An optical path system based on multi-line laser radar

Abstract

The present invention is applicable to the field of laser radar ranging technology, and provides an optical path system based on a multi-line laser radar, including: a laser transmitter array, used to transmit laser signals to a target object; a reflector group, used to deflect the laser signal to the target object; a laser receiver array, used to receive the laser echo signal reflected by the target object; a reflection module array, used to adjust the angle of the laser echo signal, and reflect the laser echo signal to the corresponding laser receiver; wherein the laser transmitter array is arranged on a laser transmitting circuit board, and the laser receiver array and the reflection module array are arranged on a laser receiving circuit board. In an embodiment of the present invention, when performing laser ranging, it is not necessary to adjust the laser transmitting module of each laser individually, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time.

Description

Technical Field

[0001] The invention belongs to the technical field of laser radar ranging, and in particular relates to an optical path system based on a multi-line laser radar. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. It has the advantages of high accuracy, fast operation speed and high efficiency. It is an indispensable core sensor in the fields of autonomous driving, robot positioning and navigation, space environment mapping, security and protection, etc.

[0003] At present, when the laser radar is working, it mainly transmits the laser signal to the target object through the laser emitting component arranged inside the laser radar, and receives the laser reflection signal reflected back by the target object through the laser receiving component arranged, and obtains the time difference between the laser emission and the laser reception by recording the time points of the two times, and calculates the distance to the target object through the speed of light, thereby realizing the function of laser ranging. At present, in order to improve the ranging range of the laser radar, multi-channel laser radars are usually set for scanning. However, in the existing multi-channel laser radars, each laser emitting component and laser receiving component are provided with a separate transmitting board and receiving board. The laser signal emitted by the laser emitting component on a transmitting board is received by the laser receiving component arranged on a corresponding receiving board, and the distance is calculated.

[0004] However, in existing multi-line laser radars, since each laser emitting component and laser receiving component has a separate transmitting board and receiving board, adjacent paths are prone to interfere with each other during the optical debugging process, making it extremely difficult to debug the optical path and requiring multiple separate and repeated debugging, which has high labor costs and consumes too much time. Summary of the invention

[0005] The embodiment of the present invention provides an optical path system based on a multi-line laser radar, aiming to solve the problems in the prior art that adjacent paths are prone to interfere with each other during the optical debugging process, the debugging optical path is extremely difficult, and multiple separate debugging and repeated debugging are required, the labor cost is high, and the time consumption is too long.

[0006] The embodiment of the present invention is implemented as follows: an optical path system based on a multi-line laser radar, comprising:

[0007] A laser transmitter array, used for transmitting laser signals to a target object;

[0008] A reflector group, used to deflect the laser signal to the target object;

[0009] A laser receiver array, used to receive the laser echo signal reflected by the target object;

[0010] A reflection module array, used to adjust the angle of the laser echo signal and reflect the laser echo signal to a corresponding laser receiver;

[0011] Wherein, the laser transmitter array is arranged on a laser transmitting circuit board, and the laser receiver array and the reflective module array are arranged on the laser receiving circuit board.

[0012] In an embodiment of the present invention, an optical path system based on a multi-line laser radar is provided, wherein laser ranging is performed by emitting a laser signal to a target object through a laser transmitter array, and the laser signal is deflected to the target object through reflection by a transmitting mirror group, and at the same time, a laser echo signal reflected by the target object is reflected to a laser receiver array through a reflecting module array. The laser transmitter array is arranged on a laser transmitting circuit board, and a laser receiver array and a reflecting module array are arranged on the laser receiving circuit board. When performing laser ranging, it is only necessary to adjust the position and angle of the laser receiving circuit board, and to adjust the angle of the laser echo signal by using the reflecting module array so that the laser receiver can receive it. There is no need to adjust the laser receiver of each laser echo signal, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a structural schematic diagram of a multi-line optical path system provided by an embodiment of the present invention;

[0014] Figure 2 is a front view of a laser emitting circuit board provided by an embodiment of the present invention;

[0015] Figure 3 It is a left side view of a laser emitting circuit board provided by an embodiment of the present invention;

[0016] Figure 4 is a front view of a laser receiving circuit board provided by an embodiment of the present invention;

[0017] Figure 5 It is a left view of a laser receiving circuit board provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below 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 invention and are not intended to limit the present invention.

[0019] In an embodiment of the present invention, an optical path system based on a multi-line laser radar is provided, wherein laser ranging is performed by emitting a laser signal to a target object through a laser transmitter array, and the laser signal is deflected to the target object through reflection by a transmitting mirror group, and at the same time, a laser echo signal reflected by the target object is reflected to a laser receiver array through a reflecting module array. The laser transmitter array is arranged on a laser transmitting circuit board, and a laser receiver array and a reflecting module array are arranged on the laser receiving circuit board. When performing laser ranging, it is only necessary to adjust the position and angle of the laser receiving circuit board, and to adjust the angle of the laser echo signal by using the reflecting module array so that the laser receiver can receive it. There is no need to adjust the laser receiver of each laser echo signal, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time.

[0020] The present invention is described in detail below through specific embodiments.

[0021] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 In the embodiment of the present invention, the laser transmitter array is used to transmit a laser signal to a target object; the reflector group 20 is used to deflect the laser signal to the target object; the laser receiver array is used to receive the laser echo signal reflected by the target object; the reflection module array is used to adjust the angle of the laser echo signal and reflect the laser echo signal to the corresponding laser receiver 30; wherein the laser transmitter array is arranged on the laser transmitting circuit board 1, and the laser receiver array and the reflection module array are arranged on the laser receiving circuit board 2. By arranging the laser transmitter array on the laser transmitting circuit board 1, and the laser receiver array and the reflection module array on the laser receiving circuit board 2, when performing laser ranging, it is only necessary to adjust the position and angle of the laser receiving circuit board, and use the reflection module array to adjust the angle of the laser echo signal so that the laser receiver can receive it, and there is no need to adjust the laser receiver of each laser echo signal, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making the optical path debugging simpler, thereby reducing labor costs and shortening delivery time.

[0022] In an embodiment of the present invention, the laser transmitter array includes a plurality of laser transmitters 10, each of which can transmit a laser signal. Correspondingly, the laser receiver array includes a plurality of laser receivers 30, each of which can receive a laser echo signal reflected from a target object, that is, one laser transmitter 10 corresponds to one laser receiver 30, and laser pulse signals at different angles can only be received by the corresponding laser receiver 30. The structural setting is simple and the distribution is more uniform.

[0023] The number of laser transmitters 10 is the same as the number of laser receivers 30 .

[0024] In a preferred embodiment of the present invention, the number of laser transmitters 10 can be 16, which can send 16 laser signals. Correspondingly, the number of laser receivers 30 can also be 16, which can receive 16 laser echo signals. The 16 laser pulse signals at different angles emitted by the laser transmitter 10 are respectively received by different laser receivers 30 of the receiving system after diffuse reflection from the detection target surface. It should be noted that the number of laser transmitters and laser receivers can also be 8, 10 or other numbers, which can be set according to actual conditions, and the present invention does not limit it.

[0025] In the embodiment of the present invention, the laser emitting circuit board 1 includes a first mounting surface and a second mounting surface, and the laser emitter array includes a first laser emitter subarray and a second laser emitter subarray 12, the first laser emitter subarray is arranged on the first mounting surface, and the second laser emitter subarray 12 is arranged on the second mounting surface. The first laser emitter subarray and the second laser emitter subarray are arranged on one side of the laser emitting circuit board 1 opposite to each other and are parallel to each other. By respectively arranging the first laser emitter subarray and the second laser emitter subarray on the two mounting surfaces of the laser emitting circuit board 1, the utilization rate of the laser emitting circuit board 1 can be improved, the occupied area can be reduced, and mutual interference caused by too many laser light paths can be avoided.

[0026] The number of laser emitters in the first laser emitter subarray 11 is the same as the number of laser emitters in the second laser emitter subarray 12. For example, the first laser emitter subarray includes 8 laser emitters, and the second laser emitter subarray also includes 8 laser emitters.

[0027] Furthermore, the first laser emitter array includes a plurality of laser emitters 10, which are arc-shaped and evenly distributed on the first mounting surface, and the second laser emitter sub-array includes a plurality of laser emitters 10, which are arc-shaped and evenly distributed on the second mounting surface. Figure 2The method shown is in a certain arc shape and is evenly distributed on the installation surface. The laser signals emitted by multiple laser transmitters can be converged onto the reflector group 20, and after being reflected by the reflector group 20, they are deflected at a certain angle and emitted to the target object. The laser signal can be emitted to the target object to the greatest extent, providing a scanning range of the laser signal.

[0028] In an embodiment of the present invention, the first laser emitter subarray and the second laser emitter subarray are arranged in a staggered manner and opposite to each other, and there is a set height difference between the two. By arranging them in a staggered manner, the laser signals emitted by the laser emitters on the first laser emitter subarray and the laser signals emitted by the laser emitters on the second laser emitter subarray can be staggered and have a certain distance, which can reduce mutual interference between adjacent laser signals.

[0029] In the embodiment of the present invention, the reflector group 20 includes a first reflector and a second reflector. The first reflector and the second reflector are arranged relatively parallel. The use of the reflector group 20 can change the optical direction of the laser signal and make the optical system more compact.

[0030] The first reflector and the second reflector may be reflectors, which change the optical path of the laser and reflect the laser onto the target object. In addition to the reflectors, prisms or a combination of reflectors and prisms may also be used.

[0031] In an embodiment of the present invention, the laser emitter array 10 includes: a laser diode array for emitting laser signals; and a compression angle adjustment module array corresponding to the laser diode array and used to collimate the laser signals. The laser diode array includes a plurality of laser diodes, and the compression angle adjustment module array includes a plurality of compression angle adjustment modules, one laser diode corresponds to one compression angle adjustment module, and the compression angle adjustment module is arranged on the optical path of the laser emission of the corresponding laser diode, and can collimate the laser signal emitted by the corresponding laser diode, so that the divergence angles of the laser on the fast axis and the slow axis of the laser diode are close to each other, forming a relatively uniform light spot.

[0032] The compression angle adjustment module may be a micro cylindrical mirror, the laser diode may be arranged on the laser receiving circuit board 1 by welding, and the compression angle adjustment module may be arranged on the laser receiving circuit board 1 by pasting.

[0033] In the embodiment of the present invention, in addition to the combination of the above-mentioned laser diode array and the compression angle adjustment module, the laser emitter array can also directly adopt fiber lasers, gas lasers, solid lasers, etc. to form the laser emitter array, and the specific selection can be made according to actual conditions.

[0034] In an embodiment of the present invention, the laser receiving circuit board includes a third mounting surface and a fourth mounting surface, the laser receiver array includes a first laser receiver array and a second photoelectric detection array, the first photoelectric detection array is arranged on the third mounting surface and is linearly arranged in a vertical direction of the third mounting surface, and the second photoelectric detection array is arranged on the fourth mounting surface and is linearly arranged in a vertical direction of the fourth mounting surface.

[0035] The first laser receiver subarray and the second laser receiver subarray are arranged in a staggered manner and opposite to each other, and a set height difference is provided between the two. By arranging them opposite to each other in a staggered manner, the laser echo signal received by the laser receiver on the first laser receiver subarray and the laser signal received by the laser receiver on the second laser receiver subarray can be staggered and have a certain distance, thereby reducing mutual interference between adjacent laser echo signals.

[0036] In the embodiment of the present invention, the laser receiver array includes a plurality of laser receivers 30, and the reflection module array includes a plurality of reflection modules 40, and the laser receivers 30 correspond to the reflection modules 40 one by one. The reflection modules 40 corresponding to the laser receivers 30 can be arranged on the optical path for receiving the laser echo signal, and are used to adjust the angle of the laser echo signal and reflect the laser echo signal to the laser receiver 30 at the corresponding angle, so as to perform laser ranging. By arranging the laser receiver 30 and the reflection module 40 on a laser receiving circuit board 2, optical debugging is simplified, and labor costs and time are saved.

[0037] Among them, the laser receiver 30 is a photoelectric detector, and the reflection module 40 can be set on the laser receiving circuit board 2 by pasting. Specifically, a micro-reflector with a size of 2×2mm or 3×3mm can be used, and the specific size is not limited. A prism or other devices that can deflect the laser can also be used, which can be selected according to actual conditions.

[0038] In the embodiment of the present invention, the optical path system further includes a conducting unit 50 disposed on the receiving optical path of the laser echo signal and used for reflecting the laser echo signal to the laser receiver.

[0039] The transmission unit 50 includes a first transmission module 51 and a second transmission module 52. The transmission unit changes the receiving direction of the laser echo signal, making the entire optical path system more compact. The first transmission module 51 and the second transmission module 52 can be reflectors. The reflectors change the angle of the laser echo signal, transmit it to the focusing unit 70 for focusing, and then transmit it to the corresponding laser receiver 30. The distance of the scanned target object can be calculated according to the time difference between the emitted laser and the received laser echo. In addition to the reflectors, prisms or a combination of reflectors and prisms can also be used.

[0040] In an embodiment of the present invention, the optical path system also includes: a collimation unit 60 arranged on the laser signal transmission optical path for collimating the laser signal. The laser signal is collimated by the collimation unit so that each laser beam forms an approximately circular light spot, so that the laser divergence angle is smaller, the laser energy is concentrated, and the detection distance can reach more than 150 meters.

[0041] The collimating unit 60 may be a group of three aspherical lenses.

[0042] It should be noted that the collimating unit 60 may also use a larger or smaller number of aspheric lenses, or a spherical lens, so as to collimate the laser.

[0043] In the embodiment of the present invention, the optical path system further includes: a focusing unit 70 disposed on the receiving optical path of the laser echo signal and used for focusing the laser echo signal.

[0044] Among them, the focusing unit 70 can be three aspheric lenses. By using a group of three aspheric lenses, the signal spot received by the aspheric lens is small, and the signal received by the photodetector is stronger, which effectively prevents crosstalk from other signals and improves the stability of the system.

[0045] It should be noted that the focusing unit 70 may also use a greater or lesser number of aspheric lenses, or a spherical lens, so as to focus the laser.

[0046] In the embodiment of the present invention, the optical path system further includes a filter 80 disposed between the laser receiver and the second reflector for filtering out clutter of the laser echo signal. The clutter can be effectively filtered out, the signal-to-noise ratio of the system is improved, and the detection distance of the system under strong light is increased.

[0047] In an embodiment of the present invention, an optical path system based on a multi-line laser radar is provided, wherein laser ranging is performed by emitting a laser signal to a target object through a laser transmitter array, and the laser signal is deflected to the target object through reflection by a transmitting mirror group, and at the same time, a laser echo signal reflected by the target object is reflected to a laser receiver array through a reflecting module array. The laser transmitter array is arranged on a laser transmitting circuit board, and a laser receiver array and a reflecting module array are arranged on the laser receiving circuit board. When performing laser ranging, it is only necessary to adjust the position and angle of the laser receiving circuit board, and to adjust the angle of the laser echo signal by using the reflecting module array so that the laser receiver can receive it. There is no need to adjust the laser receiver of each laser echo signal, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An optical path system based on a multi-line laser radar, characterized in that: The optical path system comprises: A laser emitter array, used to emit a laser signal to a target object; wherein the laser emitter array includes a first laser emitter subarray and a second laser emitter subarray, and the first laser emitter subarray and the second laser emitter subarray are arranged in a staggered shape and opposite to each other, and there is a set height difference between the two; A reflector group, used to deflect the laser signal to the target object; A laser receiver array, used to receive the laser echo signal reflected by the target object; A reflection module array is used to adjust the angle of the laser echo signal and reflect the laser echo signal to the corresponding laser receiver; wherein the laser emitter array is arranged on a laser emitting circuit board, the laser emitting circuit board includes a first mounting surface and a second mounting surface, the laser receiver array and the reflection module array are arranged on the laser receiving circuit board, the first laser emitter sub-array is arranged on the first mounting surface, and the second laser emitter sub-array is arranged on the second mounting surface.

2. The optical path system based on multi-line laser radar as claimed in claim 1, characterized in that: The first laser emitter subarray includes a plurality of laser emitters, which are arc-shaped and evenly distributed on the first mounting surface, and the second laser emitter subarray includes a plurality of laser emitters, which are arc-shaped and evenly distributed on the second mounting surface.

3. The optical path system based on multi-line laser radar as claimed in claim 1, characterized in that: The reflector group includes a first reflector and a second reflector, and the first reflector and the second reflector are arranged relatively parallel.

4. The optical path system based on multi-line laser radar according to claim 1, characterized in that: The laser emitter array comprises: a laser diode array for emitting laser signals; and A compression angle adjustment module array corresponding one-to-one to the laser diode array and used for collimating the laser signal.

5. The optical path system based on multi-line laser radar as claimed in claim 1, characterized in that: The laser receiving circuit board includes a third mounting surface and a fourth mounting surface, and the laser receiver array includes a first laser receiver array and a second photoelectric detection array. The first photoelectric detection array is arranged on the third mounting surface and is linearly arranged in a vertical direction of the third mounting surface, and the second photoelectric detection array is arranged on the fourth mounting surface and is linearly arranged in a vertical direction of the fourth mounting surface.

6. The optical path system based on multi-line laser radar as claimed in claim 5, characterized in that: The first laser receiver sub-array and the second laser receiver sub-array are arranged opposite to each other in a staggered manner, and there is a set height difference between the two.

7. The optical path system based on multi-line laser radar according to claim 1, characterized in that: The laser receiver array includes a plurality of laser receivers, the second reflection module array includes a plurality of reflection modules, and the laser receivers correspond to the reflection modules one by one.

8. The optical path system based on multi-line laser radar as claimed in claim 1, characterized in that: The optical path system also includes: a collimating unit disposed on the laser signal emission optical path and used for collimating the laser signal, and A focusing unit is arranged on the receiving optical path of the laser echo signal and is used to focus the laser echo signal.

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