A laser radar device

Abstract

The embodiment of the present invention provides a laser radar device, which includes: a transmitting device, a receiving device and a signal processing device; wherein the signal processing device is connected to the transmitting device and the receiving device respectively; the transmitting device is used to convert point-like emitted light into planar emitted light, and emit the planar emitted light to the target object; the receiving device is used to receive the planar reflected light reflected by the planar emitted light on the target object, and send the received planar reflected light to the signal processing device; the signal processing device is used to determine the characteristic information corresponding to the target object according to the planar reflected light. The technical solution provided by the present invention can improve the emission power of the planar emitted light, thereby expanding the measurement range, improving the signal-to-noise ratio of the laser radar, and thereby improving the measurement accuracy.

Description

Technical Field

[0001] The embodiments of the present invention relate to photoelectric detection technology, and in particular to a laser radar device. Background Art

[0002] Laser radar refers to an active remote sensing device that uses laser as the light source and adopts photoelectric detection technology. Laser radar is an advanced detection method that combines laser technology with modern photoelectric detection technology.

[0003] The existing laser radar includes: a transmitting device, a receiving device and a signal processing device. The transmitting device transmits light to the external field space, and the emitted light irradiates the target object and reflects the target echo corresponding to the target object; the receiving device receives the target echo corresponding to the target object; the signal processing device calculates the distance between each target point in the target object and the laser radar according to the target echo corresponding to the target object. In this way, the laser radar continuously transmits light to the target object, and the distance between all target points in the target object and the laser radar can be obtained. By using these distances for imaging processing, a three-dimensional image of the target object can be obtained.

[0004] The transmitting device of the existing laser radar is mainly composed of a surface light source, including: a surface light source formed by a plurality of light-emitting diodes arranged in parallel, a surface light source formed by a plurality of laser tubes arranged in parallel, or a surface light source formed by a pump laser. Due to the limitation of the manufacturing process, the larger the transmitting power of the surface light source, the larger the volume, resulting in a limited measurement range of the laser radar; and because the adjustable range of the pulse energy of the surface light source is limited, when facing target objects with different reflectivities, the pulse energy of the target echo is also different. Therefore, in a more complex measurement environment, the signal-to-noise ratio of the laser radar is relatively low, which leads to lower measurement accuracy. Summary of the invention

[0005] The present invention provides a laser radar device which can not only expand the measurement range but also improve the measurement accuracy.

[0006] An embodiment of the present invention provides a laser radar device, the laser radar device comprising: a transmitting device, a receiving device and a signal processing device; wherein the signal processing device is connected to the transmitting device and the receiving device respectively;

[0007] The emitting device is used to convert the point-like emitted light into planar-like emitted light, and emit the planar-like emitted light to the target object;

[0008] The receiving device is used to receive the planar reflected light reflected from the target object by the planar emitted light, and send the received planar reflected light to the signal processing device;

[0009] The signal processing device is used to determine the feature information corresponding to the target object according to the planar reflected light.

[0010] The embodiment of the present invention provides a laser radar device, which includes: a transmitting device, a receiving device and a signal processing device; wherein the signal processing device is connected to the transmitting device and the receiving device respectively; the transmitting device is used to convert the point-like emission light into planar emission light, and transmit the planar emission light to the target object; the receiving device is used to receive the planar reflection light reflected by the planar emission light on the target object, and send the received planar reflection light to the signal processing device; the signal processing device is used to determine the characteristic information corresponding to the target object according to the planar reflection light. In the technical solution provided by the present invention, the transmitting device in the laser radar device first converts the point-like emission light into planar emission light and transmits it to the target object, which can increase the emission power of the planar emission light, thereby expanding the measurement range. Furthermore, when facing target objects with different reflectivity, the power of the point-like emission light can be adjusted according to the information of each point-like reflection light in the planar reflection light, thereby improving the signal-to-noise ratio of the laser radar, thereby improving the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic structural diagram of a laser radar device in Embodiment 1 of the present invention;

[0012] Figure 2 is a schematic diagram of the structure of a transmitting device of a laser radar device in Embodiment 2 of the present invention;

[0013] Figure 2a is a schematic structural diagram of a linear light conversion module in an emitting device in Embodiment 2 of the present invention;

[0014] Figure 2b is a schematic structural diagram of a linear light conversion module in an emitting device in Embodiment 2 of the present invention;

[0015] Figure 2c It is a schematic diagram of the structure of the planar light conversion module in the emitting device in the second embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0017] Embodiment 1

[0018] Figure 11 is a schematic diagram of the structure of the laser radar device in the first embodiment of the present invention. The laser radar device provided in this embodiment can be applied to any radar ranging and speed measurement situation. The laser radar device mainly includes the following devices: a transmitting device 110, a receiving device 120 and a signal processing device 130; wherein the signal processing device 130 is connected to the transmitting device 110 and the receiving device 120 respectively.

[0019] The transmitting device 110 is used to convert point-like emitted light into planar emitted light, and emit the planar emitted light to the target object; the receiving device 120 is used to receive planar reflected light reflected from the target object by the planar emitted light, and send the received planar reflected light to the signal processing device 130; the signal processing device 130 is used to determine the characteristic information corresponding to the target object based on the planar reflected light.

[0020] The transmitting device of the existing laser radar is mainly composed of a surface light source, including: a surface light source formed by a plurality of light-emitting diodes arranged in parallel, a surface light source formed by a plurality of laser tubes arranged in parallel, or a surface light source formed by a pump laser. The principle of the emission of the laser radar surface light source: the laser emission driving circuit generates a laser signal and modulates the generated laser signal to output the modulated laser signal. The laser emission array generally includes a plurality of laser emitters, and the plurality of laser emitters are arranged at different positions on the same plane. The laser emission array receives the laser signal emitted by the laser driving circuit and distributes it evenly to each laser emitter. Each laser emitter emits a laser signal outward to form a surface emission. Due to the limitations of the existing manufacturing process, when realizing high-power surface illumination, the volume of the laser emission driving circuit will be very large, but the position for installing the laser emission driving circuit in the laser radar is limited, which leads to the limited measurement range of the existing laser radar.

[0021] In this embodiment, the emitting device 110 still performs surface emission to the target object, but does not use a conventional laser emitting array to generate a surface light source. The emitting device 110 converts point-like emission light into surface-like emission light through the principle of light reflection, and emits the surface-like emission light to the target object. Point-like emission light refers to the laser signal generated by the laser emission driving circuit. Point-like emission light refers to the laser signal generated by the laser emission driving circuit. Surface-like emission light refers to the surface-like emission light converted from point-like emission light after two reflections. Surface-like emission light is generally composed of multiple point-like emission lights.

[0022] In this embodiment, the receiving device 120 uses a laser ranging unit array, which is composed of a plurality of laser ranging units. The plurality of laser ranging units are arranged at different positions on the same plane. The receiving device 120 receives the planar reflected light reflected from the target object by the planar emitted light, and sends the received planar reflected light to the signal processing device 130.

[0023] In this embodiment, the signal processing device 130 is used to determine the relative distance information between the target object and the transmitting device according to the planar reflected light, and further determine the feature information corresponding to the target object according to the relative distance information between the target object and the transmitting device.

[0024] The embodiment of the present invention provides a laser radar device, which includes: a transmitting device, a receiving device and a signal processing device; wherein the signal processing device is connected to the transmitting device and the receiving device respectively; the transmitting device is used to convert the point-like emission light into the planar emission light, and transmit the planar emission light to the target object; the receiving device is used to receive the planar reflection light reflected by the planar emission light on the target object, and send the received planar reflection light to the signal processing device; the signal processing device is used to determine the characteristic information corresponding to the target object according to the planar reflection light. In the technical solution provided by the present invention, the transmitting device in the laser radar first converts the point-like emission light into the planar emission light and transmits it to the target object, which can increase the emission power of the planar emission light and thus expand the measurement range. Furthermore, when facing target objects with different reflectivity, the power of the point-like emission light can be adjusted according to the information of each point-like reflection light in the planar reflection light, thereby improving the signal-to-noise ratio of the laser radar and thus improving the measurement accuracy.

[0025] Embodiment 2

[0026] Figure 2 : is a schematic diagram of the structure of the transmitting device of the laser radar device in the first embodiment of the present invention. The transmitting device of the laser radar device provided in this embodiment can be applied to any radar system, and the transmitting device of the laser radar device mainly includes the following devices: a point light source transmitting module 210, a linear light conversion module 220 and a planar light conversion module 230; wherein the point light source transmitting module 210 is connected to the point light transmitting module 210 and the planar light conversion module 230 respectively.

[0027] The point light source emission module 210 is used to emit point-shaped emission light to the linear light conversion module 220 .

[0028] The point light source emission module 210 refers to any device that can emit a point light source, and may be a light emitting diode, a laser diode, an ultra-wideband light source, a coupled light source, and the like.

[0029] The linear light conversion module 220 is used to convert the point-shaped emitted light into linear emitted light, and emit the linear emitted light to the planar light conversion module 230 .

[0030] Figure 2a is a schematic diagram of the module structure of linear light conversion in the emitting device in the second embodiment of the present invention; Figure 2b FIG. 1 is a schematic diagram of the structure of a linear light conversion module in the emitting device in the second embodiment of the present invention. Figure 2a and Figure 2bAs shown, the linear light conversion module 220 includes: a first driving motor 223 and a first reflector 221; the first driving motor 223 is used to drive the first reflector 221 to rotate according to a preset first rotation speed; the first reflector 221 is used to convert point-like emitted light into linear emitted light during rotation.

[0031] In this embodiment, the point light source emission module 210 emits a point-shaped emission light, and the point-shaped emission light is incident on the first reflector 221. Since the first drive motor 223 drives the first reflector 221 to rotate along the first drive axis 222 at a preset first rotation speed, the light reflected by the first reflector 221 forms a line of emission light. For example, Figure 2a As described above, at the first moment, the first reflector 221 reflects the point-shaped emitted light to form a path of light that is irradiated onto the plane mirror 231. Figure 2b As shown, at the second moment, the first reflector 221 reflects the point-shaped emitted light to form a line of light, which is irradiated on the plane mirror 231. Because the first reflector 221 is driven by the first drive motor 223 to rotate along the first drive shaft 222 at a preset first rotation speed, the reflection angle of the reflected light of the point-shaped emitted light passing through the first plane mirror 221 will change continuously with the rotation of the first plane mirror 221. During the period between the first moment and the second moment, the reflected light of the first reflector 221 will form a line of emitted light, such as Figure 2b As shown, the dotted line in the figure refers to the linear emission light formed by the point emission light reflected by the reflector 221 during the period between the first moment and the second moment. The first rotation speed can be set as needed.

[0032] Further, the first reflector 221 is a prismatic reflector composed of at least three plane mirrors. The number of faces of the prismatic reflector can be determined according to the lateral scanning angle required by the system. The lateral scanning angle refers to the angle between the first path of reflected light formed by the point-like emitted light on the plane mirror and the last path of reflected light formed by the point-like emitted light on the plane mirror within one rotation cycle in one plane mirror of the prismatic reflector. It also refers to the angle between the first path of reflected light and the last path of reflected light in the linear light formed in the plane mirror 231. The lateral scanning angle is determined by the distance between the first reflector 221 and the second reflector 231 and the length of the linear reflected light. The length of the linear reflected light can be set as needed. Further, the number of faces of the prismatic plane mirror in the first plane mirror is equal to 720 degrees divided by the lateral scanning angle.

[0033] The planar light conversion module 230 is used to convert the linear emission light into planar emission light; and emit the planar emission light to the target object.

[0034] Figure 2cFIG. 1 is a schematic diagram of the structure of the planar light conversion module in the emitting device in the second embodiment of the present invention. Figure 2c The planar light conversion module includes: a second driving motor 233 and a second reflector 231; wherein the second driving motor 233 is used to drive the second reflector 231 to rotate at a preset second rotation speed; the second reflector 231 is used to convert the linear emission light into the planar emission light during the rotation process. Furthermore, the second reflector is a prismatic reflector composed of at least three plane mirrors or a plane reflector composed of one plane mirror.

[0035] In this embodiment, the linear emission light formed by the linear light conversion module 220 is irradiated on the second plane mirror 231 of the planar light conversion module 230, and a line of linear emission light is formed on the second plane mirror 231. Since the second plane mirror 231 rotates along the second driving shaft 232 at a preset second rotation speed under the drive of the second driving motor 233, the reflection angle of the reflected light of the linear emission light passing through the second plane mirror 231 will continuously change with the rotation of the second plane mirror 231, thereby converting the linear emission light into planar emission light.

[0036] Further, when the second reflector 231 is a prismatic reflector composed of at least three plane mirrors, the second reflector 231 rotates 360 degrees at a preset second rotation speed; when the second reflector 231 is a plane reflector composed of a plane mirror, the second reflector 231 swings within a preset angle at a preset second rotation speed. The second rotation speed can be set as needed. Further, the number of faces constituting the second reflector 231 can be set as needed by the length of the planar reflected light. And the rotation speed of the second reflector 231 can be changed in real time as needed. Further, when the second reflector 231 is a plane reflector composed of a plane mirror, the rotation speed of the second reflector 231 is an integer multiple of the quotient of 360 degrees and the number of faces of the first reflector. In this way, it can be ensured that the first reflector forms a complete linear emission light in the second reflector, and there will be no phenomenon that a linear emission light is disconnected from the middle in the second reflector.

[0037] Furthermore, the first drive motor 223 is specifically used to receive a first control signal sent by the signal processing device; according to the first control signal, the first reflector 221 is driven to rotate at a preset first rotation speed. The second drive motor 233 is specifically used to receive a second control signal sent by the signal processing device; according to the second control signal, the second reflector 231 is driven to rotate at a preset second rotation speed.

[0038] Furthermore, the point light source transmitting module 210 can also receive a third control signal sent by the signal processing device, and adjust the power of the point-shaped emitted light according to the third control. The third control signal sent by the signal processing device is determined by one of the point-shaped reflected lights in the planar reflected light received by the receiving module. Furthermore, the planar reflected light received by the receiving module is still composed of multiple point-shaped emitted lights. The power of the current point-shaped emitted light can be determined based on the power of the current point-shaped reflected light and the reflectivity of the target object. In this way, for objects with different reflectivities, the power of the point-shaped emitted light can be adjusted, thereby improving the signal-to-noise ratio of the receiving device and improving the measurement accuracy.

[0039] Furthermore, the emitting device 210 also includes a collimating module; the collimating module is used to collimate the point-shaped emitted light into parallel light.

[0040] The embodiment of the present invention provides a transmitting device of a laser radar device, which includes: a point light source transmitting module, a linear light transmitting module and a planar light transmitting module; the point light source transmitting module is used to transmit point-shaped emission light to the linear light transmitting module; the linear light transmitting module is used to convert the point-shaped emission light into linear emission light of a third power; the linear emission light is transmitted to the planar light transmitting module; the planar light transmitting module is used to convert the linear emission light into planar emission light; and the planar emission light is transmitted to the target object. In the technical solution provided by the present invention, the transmitting device in the laser radar device first converts the point-shaped emission light into linear emission light; then converts the linear emission light into planar emission light; and transmits the planar emission light to the target object, which can increase the emission power of the planar emission light and thus expand the measurement range. Furthermore, when facing target objects with different reflectivities, the power of the point-shaped emission light can be adjusted according to the information of each point-shaped reflection light in the planar reflection light, thereby improving the signal-to-noise ratio of the laser radar and thus improving the measurement accuracy.

[0041] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A laser radar device, characterized in that: include: A transmitting device, a receiving device and a signal processing device; wherein the signal processing device is connected to the transmitting device and the receiving device respectively; The emitting device is used to convert the point-like emitted light into planar-like emitted light, and emit the planar-like emitted light to the target object; The receiving device is used to receive the planar reflected light reflected from the target object by the planar emitted light, and send the received planar reflected light to the signal processing device; The signal processing device is used to determine the characteristic information corresponding to the target object according to the planar reflected light; The emitting device comprises: a point light source emitting module, a linear light conversion module and a planar light conversion module; wherein the linear light conversion module is connected to the point light source emitting module and the planar light conversion module respectively; The point light source emission module is used to emit the point-shaped emission light to the linear light conversion module; The linear light conversion module is used to convert the point-shaped emission light into linear emission light; and transmit the linear emission light to the planar light conversion module; The planar light conversion module is used to convert the linear emission light into the planar emission light; and emit the planar emission light to the target object; The point light source emission module is also used to receive a third control signal sent by the signal processing device, and adjust the power of the point-shaped emission light according to the third control signal; The linear light conversion module comprises: a first driving motor and a first reflecting mirror; The first driving motor is used to drive the first reflecting mirror to rotate at a preset first rotation speed; The first reflector is used to convert the point-shaped emission light into the line-shaped emission light during the rotation process; The planar light conversion module comprises: a second driving motor and a second reflecting mirror; wherein, The second driving motor is used to drive the second reflector to rotate at a preset second rotation speed; The second reflector is used to convert the linear emission light into the planar emission light during the rotation process; The second reflector is a plane reflector composed of a plane mirror, and the rotation speed of the second reflector is an integer multiple of the quotient of 360 degrees and the number of faces of the first reflector.

2. The laser radar device according to claim 1, characterized in that: The first reflector is a prismatic reflector composed of at least three plane mirrors.

3. The laser radar device according to claim 1, characterized in that: The first driving motor is specifically configured to receive a first control signal sent by the signal processing device; and drive the first reflector to rotate at a preset first rotation speed according to the first control signal.

4. The laser radar device according to claim 1, characterized in that: The second driving motor is specifically configured to receive a second control signal sent by the signal processing device; and drive the second reflector to rotate at a preset second rotation speed according to the second control signal.

5. The laser radar device according to claim 1, characterized in that: The transmitting device further comprises: a collimation module; wherein, The collimation module is used to collimate the point-shaped emitted light into parallel light.

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