A laser radar optical path system

Abstract

The present invention is applicable to the field of laser radar ranging technology, and provides a laser radar optical path system, including: a laser transmitter array, used to transmit laser signals to a target object; a first reflection module array, used to adjust the emission angle of the laser signal; a laser receiver array, used to receive the laser echo signal reflected by the target object; a second 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 and the first reflection module array are arranged on a laser transmitting circuit board, and the laser receiver array and the second reflection module array are arranged on a laser receiving circuit board. In the present invention, there is no need to adjust the laser emission angle and the laser receiving angle of each laser individually, which avoids the problem of difficulty in optical path debugging due to mutual interference of adjacent lasers during the debugging process, thereby reducing labor costs and shortening delivery time.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar ranging, and in particular to a laser radar optical path system. 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 present invention provides a laser radar optical path system, 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 to install, and multiple separate debugging and repeated debugging are required, the labor cost is high, and the time consumption is too long.

[0006] An embodiment of the present invention provides a multi-line laser radar system, comprising:

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

[0008] A first reflection module array, used to adjust the emission angle of the laser signal;

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

[0010] A second 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] The laser transmitter array and the first reflector module array are arranged on a laser transmitter circuit board, and the laser receiver array and the second reflector module array are arranged on the laser receiver circuit board.

[0012] In an embodiment of the present invention, a laser radar optical path system is provided, which performs laser ranging by emitting a laser signal to a target object through a laser transmitter array, and deflecting the laser signal to the target object through reflection by a first reflection module array, and reflecting the laser echo signal reflected by the target object to a laser receiver array through a second reflection module array. By arranging the laser transmitter array on a laser transmitting circuit board, and arranging the laser receiver array and the reflection module array on the laser receiving circuit board, when performing laser ranging, it is only necessary to adjust the position and angle of the laser transmitting circuit board and the laser receiving circuit board, and use the first reflection module array and the second reflection module array to adjust the angle of the laser signal emitted by the laser transmitter and the angle of the laser echo signal received by the laser receiver, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference between 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 It is a structural schematic diagram of a laser radar 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, a laser radar optical path system is provided, which performs laser ranging by emitting a laser signal to a target object through a laser transmitter array, and deflecting the laser signal to the target object through reflection by a first reflection module array, and reflecting the laser echo signal reflected by the target object to a laser receiver array through a second reflection module array. By arranging the laser transmitter array on a laser transmitting circuit board, and arranging the laser receiver array and the reflection module array on the laser receiving circuit board, when performing laser ranging, it is only necessary to adjust the position and angle of the laser transmitting circuit board and the laser receiving circuit board, and use the first reflection module array and the second reflection module array to adjust the angle of the laser signal emitted by the laser transmitter and the angle of the laser echo signal received by the laser receiver, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference between 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 An embodiment of the present invention provides a laser radar optical path system, including: a laser transmitter array, used to transmit a laser signal to a target object; a first reflection module array, used to adjust the emission angle of the laser signal; a laser receiver array, used to receive a laser echo signal reflected by the target object; a second reflection module array, used to adjust the angle of the laser echo signal, and reflect the laser echo signal to a corresponding laser receiver 30.

[0022] The laser transmitter array and the first reflective module array are arranged on the laser transmitting circuit board 1 , and the laser receiver array and the second reflective module array are arranged on the laser receiving circuit board 2 .

[0023] In the embodiment of the present invention, when performing laser ranging, it is only necessary to adjust the position and angle of the laser transmitting circuit board and the laser receiving circuit board, and use the first reflection module array and the second reflection module array to adjust the angle of the laser signal emitted by the laser transmitter and the angle of the laser echo signal received by the laser receiver. This avoids the problem of difficulty in optical path debugging due to mutual interference between adjacent lasers during the debugging process, makes optical path debugging simpler, and further reduces labor costs and shortens delivery time.

[0024] 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. The structure is simple and the distribution is more uniform.

[0025] The number of laser transmitters 10 is the same as the number of laser receivers 30 .

[0026] 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 are respectively received by different laser receivers 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.

[0027] 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.

[0028] The compression angle adjustment module may be a micro cylindrical mirror.

[0029] 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.

[0030] In an embodiment of the present invention, the first reflection module array includes a plurality of first reflection modules 20, the laser emitter array includes a plurality of laser emitters 10, and the first reflection modules 20 correspond to the laser emitters 10 one by one. The first reflection module 20 corresponding to the laser emitter 10 can be arranged on the laser signal emission optical path, and is used to adjust the angle of the laser emitted by the laser emission signal, and reflect the laser signal to the target object, so as to perform laser ranging. In addition, the laser emitter and the first reflection module are arranged on a laser emission circuit 1, which simplifies installation adjustment, simplifies optical debugging, and saves labor costs and time.

[0031] Among them, the laser emitter 10 can be a combination of a laser diode and a compression angle adjustment module. The first reflection module 20 can be set on the laser emitting circuit board 2 by pasting. Specifically, a micro-reflector with a size of, for example, 2×2mm or 3×3mm can be used. The specific size is not limited. A prism or other devices that can deflect the laser can also be used. It can be selected according to actual conditions.

[0032] The number of the laser emitters 10 is the same as the number of the first reflecting mirrors 20 .

[0033] In an embodiment of the present invention, the laser emitting circuit board 1 includes a first mounting surface and a second mounting surface, the laser emitter array includes a first laser emitter sub-array and a second laser emitter sub-array, the first laser emitter sub-array is arranged on the first mounting surface and is linearly arranged in a vertical direction of the first mounting surface, and the second laser emitter sub-array is arranged on the second mounting surface and is linearly arranged in a vertical direction of the second mounting surface.

[0034] 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.

[0035] In an embodiment of the present invention, the laser receiving circuit board 2 includes a third mounting surface and a fourth mounting surface, the laser receiver array includes a first laser receiver subarray and a second laser receiver subarray, the first laser receiver subarray is arranged on the third mounting surface and is linearly arranged in a vertical direction of the third mounting surface, and the second laser receiver subarray is arranged on the fourth mounting surface and is linearly arranged in a vertical direction of the fourth mounting surface.

[0036] 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.

[0037] In the embodiment of the present invention, the laser receiver array includes a plurality of laser receivers 30, the second reflection module array includes a plurality of second reflection modules 40, and the laser receivers correspond to the second reflection modules one by one. The second reflection modules 40 corresponding to the laser receivers 30 can be arranged on the optical path of 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 at the corresponding angle so as to perform laser ranging. By arranging the laser receiver and the second reflection module on a laser receiving circuit board 2, optical debugging is simplified, and labor costs and time are saved.

[0038] Among them, the laser receiver 30 is a photoelectric detector, and the second reflection module 40 can be set on the laser receiving circuit board 2 by pasting. Specifically, a micro-reflector with a size of, for example, 2×2mm or 3×3mm can be used. The specific size is not limited. A prism or other devices that can deflect the laser can also be used. It can be selected according to actual conditions.

[0039] In the embodiment of the present invention, the optical path system further includes: a first transmission unit 50 disposed on the emission optical path of the laser signal and used to reflect the laser signal onto the target object.

[0040] The first transmission unit 50 includes a first transmission module and a second transmission module. The transmission unit changes the transmission direction of the laser transmission signal, making the entire optical path system more compact. The first transmission module and the second transmission module can be reflectors. In addition to reflectors, prisms, or a combination of reflectors and prisms can also be used.

[0041] In the embodiment of the present invention, the optical path system further includes a second transmission unit 60 disposed on the receiving optical path of the laser echo signal and used for reflecting the laser echo signal to the laser receiver.

[0042] The second transmission unit 60 includes a third transmission module and a fourth transmission module. The receiving direction of the laser echo signal is changed by the transmission unit, so that the volume of the entire optical path system is more compact. The third transmission module 61 and the fourth transmission module can be a reflector. The angle of the laser echo signal is changed by the reflector, and it is transmitted to the focusing unit 80 after focusing, and then transmitted to the corresponding laser receiver 30. The distance of the scanned target object can be calculated according to the time difference between the laser emission and the laser echo reception. In addition to the reflector, a prism or a combination of a reflector and a prism can also be used.

[0043] In an embodiment of the present invention, the optical path system also includes: a collimation unit 70 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, thereby reducing the laser divergence angle, concentrating the laser energy, and achieving a detection distance of more than 150 meters.

[0044] The collimating unit 70 includes but is not limited to three aspherical lens groups or spherical lens groups. The embodiment of the present invention is preferably a three-piece aspherical lens group.

[0045] In the embodiment of the present invention, the optical path system further includes: a focusing unit 80 disposed on the receiving optical path of the laser echo signal and used for focusing the laser echo signal.

[0046] Among them, the focusing unit 80 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.

[0047] It should be noted that the focusing unit 80 may also use a greater or lesser number of aspheric lenses, or a spherical lens, so as to focus the laser.

[0048] In the embodiment of the present invention, the optical path system further includes a filter 90 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.

[0049] In an embodiment of the present invention, a laser radar optical path system is provided, which performs laser ranging by emitting a laser signal to a target object through a laser transmitter array, and deflecting the laser signal to the target object through reflection by a first reflection module array, and reflecting the laser echo signal reflected by the target object to a laser receiver array through a second reflection module array. By arranging the laser transmitter array on a laser transmitting circuit board, and arranging the laser receiver array and the reflection module array on the laser receiving circuit board, when performing laser ranging, it is only necessary to adjust the position and angle of the laser transmitting circuit board and the laser receiving circuit board, and use the first reflection module array and the second reflection module array to adjust the angle of the laser signal emitted by the laser transmitter and the angle of the laser echo signal received by the laser receiver, thereby avoiding the problem of difficulty in optical path debugging due to mutual interference between adjacent lasers during the debugging process, making optical path debugging simpler, thereby reducing labor costs and shortening delivery time.

[0050] 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. A laser radar optical path system, characterized in that: The optical path system comprises: A laser emitter array, used to emit laser signals to a target object; the laser emitter array includes a first laser emitter subarray and a second laser emitter subarray; 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; A first reflection module array, used to adjust the emission angle of the laser signal; A laser receiver array, used to receive the laser echo signal reflected by the target object; A second reflection module array, used to adjust the angle of the laser echo signal and reflect the laser echo signal to a corresponding laser receiver; Wherein, the laser emitter array and the first reflective module array are arranged on a laser emitting circuit board, and the laser receiver array and the second reflective module array are arranged on a laser receiving circuit board; the laser emitting circuit board includes a first mounting surface and a second mounting surface, the first laser emitter sub-array is arranged on the first mounting surface and is linearly arranged in a vertical direction of the first mounting surface, and the second laser emitter sub-array is arranged on the second mounting surface and is linearly arranged in a vertical direction of the second mounting surface; The first reflection module array includes a plurality of reflection modules, the laser emitter array includes a plurality of laser emitters, and the reflection modules correspond to the laser emitters one by one.

2. The laser radar optical path system 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.

3. The laser radar optical path system according to 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 sub-array and a second laser receiver sub-array, the first laser receiver sub-array is arranged on the third mounting surface and is linearly arranged in a vertical direction of the third mounting surface, and the second laser receiver sub-array is arranged on the fourth mounting surface and is linearly arranged in a vertical direction of the fourth mounting surface.

4. The laser radar optical path system as claimed in claim 3, 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.

5. The laser radar optical path system 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.

6. The laser radar optical path system according to 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.

7. The laser radar optical path system according to claim 1, characterized in that: The system further comprises a filter arranged between the laser receiver and the second reflector for filtering out clutter of the laser echo signal.

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