结构示意图；13 is a schematic structural diagram of a laser receiving device provided by an embodiment;
图14为一个实施例提供的激光雷达***的结构示意图；14 is a schematic structural diagram of a lidar system provided by an embodiment;
图15为一个实施例提供的发射光学镜组的结构示意图；15 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment;
图16为一个实施例提供的发射光学镜组的结构示意图；16 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment;
图17为一个实施例提供的激光发射装置的结构示意图；17 is a schematic structural diagram of a laser emitting device provided by an embodiment;
图18为一个实施例提供的激光发射装置的结构示意图；18 is a schematic structural diagram of a laser emitting device provided by an embodiment;
图19为一个实施例提供的激光发射装置的结构示意图。19 is a schematic structural diagram of a laser emitting device provided by an embodiment.
具体实施例方式Specific embodiments
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be described in further detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.
图1为一个实施例提供的激光雷达***的结构示意图。如图1所示，该激光雷达***包括：激光发射装置10和激光接收装置11，激光发射装置10用于发射出射激光，并将所述出射激光投射至目标物体12；激光接收装置11用于接收从目标物体12反射的回波激光，激光接收装置11包括激光接收器111和接收光学镜组112，接收光学镜组112用于校正从目标物体12上反射的回波激光的光斑尺寸；接收光学镜组112包括接收端透镜1122，接收端透镜1122包括第一曲面和第二曲面，第一曲面和第二曲面中的至少一个曲面为柱面。FIG. 1 is a schematic structural diagram of a lidar system provided by an embodiment. As shown in FIG. 1, the lidar system includes: a laser emitting device 10 and a laser receiving device 11. The laser emitting device 10 is used to emit outgoing laser light and project the outgoing laser light to a target object 12; the laser receiving device 11 is used to Receiving the echo laser reflected from the target object 12, the laser receiving device 11 includes a laser receiver 111 and a receiving optical mirror group 112, the receiving optical mirror group 112 is used to correct the spot size of the echo laser reflected from the target object 12; The optical lens group 112 includes a receiving end lens 1122. The receiving end lens 1122 includes a first curved surface and a second curved surface, and at least one of the first curved surface and the second curved surface is a cylindrical surface.
上述激光接收器111是一种光电探测器，用于将接收到的回波激光转换成相应的电信号进行分析，从而得到与目标物体12相关的探测信息。其中，所述接收器具体可以选用APD探测器、SPAD探测器、SIPM探测器、MPPC探测器等，对此本实施例不做限制。The aforementioned laser receiver 111 is a photodetector, which is used to convert the received echo laser into a corresponding electrical signal for analysis, so as to obtain detection information related to the target object 12. Wherein, the receiver may specifically select an APD detector, a SPAD detector, a SIPM detector, an MPPC detector, etc., which is not limited in this embodiment.
上述接收光学镜组112是一种能够将回波激光进行聚焦的透镜集合，其具体可以选用各种类型的透镜，例如，球面透镜、非球面透镜、柱面透镜等。本实施例中，接收光学镜组112中包括的各透镜被依次设置在激光接收器111的入射光路上，以对激光接收器111的入射光束进行聚焦，以使激光接收器111能够接收到光斑较小回波激光，同时还能够对回波激光的光斑形状进行矫正以消除柱形的激光雷达***外壳对回波激光造成的像差影响，进而能够提高激光接收器111的探测精度。本实施例中的接收光学镜组112包括接收端透镜1122，且该接收端透镜1122包括第一曲面和第二曲面，第一曲面和第二曲面中的至少一个曲面为柱面，以抵消柱形的激光雷达***的外壳带来的像差影响，进而减少激光接收器111接收到的回波激光的光斑尺寸，以及提高聚焦能量。需要说明的是，上述接收 端透镜1122的第一曲面的曲率半径和第二曲面的曲率半径可以根据实际应用需求确定。The receiving optical lens group 112 is a lens set capable of focusing the echo laser, and various types of lenses can be specifically selected, for example, spherical lenses, aspheric lenses, cylindrical lenses, and the like. In this embodiment, the lenses included in the receiving optical lens group 112 are sequentially arranged on the incident optical path of the laser receiver 111 to focus the incident light beam of the laser receiver 111 so that the laser receiver 111 can receive the light spot The smaller echo laser can also correct the spot shape of the echo laser to eliminate the aberration effect of the cylindrical lidar system shell on the echo laser, thereby improving the detection accuracy of the laser receiver 111. The receiving optical lens group 112 in this embodiment includes a receiving end lens 1122, and the receiving end lens 1122 includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface to offset the column The effect of aberration brought by the outer shell of the shape-shaped lidar system further reduces the spot size of the echo laser light received by the laser receiver 111 and improves the focusing energy. It should be noted that the radius of curvature of the first curved surface and the radius of curvature of the second curved surface of the receiving end lens 1122 may be determined according to actual application requirements.
另外，上述激光发射装置10和激光接收装置11中的任何部件均可以被布置在激光雷达***外壳容纳的腔体内，其中，壳体可以是一种柱状塑型的光学玻璃器件，为一种封闭的腔体结构，在实际应用中该壳体不仅起到防尘的作用，还可以滤除外界杂散光，以减少外界杂散光对激光雷达***内部光路传输的影响，从而影响激光雷达***的探测精度。而圆柱形的外壳会给激光雷达***的出射激光和接收的回波激光带来像差影响，从而影响激光雷达***的探测精度，正是由于该应用情况，本申请提出利用接收端透镜，并被设置在激光接收器的入射光路上，以消除圆柱形的外壳带来的像差影响。In addition, any of the components of the laser emitting device 10 and the laser receiving device 11 described above can be arranged in a cavity accommodated in a housing of the lidar system, wherein the housing can be a cylindrical shaped optical glass device, which is a closed The structure of the cavity is not only dustproof in practical applications, but also can filter out-of-boundary stray light to reduce the influence of external stray light on the internal optical path transmission of the lidar system, thereby affecting the detection of the lidar system Precision. The cylindrical shell will bring aberration effects to the outgoing laser and the received echo laser of the lidar system, thereby affecting the detection accuracy of the lidar system. It is precisely because of this application that this application proposes to use the receiving end lens, and It is placed on the incident light path of the laser receiver to eliminate the aberration effect caused by the cylindrical housing.
结合上述对各部件的说明，参见图1，对本实施例所述的激光雷达***的工作原理进行说明。其工作原理为：当激光雷达***需要对周围探测视场中的目标物体12进行扫描，从而实现对该目标物体12的探测时，该激光雷达***中的激光发射装置10发射出射激光，并将该出射激光投射至目标物体12上。当目标物体12反射的回波激光通过激光雷达***的外壳透射至激光接收装置11上时，接收光学镜组112将经过外壳透射的回波激光聚焦至激光接收器111，并利用其中的接收端透镜1122校正回波激光的光斑形状，以抵消激光雷达***外壳对回波激光的像差影响。最后激光接收器111在接收到经过聚焦和校正后的回波激光时，通过分析接收到的回波激光，得到与目标物体12相关的探测信息，以实现对目标物体12的探测。With reference to the above description of each component, referring to FIG. 1, the working principle of the lidar system described in this embodiment will be described. Its working principle is: when the lidar system needs to scan the target object 12 in the surrounding detection field of view, so as to realize the detection of the target object 12, the laser emitting device 10 in the lidar system emits the emitted laser light, and The outgoing laser light is projected onto the target object 12. When the echo laser reflected by the target object 12 is transmitted to the laser receiving device 11 through the housing of the lidar system, the receiving optical mirror group 112 focuses the echo laser transmitted through the housing to the laser receiver 111, and uses the receiving end therein The lens 1122 corrects the spot shape of the echo laser to cancel the aberration effect of the lidar system housing on the echo laser. Finally, when the laser receiver 111 receives the focused and corrected echo laser, it analyzes the received echo laser to obtain detection information related to the target object 12 to realize the detection of the target object 12.
上述实施例提供的激光雷达***，包括：激光发射装置和激光接收装置，其中：激光发射装置用于发射出射激光，并将出射激光投射至目标物体；激光接收装置用于接收从目标物体反射的回波激光；激光接收装置包括激光接收器和接收光学镜组，接收光学镜组用于校正从目标物体上反射的回波激光的光斑尺寸，且其包括接收端透镜，接收端透镜包括第一曲面和第二曲面，第一曲面和第二曲面中的至少一个曲面为柱面。其中，所述接收光学***对所述目标物体上反射的回波激光的光斑尺寸的校正，包括调整光斑尺寸的大小和调整光斑尺寸的形状。其中，可以理解的是，上述激光雷达***采用一个曲面为柱面的接收端透镜，可以对回波激光的光斑形状进行调整，从而抵消激光雷达***的柱形外壳在对回波激光透射时带来的像差影响，提高了回波激光的光斑形状与激光探测器的匹配度，进而提高了上述激光雷达***对目标物体的探测精度。The lidar system provided in the above embodiment includes: a laser emitting device and a laser receiving device, wherein: the laser emitting device is used to emit the emitted laser light and project the emitted laser light to the target object; the laser receiving device is used to receive the reflected light from the target object Echo laser; the laser receiving device includes a laser receiver and a receiving optical lens group, the receiving optical lens group is used to correct the spot size of the echo laser light reflected from the target object, and it includes a receiving end lens, and the receiving end lens includes a first The curved surface and the second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface. Wherein, the receiving optical system correcting the spot size of the echo laser reflected on the target object includes adjusting the size of the spot size and adjusting the shape of the spot size. Among them, it can be understood that the above-mentioned lidar system uses a receiving lens with a curved surface as a cylinder, which can adjust the shape of the spot of the echo laser, thereby canceling the cylindrical housing of the lidar system when transmitting the echo laser. The influence of aberrations improves the matching degree of the spot shape of the echo laser and the laser detector, thereby improving the detection accuracy of the above-mentioned lidar system to the target object.
图2为一个实施例提供的接收光学镜组的结构示意图。如图2所示，该接收光学镜组112还包括：第一调节镜组1121；第一调节镜组1121用于聚焦回波激光。FIG. 2 is a schematic structural diagram of a receiving optical mirror set provided by an embodiment. As shown in FIG. 2, the receiving optical mirror group 112 further includes: a first adjusting mirror group 1121; the first adjusting mirror group 1121 is used to focus the echo laser.
上述第一调节镜组1121是能够对回波激光进行各个方向(垂直和水平)上聚焦的透镜集合，具体可以包括各种类型的透镜，例如，球面透镜、非球面透镜、球柱镜等。本实施例中，第一调节镜组1121中包括的各透镜被依次设置在接收端透镜1122的入射光路上，以使从目标物体12上反射的回波激光能够汇聚到接收端透镜1122上，使接收端透镜1122能够对回波激光的光斑形状进行进一步的校正，以消除激光雷达***外壳对回波激光的像差影响。The first adjustment lens group 1121 is a lens set capable of focusing the echo laser in various directions (vertical and horizontal), and may specifically include various types of lenses, for example, spherical lenses, aspherical lenses, spherical cylinders, and the like. In this embodiment, the lenses included in the first adjustment lens group 1121 are sequentially arranged on the incident optical path of the receiving end lens 1122, so that the reflected laser light reflected from the target object 12 can be focused on the receiving end lens 1122, The receiving end lens 1122 can further correct the spot shape of the echo laser to eliminate the aberration effect of the lidar system housing on the echo laser.
结合上述对各部件的说明，参见图2，对本实施所述的接收光学镜组112的工作原理进行说明。其工作原理为：当从目标物体12上反射的回波激光通过激光雷达***外壳透射至接收光学镜组112上时，该接收光学镜组112中的第一调节镜组1121可以将回波激光聚焦至接收端透镜1122上，然后接收端透镜1122再进一步的对聚焦后的回波激光光束的光斑形状进行校正，以使得回波激光光束的光斑可以全部透射至激光接收器111上，减小像散影响。以使激光接收器111能够尽可能多的接收到回波激光，从而提高探测距离及探测精度。With reference to the above description of each component, referring to FIG. 2, the working principle of the receiving optical mirror group 112 described in this embodiment will be described. Its working principle is: when the reflected laser light reflected from the target object 12 is transmitted to the receiving optical mirror group 112 through the lidar system casing, the first adjusting mirror group 1121 in the receiving optical mirror group 112 can convert the echo laser Focus on the receiving end lens 1122, and then the receiving end lens 1122 further corrects the spot shape of the focused echo laser beam, so that the spot of the echo laser beam can be completely transmitted to the laser receiver 111, reducing Astigmatism effect. In order to enable the laser receiver 111 to receive as many echo lasers as possible, thereby improving the detection distance and detection accuracy.
在一个实施例中，具体的接收端透镜1122可以选为球柱镜，当接收端透镜1122为球柱镜时，球柱镜母线垂直于外壳的母线时，球柱镜屈光度为负，第一调节镜组1121的屈光度为正。球柱镜母线平行于外壳的母线时，球柱镜的屈光度为正，根据光斑的尺寸需求， 第一调节镜组1121的屈光度可正可负。In one embodiment, the specific receiving end lens 1122 may be selected as a spherical lens. When the receiving end lens 1122 is a spherical lens, and when the spherical lens generating line is perpendicular to the generating line of the housing, the refractive power of the spherical lens is negative. The first The diopter of the adjustment lens set 1121 is positive. When the generatrix of the spheroid lens is parallel to the generatrix of the housing, the diopter of the spheroid lens is positive. According to the size requirements of the light spot, the diopter of the first adjustment lens group 1121 can be positive or negative.
在一个实施例中，具体的接收端透镜1122可以为柱面镜，当接收端透镜1122为柱面镜时，第一调节镜组1121的屈光度为正。In one embodiment, the specific receiving end lens 1122 may be a cylindrical mirror. When the receiving end lens 1122 is a cylindrical mirror, the refractive power of the first adjustment lens group 1121 is positive.
在一个实施例中，具体的，上述第一调节镜组1121包括：第一正透镜组和/或第一负透镜组。In one embodiment, specifically, the first adjustment lens group 1121 includes: a first positive lens group and / or a first negative lens group.
上述第一正透镜组包括至少一个正透镜，第一负透镜组包括至少一个负透镜；正透镜或负透镜可以具体为球面透镜、非球面透镜、柱面透镜中的一种。在实际应用中，上述正透镜为屈光度为正的透镜，正透镜满足以下条件：假设透镜2个表面的曲率半径为R1和R2，若R1>0且R2>0，则R1<R2；若R1>0且R2<0，则透镜光焦度为正；若R1<0且R2<0，则R1<R2。上述负透镜为屈光度为负的透镜，负透镜满足以下条件：若R1>0且R2>0，则R1>R2；若R1<0且R2>0，则透镜光焦度为负；若R1<0且R2<0，则R1>R2。本实施例所述的结构中，第一调节镜组1121可以仅包括第一正透镜组；可选的，第一调节镜组1121也可以仅包括第一负透镜组；可选的，第一调节镜组1121还可以同时包括第一正透镜组和第一负透镜组。The first positive lens group includes at least one positive lens, and the first negative lens group includes at least one negative lens; the positive lens or the negative lens may be specifically one of a spherical lens, an aspheric lens, and a cylindrical lens. In practical applications, the positive lens is a lens with a positive refractive power, and the positive lens satisfies the following conditions: assuming the radius of curvature of the two surfaces of the lens to be R1 and R2, if R1> 0 and R2> 0, then R1 <R2; if R1 > 0 and R2 <0, the lens power is positive; if R1 <0 and R2 <0, then R1 <R2. The above-mentioned negative lens is a lens with a negative refractive power. The negative lens satisfies the following conditions: if R1> 0 and R2> 0, then R1> R2; if R1 <0 and R2> 0, the lens power is negative; if R1 < 0 and R2 <0, then R1> R2. In the structure described in this embodiment, the first adjusting mirror group 1121 may include only the first positive lens group; optionally, the first adjusting mirror group 1121 may also include only the first negative lens group; optionally, the first The adjustment lens group 1121 may also include a first positive lens group and a first negative lens group at the same time.
基于上述实施例的描述，在实际应用中，根据实际光学设计需求，接收光学镜组112存在多种类型透镜组合的方式，具体存在以下组合方式，下面实施例针对这多种组合方式进行说明。Based on the description of the above embodiments, in actual applications, according to actual optical design requirements, there are various types of lens combination modes for the receiving optical mirror group 112, specifically the following combination modes, and the following embodiments describe these multiple combination modes.
第一种组合方式为：如图3所示，若接收端透镜1122为正透镜，第一调节镜组1121包括正透镜1121-1和负透镜1121-2，其中，正透镜1121-1为球面镜，负透镜1121-2为双凹透镜，且负透镜1121-2位于正透镜1121-1的出射端，接收端透镜1122位于负透镜1121-2的出射端。通过本实施例所示的接收光学镜组112将目标物体12反射的回波激光聚焦至激光接收器111后，可以形成如图4所示的0视场角的光斑图，相比于采用传统的激光雷达***探测到的如图5所示的0视场角的光斑图，可见本申请提出的激光雷达***接收到的回波激光的光斑尺寸得到了缩小且形状更为规则，使激光接收器探测面与光斑形状更匹配，以使激光接收器111能够尽可能多的接收到回波激光，从而提高探测距离及探测精度。另外，当上述正透镜1121-1为球面镜，可以缩小正透镜1121与激光雷达***外壳之间的距离，从而压缩了激光雷达***的体积。The first combination method is: As shown in FIG. 3, if the receiving lens 1122 is a positive lens, the first adjustment lens group 1121 includes a positive lens 1121-1 and a negative lens 1121-2, wherein the positive lens 1121-1 is a spherical mirror The negative lens 1121-2 is a biconcave lens, and the negative lens 1121-2 is located at the exit end of the positive lens 1121-1, and the receiving lens 1122 is located at the exit end of the negative lens 1121-2. After the reflected laser light reflected by the target object 12 is focused to the laser receiver 111 by the receiving optical lens group 112 shown in this embodiment, a spot pattern with a field of view of 0 as shown in FIG. 4 can be formed, compared with the traditional The spot pattern of 0 field angle as shown in FIG. 5 detected by the laser radar system of the laser radar system shows that the spot size of the echo laser received by the laser radar system proposed in this application has been reduced and the shape is more regular, so that the laser receiving The detection surface of the detector is more matched with the shape of the light spot, so that the laser receiver 111 can receive as many echo lasers as possible, thereby improving the detection distance and detection accuracy. In addition, when the positive lens 1121-1 is a spherical mirror, the distance between the positive lens 1121 and the lidar system housing can be reduced, thereby compressing the volume of the lidar system.
其中，上述接收端透镜1122可以为球柱镜、柱面镜及其他至少一个曲面为柱面的正透镜，在此不做限定。Wherein, the receiving end lens 1122 may be a spherical lens, a cylindrical mirror, and other positive lenses whose at least one curved surface is a cylindrical surface, which is not limited herein.
第二种组合方式为：如图7所示，若接收端透镜1122为正透镜，第一调节镜组1121包括负透镜1121-3和正透镜1121-4，其中，负透镜1121-3为球面镜，正透镜1121-4为双凸透镜，且正透镜1121-4位于负透镜1121-3的出射端，接收端透镜1122位于正透镜1121-4的出射端。可选的，上述负透镜1121-3也可以为球柱镜。The second combination method is: As shown in FIG. 7, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-3 and a positive lens 1121-4, where the negative lens 1121-3 is a spherical mirror, The positive lens 1121-4 is a biconvex lens, and the positive lens 1121-4 is located at the exit end of the negative lens 1121-3, and the receiving end lens 1122 is located at the exit end of the positive lens 1121-4. Optionally, the negative lens 1121-3 may also be a spherical lens.
第三种组合方式为：如图8所示，若接收端透镜1122为正透镜，第一调节镜组1121包括负透镜1121-5和负透镜1121-6，其中，负透镜1121-5为球面镜，负透镜1121-6为球面镜，且接收端透镜1122位于负透镜1121-5的出射端，负透镜1121-6位于接收端透镜1122的出射端。可选的，上述负透镜1121-5也可以为球柱镜。The third combination method is: As shown in FIG. 8, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-5 and a negative lens 1121-6, wherein the negative lens 1121-5 is a spherical mirror The negative lens 1121-6 is a spherical mirror, and the receiving lens 1122 is located at the exit end of the negative lens 1121-5, and the negative lens 1121-6 is located at the exit end of the receiving lens 1122. Optionally, the negative lens 1121-5 may also be a spherical lens.
第四种组合方式为：如图9所示，若接收端透镜1122为正透镜，第一调节镜组1121包括负透镜1121-7和负透镜1121-8，其中，负透镜1121-7为双凹透镜，负透镜1121-8为球面镜，且负透镜1121-7位于接收端透镜1122的出射端，负透镜1121-8位于负透镜1121-7的出射端，接收端透镜1122位于与激光雷达***壳体最近的地方。The fourth combination method is: As shown in FIG. 9, if the receiving end lens 1122 is a positive lens, the first adjustment lens group 1121 includes a negative lens 1121-7 and a negative lens 1121-8, wherein the negative lens 1121-7 is a double The concave lens, the negative lens 1121-8 is a spherical mirror, and the negative lens 1121-7 is located at the exit end of the receiving end lens 1122, the negative lens 1121-8 is located at the exit end of the negative lens 1121-7, the receiving end lens 1122 is located at the lidar system shell The nearest place.
第五种组合方式为：如图10所示，若接收端透镜1122为正透镜，第一调节镜组1121包括正透镜1121-9和负透镜1121-10，其中，正透镜1121-9为双凸透镜，负透镜1121-10为球面镜，且正透镜1121-9位于接收端透镜1122的出射端，负透镜1121-10位于正透镜1121-9的出射端。The fifth combination method is: As shown in FIG. 10, if the receiving lens 1122 is a positive lens, the first adjustment lens group 1121 includes a positive lens 1121-9 and a negative lens 1121-10, wherein the positive lens 1121-9 is a double The convex lens, the negative lens 1121-10 is a spherical mirror, and the positive lens 1121-9 is located at the exit end of the receiving end lens 1122, and the negative lens 1121-10 is located at the exit end of the positive lens 1121-9.
上述实施例中给出了接收光学镜组112中的多种透镜的组合方式，其中包括的接收端透镜1122可以被设置在任一位置上，上述实施例仅是给出了接收端透镜1122的几种位置放置示例，但不代表所有的接收端透镜1122布置方式。另外，需要说明的是，上述接收光学镜组112仅是举例说明的形式给出了3个数量的透镜组合形式，在实际应用中，接收光学镜组112可以包括大于3个数量的透镜组合形式，对此本实施例不做限定。The above embodiment provides a combination of multiple lenses in the receiving optical lens group 112, and the included receiving end lens 1122 can be set at any position. The above embodiment only provides a few examples of the receiving end lens 1122. This is a placement example, but it does not represent all the arrangement of the receiving end lens 1122. In addition, it should be noted that the above-mentioned receiving optical mirror group 112 is only an exemplified form and provides three lens combination forms. In practical applications, the receiving optical mirror group 112 may include more than three lens combination forms. This is not limited in this embodiment.
基于前述实施例设计的激光接收装置11的结构，如图11所示的激光接收装置的结构示意图，接收端透镜1122的母线垂直于接收端透镜1122的准线，接收端透镜1122的准线平行于水平面，接收端透镜1122的对称轴与第一调节镜组1121的光轴重合；回波激光依次经过第一调节镜组1121、接收端透镜1122的第二曲面1122-02及接收端透镜1122的第一曲面1122-01。Based on the structure of the laser receiving device 11 designed in the foregoing embodiment, as shown in the schematic diagram of the structure of the laser receiving device shown in FIG. 11, the generating line of the receiving lens 1122 is perpendicular to the alignment of the receiving lens 1122, and the receiving line of the lens 1122 is parallel On the horizontal plane, the symmetry axis of the receiving lens 1122 coincides with the optical axis of the first adjusting mirror group 1121; the echo laser passes through the first adjusting mirror group 1121, the second curved surface 1122-02 of the receiving lens 1122 and the receiving lens 1122 in sequence The first surface 1122-01.
基于上述激光接收装置11的结构，上述接收端透镜1122的第一曲面1122-01的曲率半径的绝对值大于接收端透镜1122第二曲面1122-02的曲率半径。Based on the structure of the laser receiving device 11, the absolute value of the radius of curvature of the first curved surface 1122-01 of the receiving end lens 1122 is greater than the radius of curvature of the second curved surface 1122-02 of the receiving end lens 1122.
可选的，如图12所示的激光接收装置11，其中接收端透镜1122的第一曲面1122-01的曲率半径为无穷大。上述无穷大的曲率半径的曲面即平面。接收端透镜1122的第二曲面1122-02的曲率半径可以为正值，也可以为负值，只要第一曲面1122-01的曲率半径的绝对值大于第二曲面1122-02的曲率半径即可。(图12中以第二曲面1122-02的曲率半径为正值为例进行示出)Optionally, as shown in the laser receiving device 11 of FIG. 12, the radius of curvature of the first curved surface 1122-01 of the receiving end lens 1122 is infinite. The above-mentioned curved surface of infinite radius of curvature is a plane. The radius of curvature of the second curved surface 1122-02 of the receiving lens 1122 may be a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1122-01 is greater than the radius of curvature of the second curved surface 1122-02 . (In Fig. 12, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
可选的，如图13所示的激光接收装置11，其中接收端透镜1122的第一曲面1122-01的曲率半径为负值。上述为负值的曲面即凹面。接收端透镜1122的第二曲面1122-02的曲率半径为正值，也可以为负值，只要第一曲面1122-01的曲率半径的绝对值大于第二曲面1122-02的曲率半径即可。(图13中的以第二曲面1122-02的曲率半径为正值为例进行示出)Optionally, as shown in the laser receiving device 11 of FIG. 13, the radius of curvature of the first curved surface 1122-01 of the lens 1122 at the receiving end is a negative value. The above-mentioned negative surface is a concave surface. The radius of curvature of the second curved surface 1122-02 of the receiving end lens 1122 is a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1122-01 is greater than the radius of curvature of the second curved surface 1122-02. (In FIG. 13, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
图14为一个实施例提供的激光雷达***的结构示意图。如图14所示，该激光雷达***包括：激光发射装置10和激光接收装置11，激光发射装置10用于发射出射激光，并将出射激光投射至目标物体12；激光发射装置10包括激光发射器101和发射光学镜组102，发射光学镜组102用于校正出射激光的光斑尺寸；发射光学镜组102包括发射端透镜1022，发射端透镜1022包括第一曲面和第二曲面，第一曲面和第二曲面中的至少一个面为柱面；激光接收装置11用于接收从目标物体12反射的回波激光。其中，可以理解的是，所述发射光学镜组102用于校正出射激光的光斑尺寸，具体包括：准直出射激光和调整出射激光的光斑形状。14 is a schematic structural diagram of a lidar system provided by an embodiment. As shown in FIG. 14, the lidar system includes: a laser emitting device 10 and a laser receiving device 11. The laser emitting device 10 is used to emit outgoing laser light and project the outgoing laser light to a target object 12; the laser emitting device 10 includes a laser emitter 101 and the emitting optical lens group 102, the emitting optical lens group 102 is used to correct the spot size of the outgoing laser light; the emitting optical lens group 102 includes an emitting end lens 1022, and the emitting end lens 1022 includes a first curved surface and a second curved surface, the first curved surface and At least one of the second curved surfaces is a cylindrical surface; the laser receiving device 11 is used to receive the echo laser reflected from the target object 12. It can be understood that the emitting optical mirror group 102 is used to correct the spot size of the outgoing laser light, which specifically includes: collimating the outgoing laser light and adjusting the spot shape of the outgoing laser light.
激光发射装置10可以包括一个或多个激光发射器101，激光发射装置10也可以包括发射器阵列。本实施例中多采用激光发射器101可以包括但不限于半导体激光器、光纤激光器、固体激光器以及发光二极管(LED)中的固体激光器、垂直腔面发射激光器、激光二极管的激光发射器等，对此本实施例不做限制。The laser emitting device 10 may include one or more laser emitters 101, and the laser emitting device 10 may also include an array of emitters. In this embodiment, the laser emitter 101 is mostly used, which may include, but not limited to, semiconductor lasers, fiber lasers, solid-state lasers, solid-state lasers in LEDs, vertical cavity surface emitting lasers, laser diode laser emitters, etc. This embodiment is not limited.
上述发射光学镜组102是一种能够准直出射激光，以及将出射激光以一定角度投射至目标物体12的透镜集合，具体可以选用各种类型的透镜，例如，球面透镜、非球面透镜、柱面透镜、球柱镜等。本实施例中，发射光学镜组102中包括的各透镜被依次设置在激光发射器101的出射光路上，以准直激光发射器101的出射激光。本实施例中的发射光学镜组102包括发射端透镜1022，该发射端透镜1022包括第一曲面和第二曲面，第一曲面和第二曲面中的至少一个曲面为柱面，以抵消柱形的激光雷达***的外壳给出射激光带来的像差影响。The above-mentioned emitting optical lens group 102 is a lens set capable of collimating the outgoing laser light and projecting the outgoing laser light to the target object 12 at a certain angle, and various types of lenses can be specifically selected, for example, a spherical lens, an aspheric lens, a cylinder Surface lens, spherical lens, etc. In this embodiment, the lenses included in the emitting optical mirror group 102 are sequentially arranged on the exit optical path of the laser emitter 101 to collimate the exit laser of the laser emitter 101. The transmitting optical lens group 102 in this embodiment includes a transmitting-end lens 1022. The transmitting-end lens 1022 includes a first curved surface and a second curved surface. At least one of the first curved surface and the second curved surface is a cylindrical surface to cancel the cylindrical shape The lidar of the lidar system gives the aberration effect of the laser beam.
结合上述对各部件的说明，参见图14，对本实施例所述的激光雷达***的工作原理进行说明。其工作原理为：当激光雷达***需要对周围探测视场中的目标物体12进行扫描，从而实现对该目标物体12进行探测时，该激光雷达***中的激光发射装置10发射出射激光，发射光学镜组102中的发射端透镜预先对出射激光整形准直，使该出射激光在之 后通过激光雷达***的外壳透射至目标物体12上时，可以抵消激光雷达***的外壳对出射激光的像差影响。当出射激光投射至目标物体12时，目标物体12再进一步的将回波激光通过激光雷达***的外壳透射至激光接收装置11，激光接收装置11接收到回波激光后通过分析接收到的回波激光，得到与目标物体12相关的探测信息，以提高对目标物体12的探测精度。With reference to the above description of each component, referring to FIG. 14, the working principle of the lidar system described in this embodiment will be described. Its working principle is: when the lidar system needs to scan the target object 12 in the surrounding detection field of view, so as to realize the detection of the target object 12, the laser emitting device 10 in the lidar system emits the emitted laser light and emits the optical The transmitting end lens in the mirror group 102 pre-shapes and collimates the outgoing laser beam, so that when the outgoing laser beam is transmitted to the target object 12 through the outer lid of the lidar system, it can counteract the aberration effect of the outer lidar lid on the outgoing laser beam . When the outgoing laser is projected to the target object 12, the target object 12 further transmits the echo laser to the laser receiving device 11 through the outer shell of the lidar system. After receiving the echo laser, the laser receiving device 11 analyzes the received echo Laser, to obtain the detection information related to the target object 12, so as to improve the detection accuracy of the target object 12.
上述激光雷达***通过采用一个曲面为柱面的发射端透镜，在发射端对出射激光进行整形准直，可以抵消激光雷达***的柱形外壳对出射激光的像差影响，从而减小出射激光的发散角，进而提高了上述激光雷达***对目标物体的探测精度。The above-mentioned lidar system uses a lens with a curved surface as the emitting end to shape and collimate the outgoing laser at the emitting end, which can offset the aberration effect of the cylindrical shell of the lidar system on the outgoing laser, thereby reducing the outgoing laser The divergence angle further improves the detection accuracy of the above-mentioned lidar system to the target object.
图15为一个实施例提供的发射光学镜组的结构示意图。如图15所示，该发射光学镜组102还包括：第二调节镜组1021；第二调节镜组1021用于准直出射激光。FIG. 15 is a schematic structural diagram of a transmitting optical mirror set provided by an embodiment. As shown in FIG. 15, the emitting optical mirror group 102 further includes: a second adjusting mirror group 1021; the second adjusting mirror group 1021 is used to collimate the emitted laser light.
上述第二调节镜组1021是一种能够准直出射激光的透镜集合，具体可以包括各种类型的透镜，例如，球面透镜、非球面透镜、球柱镜等。本实施例中，第二调节镜组1021中包括的各透镜被依次设置在发射端透镜1022的入射光路上，以能够将准直后的出射激光投射到发射端透镜1022上，使发射端透镜1022能够对出射激光的光斑形状进行进一步的校正，以消除激光雷达***外壳对出射激光的像差影响。The above-mentioned second adjusting lens group 1021 is a lens set capable of collimating outgoing laser light, and may specifically include various types of lenses, for example, spherical lenses, aspherical lenses, spherical cylindrical lenses, and the like. In this embodiment, the lenses included in the second adjustment lens group 1021 are sequentially arranged on the incident optical path of the transmitting end lens 1022, so that the collimated outgoing laser light can be projected onto the transmitting end lens 1022, so that the transmitting end lens 1022 can further correct the shape of the spot of the outgoing laser to eliminate the aberration effect of the lidar system shell on the outgoing laser.
在一个实施例中，具体的发射端透镜1022可以选为球柱镜，当发射端透镜1022为球柱镜时，球柱镜母线垂直于外壳的母线时，球柱镜屈光度为负，第二调节镜组1021的屈光度为正。球柱镜母线平行于外壳的母线时，球柱镜的屈光度为正，根据光斑的尺寸需求，第二调节镜组1021的屈光度可正可负。In one embodiment, the specific transmitting end lens 1022 can be selected as a spherical lens. When the transmitting end lens 1022 is a spherical lens, and when the spherical lens generating line is perpendicular to the generating line of the housing, the refractive power of the spherical lens is negative, the second The diopter of the adjustment lens group 1021 is positive. When the generatrix of the spheroid lens is parallel to the generatrix of the housing, the power of the spheroid lens is positive. According to the size requirements of the light spot, the power of the second adjusting lens group 1021 can be positive or negative.
在一个实施例中，具体的发射端透镜1022可以为柱面镜，当发射端透镜1022为柱面镜时，第二调节镜组1021的屈光度为正。In an embodiment, the specific transmitting end lens 1022 may be a cylindrical mirror. When the transmitting end lens 1022 is a cylindrical mirror, the refractive power of the second adjusting lens group 1021 is positive.
结合上述对各部件的说明，参见图15，对本实施所述的发射光学镜组102的工作原理进行说明。其工作原理为：激光发射器101发射的出射激光入射到发射光学镜组102上，该发射光学镜组102中的第二调节镜组1021可以准直出射激光，并将准直后的出射激光投射至发射端透镜1022上，发射端透镜1022再进一步的对准直后的出射激光的光斑形状进行校正，并投射至目标物体12。With reference to the above description of each component, referring to FIG. 15, the working principle of the emitting optical mirror group 102 described in this embodiment will be described. Its working principle is: the outgoing laser light emitted by the laser emitter 101 is incident on the emitting optical mirror group 102, and the second adjusting mirror group 1021 in the emitting optical mirror group 102 can collimate the outgoing laser light and collimate the outgoing laser light after collimation It is projected on the transmitting end lens 1022, and the transmitting end lens 1022 further aligns the spot shape of the outgoing laser beam after being aligned, and projects it to the target object 12.
在一个实施例中，具体的，上述第二调节镜组1021包括：第二正透镜组和/或第二负透镜组。In one embodiment, specifically, the second adjustment lens group 1021 includes: a second positive lens group and / or a second negative lens group.
上述第二正透镜组包括至少一个正透镜，第二负透镜组包括至少一个负透镜；正透镜或负透镜可以具体为球面透镜、非球面透镜、柱面透镜中的一种。The second positive lens group includes at least one positive lens, and the second negative lens group includes at least one negative lens; the positive lens or the negative lens may specifically be one of a spherical lens, an aspheric lens, and a cylindrical lens.
在一个实施例中，本申请提供了一种发射光学镜组102的组合方式，如图16所示，即，若发射端透镜1022为正透镜，第二调节镜组1021包括第二正透镜1021-1和第二负透镜1021-2；其中，第二正透镜1021-1为球面镜，第二负透镜1021-2为双凹透镜；第二负透镜1021-2位于第二正透镜1021-1的出射端，发射端透镜1022位于第二负透镜1021-2的出射端。In one embodiment, the present application provides a combination of emitting optical lens groups 102, as shown in FIG. 16, that is, if the emitting lens 1022 is a positive lens, the second adjusting lens group 1021 includes a second positive lens 1021 -1 and the second negative lens 1021-2; wherein, the second positive lens 1021-1 is a spherical mirror, the second negative lens 1021-2 is a biconcave lens; the second negative lens 1021-2 is located on the second positive lens 1021-1 At the exit end, the launch end lens 1022 is located at the exit end of the second negative lens 1021-2.
基于上述实施例的描述，在实际应用中，根据实际光学设计需求，发射光学镜组102还可以存在多种类型透镜组合的方式，关于具体的组合方式与前述描述激光接收装置11中的接收光学镜组112的组合方式雷同，具体内容请参见前述说明，在此不重复累赘说明。Based on the description of the above embodiments, in practical applications, according to actual optical design requirements, there may be multiple types of lens combination modes for the transmitting optical lens group 102. The specific combination mode is the same as the foregoing description of the receiving optics in the laser receiving device 11 The combination method of the mirror group 112 is the same. For the specific content, please refer to the foregoing description, and the redundant description will not be repeated here.
基于前述实施例设计的激光发射装置10的结构，如图17所示的激光发射装置的结构示意图，发射端透镜1022的母线垂直于发射端透镜1022的准线，发射端透镜1022的准线平行于水平面，发射端透镜1022的对称轴与第二调节镜组1021的光轴重合；出射激光依次经过第二调节镜组1021、发射端透镜1022的第一曲面1022-01、发射端透镜1022的第二曲面1022-02投射至目标物体12。Based on the structure of the laser emitting device 10 designed in the foregoing embodiment, as shown in the schematic diagram of the structure of the laser emitting device shown in FIG. 17, the generatrix of the lens 1022 at the emitting end is perpendicular to the guideline of the lens 1022 at the emitting end, and the guideline of the lens 1022 at the emitting end is parallel On the horizontal plane, the symmetry axis of the transmitting lens 1022 coincides with the optical axis of the second adjusting lens group 1021; the outgoing laser light passes through the second adjusting lens group 1021, the first curved surface 1022-01 of the emitting lens 1022, and the The second curved surface 1022-02 is projected onto the target object 12.
基于上述激光发射装置10的结构，上述发射端透镜1022的第一曲面1022-01的曲率半径的绝对值大于发射端透镜1022第二曲面1022-02的曲率半径。Based on the structure of the laser emitting device 10, the absolute value of the radius of curvature of the first curved surface 1022-01 of the emitting end lens 1022 is greater than the radius of curvature of the second curved surface 1022-02 of the emitting end lens 1022.
可选的，如图18所示的激光发射装置10，其中发射端透镜102的第一曲面1122-01的曲率半径为无穷大。上述无穷大的曲率半径的曲面即平面。发射端透镜102的第二曲面1122-02的曲率半径可以为正值，也可以为负值，只要第一曲面1022-01的曲率半径的绝对值大于第二曲面1022-02的曲率半径即可。(图18中以第二曲面1122-02的曲率半径为正值为例进行示出)Optionally, as shown in the laser emitting device 10 of FIG. 18, the radius of curvature of the first curved surface 1122-01 of the lens 102 at the emitting end is infinite. The above-mentioned curved surface of infinite radius of curvature is a plane. The radius of curvature of the second curved surface 1122-02 of the transmitting end lens 102 may be a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1022-01 is greater than the radius of curvature of the second curved surface 1022-02 . (In Fig. 18, the curvature radius of the second curved surface 1122-02 is taken as a positive value for example)
可选的，如图19所示的激光发射装置10，其中发射端透镜102的第一曲面1022-01的曲率半径为负值。上述为负值的曲面即凹面。发射端透镜102的第二曲面1022-02的曲率半径为正值，也可以为负值，只要第一曲面1022-01的曲率半径的绝对值大于第二曲面1022-02的曲率半径即可。(图19中的第二曲面1122-02的曲率半径为正值为例进行示出)Optionally, as shown in FIG. 19 of the laser emitting device 10, the radius of curvature of the first curved surface 1022-01 of the lens 102 at the emitting end is a negative value. The above-mentioned negative surface is a concave surface. The radius of curvature of the second curved surface 1022-02 of the emitting end lens 102 is a positive value or a negative value, as long as the absolute value of the radius of curvature of the first curved surface 1022-01 is greater than the radius of curvature of the second curved surface 1022-02. (The curvature radius of the second curved surface 1122-02 in FIG. 19 is a positive value for example)
在一个实施例中，本申请还提供了一种激光雷达，该激光雷达包括上述任一实施例所述的激光雷达***，具体说明内容请参见前述实施例所述内容，在此不重复累赘说明。In one embodiment, the present application also provides a lidar, which includes the lidar system described in any one of the foregoing embodiments. For specific descriptions, please refer to the foregoing embodiments, and repeated descriptions are not repeated here. .
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several embodiments of the present invention, and their descriptions are more specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for a person of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all fall within the protection scope of the present invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims (17)

  1. 一种激光雷达***，其特征在于，所述激光雷达***包括：激光发射装置和激光接收装置，其中：A laser radar system, characterized in that the laser radar system includes: a laser emitting device and a laser receiving device, wherein:
    所述激光发射装置用于发射出射激光，并将所述出射激光投射至目标物体；The laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object;
    所述激光接收装置用于接收从所述目标物体反射的回波激光；所述激光接收装置包括激光接收器和接收光学镜组，所述接收光学镜组用于校正从所述目标物体上反射的回波激光的光斑尺寸；所述接收光学镜组包括接收端透镜，所述接收端透镜包括第一曲面和第二曲面，所述第一曲面和所述第二曲面中的至少一个曲面为柱面。The laser receiving device is used to receive echo laser light reflected from the target object; the laser receiving device includes a laser receiver and a receiving optical mirror group, and the receiving optical mirror group is used to correct reflection from the target object The spot size of the echo laser beam; the receiving optical lens group includes a receiving end lens, the receiving end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is cylinder.
  2. 根据权利要求1所述的激光雷达***，其特征在于，所述接收光学镜组还包括：第一调节镜组；所述第一调节镜组用于聚焦所述回波激光。The lidar system according to claim 1, wherein the receiving optical mirror group further comprises: a first adjusting mirror group; the first adjusting mirror group is used to focus the echo laser.
  3. 根据权利要求2所述的激光雷达***，其特征在于，所述第一调节镜组包括：第一正透镜组和/或第一负透镜组。The lidar system according to claim 2, wherein the first adjustment lens group comprises: a first positive lens group and / or a first negative lens group.
  4. 根据权利要求3所述的激光雷达***，其特征在于，The lidar system according to claim 3, characterized in that
    若所述接收端透镜为正透镜，所述第一调节镜组包括第一正透镜和第一负透镜；If the receiving lens is a positive lens, the first adjustment lens group includes a first positive lens and a first negative lens;
    所述第一正透镜为球面镜，所述第一负透镜为双凹透镜；The first positive lens is a spherical mirror, and the first negative lens is a double concave lens;
    所述第一负透镜位于所述第一正透镜的出射端，所述接收端透镜位于所述第一负透镜的出射端。The first negative lens is located at the exit end of the first positive lens, and the receiving end lens is located at the exit end of the first negative lens.
  5. 根据权利要求2所述的激光雷达***，其特征在于，所述接收端透镜的母线垂直于所述接收端透镜的准线，所述接收端透镜的准线平行于水平面，所述接收端透镜的对称轴与所述第一调节镜组的光轴重合；The lidar system according to claim 2, wherein the generatrix of the receiving end lens is perpendicular to the alignment of the receiving end lens, the alignment of the receiving end lens is parallel to the horizontal plane, and the receiving end lens The axis of symmetry coincides with the optical axis of the first adjusting mirror group;
    所述回波激光依次经过所述第一调节镜组、所述接收端透镜的第二曲面及接收端透镜的第一曲面。The echo laser passes through the first adjusting mirror group, the second curved surface of the receiving end lens and the first curved surface of the receiving end lens in sequence.
  6. 根据权利要求5所述的激光雷达***，其特征在于，所述接收端透镜的所述第一曲面的半径的绝对值大于所述接收端透镜第二曲面的半径。The lidar system according to claim 5, wherein the absolute value of the radius of the first curved surface of the receiving end lens is greater than the radius of the second curved surface of the receiving end lens.
  7. 根据权利要求5所述的激光雷达***，其特征在于，所述接收透镜的所述第一曲面的曲率半径为无穷大。The lidar system according to claim 5, wherein the radius of curvature of the first curved surface of the receiving lens is infinite.
  8. 根据权利要求5所述的激光雷达***，其特征在于，所述第一曲面的曲率半径为负值。The lidar system according to claim 5, wherein the radius of curvature of the first curved surface is a negative value.
  9. 一种激光雷达***，其特征在于，所述激光雷达***包括：激光发射装置和激光接收装置，其中：A laser radar system, characterized in that the laser radar system includes: a laser emitting device and a laser receiving device, wherein:
    所述激光发射装置用于发射出射激光，并将所述出射激光投射至目标物体；所述激光发射装置包括激光发射器和发射光学镜组；所述发射光学镜组用于校正所述出射激光的光斑尺寸；所述发射光学镜组包括发射端透镜，所述发射端透镜包括第一曲面和第二曲面，所述第一曲面和所述第二曲面中的至少一个面为柱面；The laser emitting device is used to emit outgoing laser light and project the outgoing laser light to a target object; the laser emitting device includes a laser emitter and an emitting optical mirror group; the emitting optical mirror group is used to correct the outgoing laser light The size of the light spot; the emitting optical lens group includes an emitting end lens, the emitting end lens includes a first curved surface and a second curved surface, at least one of the first curved surface and the second curved surface is a cylindrical surface;
    所述激光接收装置用于接收从所述目标物体反射的回波激光。The laser receiving device is used to receive echo laser light reflected from the target object.
  10. 根据权利要求9所述的激光雷达***，其特征在于，所述发射光学镜组还包括：第二调节镜组；所述第二调节镜组用于准直所述出射激光。The lidar system according to claim 9, wherein the emitting optical mirror group further comprises: a second adjusting mirror group; the second adjusting mirror group is used to collimate the outgoing laser light.
  11. 根据权利要求10所述的激光雷达***，其特征在于，所述第二调节镜组包括：第二正透镜组和/或第二负透镜组。The lidar system according to claim 10, wherein the second adjustment lens group comprises: a second positive lens group and / or a second negative lens group.
  12. 根据权利要求11所述的激光雷达***，其特征在于，The lidar system according to claim 11, wherein:
    若所述发射端透镜为正透镜，所述第二调节镜组包括第二正透镜和第二负透镜；If the transmitting end lens is a positive lens, the second adjustment lens group includes a second positive lens and a second negative lens;
    所述第二正透镜为球面镜，所述第二负透镜为双凹透镜；The second positive lens is a spherical mirror, and the second negative lens is a double concave lens;
    所述第二负透镜位于所述第二正透镜的出射端，所述发射端透镜位于所述第二负透镜的出射端。The second negative lens is located at the exit end of the second positive lens, and the emission end lens is located at the exit end of the second negative lens.
  13. 根据权利要求12所述的激光雷达***，其特征在于，所述发射端透镜的母线垂直于所述发射端透镜的准线，所述发射端透镜的准线平行于水平面，所述发射端透镜的对称轴与所述第二调节镜组的光轴重合；所述出射激光依次经过所述第二调节镜组、所述发射端透镜的第一曲面、所述发射端透镜的第二曲面投射及至所述目标物体。The lidar system according to claim 12, characterized in that the generatrix of the transmitting end lens is perpendicular to the alignment of the transmitting end lens, the alignment of the transmitting end lens is parallel to the horizontal plane, and the transmitting end lens Axis of symmetry coincides with the optical axis of the second adjusting mirror group; the outgoing laser light is sequentially projected through the second adjusting mirror group, the first curved surface of the emitting end lens, and the second curved surface of the emitting end lens And to the target object.
  14. 根据权利要求13所述的激光雷达***，所述发射端透镜的第一曲面的曲率半径的绝对值大于所述发射端透镜的第二曲面的曲率半径。According to the lidar system of claim 13, the absolute value of the radius of curvature of the first curved surface of the transmitting end lens is greater than the radius of curvature of the second curved surface of the transmitting end lens.
  15. 根据权利要求13所述的激光雷达***，其特征在于，所述发射端透镜的第一曲面的曲率半径为无穷大。The lidar system according to claim 13, wherein the radius of curvature of the first curved surface of the transmitting end lens is infinite.
  16. 根据权利要求13所述的激光雷达***，其特征在于，所述发射端透镜的第一曲面的曲率半径为负值。The lidar system according to claim 13, wherein the radius of curvature of the first curved surface of the transmitting end lens is a negative value.
  17. 一种激光雷达，其特征在于，所述激光雷达包括所述权利要求1-18任一项所述的激光雷达***。A lidar, characterized in that the lidar includes the lidar system according to any one of claims 1-18.
PCT/CN2019/116718 2018-11-09 2019-11-08 Laser radar system and laser radar WO2020094129A1 (en)

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