Laser radar optical device and laser radar system

Abstract

The present invention provides a laser radar optical device and a laser radar system. By adding a first wedge-shaped mirror to a laser emitting unit, the first wedge-shaped mirror changes the optical axis direction of the outgoing laser of the laser emitting device, and the collimating mirror group collimates the outgoing laser of the laser emitting device, the obtained vertical field of view distribution is the required asymmetric field of view distribution, and then by adding a second wedge-shaped mirror to a laser receiving unit, the second wedge-shaped mirror changes the optical axis direction of the echo light beam, and the converging mirror group converges the echo light beam, thereby realizing the reception of the echo light beam by the laser detection device. The present invention realizes the change of the vertical field of view distribution by adding a first wedge-shaped mirror, and the change of the first wedge-shaped mirror can realize different vertical field of view distributions, without changing and debugging other devices, reducing the design difficulty, simplifying the debugging process, shortening the manufacturing cycle, and reducing the manufacturing cost; and can reduce the edge aberration, significantly improving the imaging quality of the edge field of view light beam.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser radar optical device and a laser radar system. Background Art

[0002] Lidar is a product of the combination of laser technology with atmospheric optics, target and environmental characteristics, radar technology, optomechanical integration, and computer technology. Laser, as its light source, has the advantages of good monochromaticity, high collimation, and strong coherence, and is widely used in various fields such as distance measurement, atmospheric detection, and road monitoring.

[0003] At present, most laser radar systems detect targets within a predetermined range with a fixed vertical field of view and resolution. The structure with a vertical field of view angle symmetrical about the central axis is common and relatively simple. If the vertical field of view angle is to be changed to an asymmetrical distribution, or the vertical resolution of the entire system is to be changed, the structure of the entire laser radar needs to be redesigned and re-debugged. At the same time, this design has certain limitations and can only meet the requirements of the vertical field of view distribution. If a laser radar system with other vertical field of view angles or vertical resolutions is required, it needs to be designed and debugged again, which costs a lot of manpower and material costs. Summary of the invention

[0004] The present invention provides a laser radar optical device and a laser radar system, which can change the vertical field of view distribution of the laser radar system without redesigning and debugging the laser emitting device, reduce manpower and material costs, simplify the debugging process, shorten the manufacturing cycle, and improve efficiency.

[0005] A first aspect of the present invention is to provide a laser radar optical device, comprising: a laser emitting unit and a laser receiving unit;

[0006] The laser emitting unit includes a laser emitting device, a first wedge-shaped mirror and a collimating lens group, wherein the collimating lens group is used to collimate the outgoing laser of the laser emitting device, and the first wedge-shaped mirror is used to change the optical axis direction of the outgoing laser of the laser emitting device, thereby changing the vertical field of view distribution of the laser radar;

[0007] The laser receiving unit comprises a laser detector, a second wedge-shaped mirror and a focusing lens group, wherein the focusing lens group is used to focus the echo light beam, and the second wedge-shaped mirror is used to change the optical axis direction of the echo light beam and is received by the laser detector.

[0008] Further, the first wedge-shaped mirror is located between the laser emitting device and the collimating lens group; or, the first wedge-shaped mirror is located on a side of the collimating lens group away from the laser emitting device; or, the first wedge-shaped mirror is located between two adjacent lenses in the collimating lens group;

[0009] The second wedge-shaped mirror is located between the converging mirror group and the laser detector device; or, the second wedge-shaped mirror is located on a side of the converging mirror group away from the laser detector device; or, the second wedge-shaped mirror is located between two adjacent lenses in the converging mirror group.

[0010] Furthermore, the refractive index of the first wedge-shaped mirror has a gradient refractive index in the vertical direction.

[0011] Furthermore, the number of gradients of the gradient refractive index of the first wedge-shaped mirror is less than or equal to the number of the laser emitting devices, and at least one outgoing laser beam passes through each gradient.

[0012] Furthermore, the number of the laser emitting devices is not less than 2, and the angle between the optical axes of two adjacent outgoing lasers in the vertical direction is not less than 0.2°; and / or

[0013] The wedge angle of the first wedge mirror is greater than 0° and less than or equal to 54°; and / or

[0014] The gradient refractive index of the first wedge-shaped mirror is in the range of 1.3 to 2.45.

[0015] Furthermore, the refractive index of the second wedge-shaped mirror has a gradient refractive index in the vertical direction.

[0016] Furthermore, the number of gradients of the gradient setting rate of the second wedge-shaped mirror is less than or equal to the number of the laser detection devices, and at least one echo light beam passes through each gradient.

[0017] Furthermore, the number of the laser detector devices is not less than 2, and the angle between the optical axes of two adjacent laser detector devices in the vertical direction is not less than 0.2°; and / or

[0018] The wedge angle of the second wedge mirror is greater than 0° and less than or equal to 54°; and / or

[0019] The gradient refractive index of the second wedge-shaped mirror is in the range of 1.3 to 2.45.

[0020] Furthermore, the collimating lens assembly includes at least one free-form surface lens or a spherical mirror; and / or

[0021] The converging mirror group includes at least one free-form surface lens or a spherical mirror.

[0022] A second aspect of the present invention is to provide a laser radar system, comprising: the laser radar optical device as described in the first aspect, as well as a rotating support unit, a circuit control unit and a signal processing unit.

[0023] The laser radar optical device and laser radar system provided by the present invention, by adding a first wedge-shaped mirror to the laser emitting unit, the first wedge-shaped mirror changes the optical axis direction of the outgoing laser of the laser emitting device, and the collimating mirror group collimates the outgoing laser of the laser emitting device, the obtained vertical field of view distribution is the required asymmetric field of view distribution, and then by adding a second wedge-shaped mirror to the laser receiving unit, the second wedge-shaped mirror changes the optical axis direction of the echo light beam, and the converging mirror group converges the echo light beam, so as to realize the reception of the echo light beam by the laser detector. The present invention can change the vertical field of view distribution by adding a first wedge-shaped mirror without changing the angle between the laser emitting device and the laser detector, and different vertical field of view distributions can be realized by using different first wedge-shaped mirrors, and other devices do not need to be changed and debugged, which reduces the design difficulty, simplifies the debugging process, shortens the manufacturing cycle, and reduces the manufacturing cost; and after adding the first wedge-shaped mirror and the second wedge-shaped mirror, the edge aberration can be reduced, and the imaging quality of the edge field of view light beam can be significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 A schematic diagram of an optical path of a laser radar system with a symmetrical field of view in the prior art;

[0026] Figure 2 A schematic diagram of the structure of a laser radar system provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of a laser radar optical device provided by an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of the structure and optical path of a laser radar optical device provided in another embodiment of the present invention.

[0029] Reference numerals:

[0030] 100-laser emitting unit; 110-laser emitting device;

[0031] 120-a first wedge-shaped mirror; 130-a collimating mirror group;

[0032] 200-laser receiving unit; 210-laser detection device;

[0033] 220-a second wedge-shaped mirror; 230-a converging mirror group;

[0034] 300-circuit control unit; 400-rotation support unit;

[0035] 500-Signal processing unit; 600-Measured object. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0038] The laser radar in the prior art usually adopts a laser radar system with a symmetrical field of view, and its optical path diagram is as follows: Figure 1 As shown in the figure, the bisector of the vertical field of view of the symmetrical field of view laser radar system is the central axis of the system, as shown in Figure 1The laser radar system in the embodiment has three laser emitting devices 110, wherein the angle between the outgoing laser of the top laser emitting device and the central axis of the system is -8.5°, the angle between the outgoing laser of the middle laser emitting device and the central axis of the system is 0°, and the angle between the outgoing laser of the bottom laser emitting device and the central axis of the system is 8.5°. Therefore, the vertical field of view angle of the laser radar system is between plus and minus 8.5°, and the vertical resolution is also uniformly distributed. In the prior art, if it is necessary to change the laser radar system with a symmetrical vertical field of view angle to an asymmetrical vertical field of view distribution, it is necessary to redesign the angle of the laser emitting device 110 and re-debug it, which requires a lot of manpower and material costs and has low efficiency.

[0039] Figure 2 The schematic diagram of the structure of the laser radar system provided by the embodiment of the present invention is as follows: This embodiment provides a laser radar optical device, including: a laser emitting unit 100 and a laser receiving unit 200.

[0040] Among them, the laser emitting unit 100 includes a laser emitting device 110, a first wedge-shaped mirror 120 and a collimating lens group 130. The collimating lens group 130 is used to collimate the outgoing laser of the laser emitting device 110, and the first wedge-shaped mirror 120 is used to change the optical axis direction of the outgoing laser of the laser emitting device 110, thereby changing the vertical field of view distribution of the laser radar.

[0041] In this embodiment, a first wedge-shaped mirror 120 may be added between the laser emitting device 110 and the collimating lens group 130. The laser emitted by the laser emitting device 110 is refracted once by the first wedge-shaped mirror 120, thereby changing the optical axis direction of the laser emitted by the laser emitting device 110. The laser is then collimated by the collimating lens group 130, and the obtained vertical field of view distribution is the desired asymmetric field of view distribution. Of course, the first wedge-shaped mirror 120 may also be set on the side of the collimating lens group 130 away from the laser emitting device 110, that is, the collimating lens group 130 is located between the first wedge-shaped mirror 120 and the laser emitting device 110; or the first wedge-shaped mirror 120 may also be set between two adjacent lenses in the collimating lens group 130 (for example, the collimating lens group 130 is located between the first wedge-shaped mirror 120 and the laser emitting device 110); Figure 2 The middle collimating lens group 130 includes three lenses, and the first wedge mirror 120 can be arranged between any two adjacent lenses).

[0042] For example Figure 2 There are three laser emitting devices 110, and the arrangement method can be the same as Figure 1The symmetrical arrangement shown in the figure, that is, the angle between the outgoing laser of the top laser emitting device and the horizontal line is -8.5°, the angle between the outgoing laser of the middle laser emitting device and the horizontal line is 0°, and the angle between the outgoing laser of the bottom laser emitting device and the horizontal line is 8.5°. The outgoing lasers of the three laser emitting devices 110 change their optical axis directions after passing through the first wedge-shaped mirror 120. In this embodiment, the wedge angle of the first wedge-shaped mirror 120 is 14°, and the refractive index of the first wedge-shaped mirror 120 is 1.5. It can be obtained that the outgoing laser of the top laser emitting device changes its optical axis direction after passing through the first wedge-shaped mirror After the laser beam is 100, the angle between the optical axis and the horizontal line is -16.30°. After the laser beam of the middle laser emitting device passes through the first wedge-shaped mirror 120, the angle between the optical axis and the horizontal line is -7.28°. After the laser beam of the bottom laser emitting device passes through the first wedge-shaped mirror 120, the angle between the optical axis and the horizontal line is 1.42°. After collimation by the collimating lens group 130, the vertical field angle obtained is between -16.30° and 1.42°, that is, the vertical field angle is changed from symmetrical to asymmetrical, and the angle between adjacent light beams is still 8.5° (that is, the vertical resolution is not changed). Further, the light beam emitted by the laser emitting unit 100 irradiates the measured object 600 in front, and the echo light beam scattered back is received by the laser receiving unit 200 and converted into an electrical signal, which is processed by the subsequent signal processing unit 500.

[0043] It should be noted that in this embodiment, the wedge angle of the first wedge mirror 120 is upward. If a vertical field of view distribution in the opposite direction, i.e., -1.42° to 16.30°, is required, the direction of the first wedge mirror 120 can be changed, and the wedge angle can be set downward. In addition, if other vertical field of view angle distributions are required, the wedge angle and / or refractive index of the first wedge mirror 120 can be changed without changing the angle of the laser emitting device 110.

[0044] In addition, if Figure 1 As shown, in this embodiment, the surface of the first wedge-shaped mirror 120 facing the laser emitting device 110 is arranged in a vertical direction, which is convenient for optical path calculation, and is certainly not limited to being arranged in a vertical direction, for example, being arranged in an inclined direction. The cross section of the first wedge-shaped mirror 120 in this embodiment is a right triangle, and of course the cross section of the first wedge-shaped mirror 120 can also be other triangles or trapezoids.

[0045] Correspondingly, the laser receiving unit 200 includes a laser detector 210, a second wedge-shaped mirror 220 and a focusing lens group 230. The focusing lens group 230 is used to focus the echo light beam. The second wedge-shaped mirror 220 is used to change the optical axis direction of the echo light beam and is received by the laser detector 210.

[0046] In this embodiment, the laser receiving unit 200 may also adopt a method of adding a second wedge-shaped mirror 220. Specifically, the second wedge-shaped mirror 220 may be arranged between the focusing lens group 230 and the laser detector device 210. The echo light beam scattered back by the measured object 600 is firstly converged by the focusing lens group 230, and then the optical axis direction of the echo light beam is changed by the second wedge-shaped mirror 220, and then received by the laser detector device 210. Of course, the second wedge-shaped mirror 220 may also be arranged on the side of the focusing lens group 230 away from the laser detector device 210, that is, the focusing lens group 230 is located between the second wedge-shaped mirror 220 and the laser detector device 210; or the second wedge-shaped mirror 220 may also be arranged between two adjacent lenses in the focusing lens group 230 (for example, the second wedge-shaped mirror 220 is arranged between the second wedge-shaped mirror 220 and the laser detector device 210). Figure 2 The central converging lens group 230 includes three lenses, and the second wedge-shaped mirror 220 can be disposed between any two adjacent lenses).

[0047] It should be noted that the second wedge mirror 220 can be the same as the first wedge mirror 120, and of course a second wedge mirror different from the first wedge mirror 120 can be designed as needed. More specifically, for a laser radar system in which the laser emitting device and the laser detecting device are symmetrical, the first wedge mirror 120 and the second wedge mirror 220 can be the same, while in the asymmetrical case, the first wedge mirror 120 and the second wedge mirror 220 are different. In addition, the second wedge mirror 220 is added in this embodiment to avoid the need to redesign and debug the angle of the laser detecting device after changing the vertical field of view distribution. Of course, it is also possible to only add the first wedge mirror to the laser emitting unit and not add the second wedge mirror to the laser receiving unit. In this case, although the vertical field of view distribution can be changed, the laser detecting device 210 needs to be re-adjusted.

[0048] The laser radar optical device provided in this embodiment adds a first wedge-shaped mirror to the laser emitting unit, changes the optical axis direction of the outgoing laser of the laser emitting device by the first wedge-shaped mirror, and collimates the outgoing laser of the laser emitting device by the collimating lens group, so that the vertical field of view distribution obtained is the required asymmetric field of view distribution, and then adds a second wedge-shaped mirror to the laser receiving unit, changes the optical axis direction of the echo beam by the second wedge-shaped mirror, and converges the echo beam by the converging lens group, so that the laser detector device receives the echo beam. In this embodiment, the vertical field of view distribution can be changed by adding a first wedge-shaped mirror without changing the angle between the laser emitting device and the laser detector device, and different vertical field of view distributions can be achieved by using different first wedge-shaped mirrors, and other devices do not need to be changed or debugged, which reduces the design difficulty, simplifies the debugging process, shortens the manufacturing cycle, and reduces the manufacturing cost; and after adding the first wedge-shaped mirror and the second wedge-shaped mirror, the field of view edge aberration can be reduced, and the imaging quality of the edge field of view beam can be significantly improved.

[0049] More specifically, Figure 3As shown, in this embodiment, the change of the vertical field of view distribution of the wedge mirror is explained in principle. The edge beam emitted by the laser emitting device 110 and the horizontal line are α and β respectively, the wedge angle of the first wedge mirror 120 is θ, the angles between the edge beam inside the first wedge mirror 120 and the horizontal line are α1 and β1 respectively, the edge angles of the laser beam after passing through the first wedge mirror 120 are α2 and β2 respectively, and the refractive index of air is n 空气 The refractive index of the first wedge mirror 120 is n 镜子 When the angle of the laser beam emitted by the laser emitting unit 100 is less than 0, the angle between the laser beam and the horizontal line after passing through the boot-shaped mirror can be determined according to the following formula:

[0050] n 空气 sin(-α)=n 镜子 sinα1 Formula 1

[0051] n 镜子 sin(θ+α1)=n 空气 sin(-α2+θ) Formula 2

[0052] Similarly, when the angle of the laser beam emitted by the laser emitting unit 100 is greater than 0, the angle between the laser beam and the central axis after passing through the boot-shaped mirror can be determined according to the following formula:

[0053] n 空气 sinβ=n 镜子 sinβ1 Formula 3

[0054] n 镜子 sin(θ-β1)=n 空气 sin(θ-β2) Formula 4

[0055] When the angle of the laser beam emitted by the laser emitting unit 100 is equal to 0, the formula is simplified to Formula 5

[0056] n 镜子 sin(θ)=n 空气 sin(θ-β2) Formula 5

[0057] In this embodiment, the selection of the guiding wedge mirror or the calculation of the vertical field angle can be performed according to the above formulas 1 to 5. For example, when α and β, as well as α2 and β2 are known, the appropriate θ and / or n can be selected by calculation. 镜子 , or when α and β, and θ and n are known 镜子 In this case, α2 and β2 can be calculated.

[0058] Further, based on the above embodiment, the refractive index of the first wedge-shaped mirror 120 has a gradient refractive index in the vertical direction.

[0059] like Figure 3As shown, the refractive index of the first wedge-shaped mirror 120 in this embodiment can be a gradient refractive index, that is, different positions of the first wedge-shaped mirror 120 in the vertical direction have different refractive indices (the cross-sectional view of the first wedge-shaped mirror 120 is divided into three areas as an example in the figure). Through the gradient refractive index of the first wedge-shaped mirror 120, the angle between adjacent light beams in the vertical direction can be changed, thereby changing the vertical resolution of the laser radar system.

[0060] Furthermore, the refractive index of the second wedge-shaped mirror 220 has a gradient refractive index in the vertical direction. Similarly, the second wedge-shaped mirror 220 in this embodiment can realize the collection of the echo light beam reflected when the object is scanned in the asymmetric vertical field of view.

[0061] In this embodiment, Figure 4 As shown, the laser emitting unit 100 may include a laser emitting device 110, a first wedge-shaped mirror 120 and a collimating lens group 130, three laser emitting devices 110 are provided, and the angles between the optical axis of the emitted laser and the horizontal line are -8.5°, 0°, and +8.5° respectively. The laser receiving unit 200 may include a laser detector device 210, a second wedge-shaped mirror 220 and a converging lens group 230, three laser detector devices 210 are provided, and the refractive index of the first wedge-shaped mirror 120 has a gradient refractive index in the vertical direction, and the refractive index from the wedge angle to the wedge bottom direction is 1.40, 1.37, and 1.32 respectively, and the three lasers After the outgoing laser of the emitting device 110 passes through the first wedge-shaped mirror 120, the angles between the light beam and the horizontal direction are -18°, -8°, and +2°, respectively, and the angle between adjacent light beams is 10° (if the wedge-shaped mirror does not have a gradient refractive index, the angle between adjacent light beams is 8.5°, which means that the gradient refractive index of the wedge-shaped mirror can change the vertical resolution). Similarly, the refractive index of the second wedge-shaped mirror 220 also has a gradient refractive index in the vertical direction, and the refractive index from the wedge angle to the bottom of the wedge is 1.40, 1.37, and 1.32, respectively. Therefore, in this embodiment, the vertical field of view and vertical resolution of the laser radar system can be changed.

[0062] Furthermore, the number of gradients of the gradient refractive index of the first wedge-shaped mirror 120 is less than or equal to the number of the laser emitting devices 110, and at least one outgoing laser beam passes through each gradient.

[0063] In this embodiment, the number of gradients of the gradient refractive index of the first wedge-shaped mirror 120 can be selected according to the actual demand for vertical resolution. For example, if there are three laser emitting devices 110 in the vertical direction, the number of gradients of the gradient refractive index of the first wedge-shaped mirror 120 can be set to three, and the emitted laser of each laser emitting device 110 passes through a gradient region respectively, such as Figure 2As shown, of course, the number of gradients of the gradient refractive index of the first wedge-shaped mirror 120 can also be set to two, and the outgoing lasers of the first laser emitting device 110 and the second laser emitting device 110 pass through one gradient area respectively, and the outgoing lasers of the third laser emitting device 110 pass through another gradient area respectively. The number of gradients of the gradient refractive index of the first wedge-shaped mirror 120 is less than or equal to the number of laser emitting devices 110, and at least one outgoing laser beam passes through each gradient, in order to avoid a certain gradient of the first wedge-shaped mirror 120 where no light beam passes, thereby wasting resources and manufacturing processes.

[0064] Furthermore, the number of the laser emitting devices 110 is not less than 2, and the angle between the optical axes of two adjacent outgoing laser beams in the vertical direction is not less than 0.2°; and / or

[0065] The wedge angle of the first wedge mirror 120 is greater than 0° and less than or equal to 54°; and / or

[0066] The gradient refractive index of the first wedge-shaped mirror 120 ranges from 1.3 to 2.45.

[0067] In this embodiment, the number and setting angle of the laser emitting devices 110 can be set according to actual needs to cover the vertical scanning field of view. The wedge angle of the first wedge mirror 120 can be selected from 0° to 54°. In this embodiment, the angle for the common laser emitting device is usually in the range of -20° to 20°. If the wedge angle of the first wedge mirror 120 is greater than 54°, the vertical field of view angle obtained will be all negative, that is, the laser radar system can only scan the area below its axis, which is not applicable to the laser radar system used in the field of unmanned driving, especially the unmanned vehicle may need to scan objects higher than itself, and if the vertical field of view angle of the laser radar set on the vehicle is all negative, it is not convenient for the unmanned vehicle to scan objects higher than itself, so the wedge angle of the first wedge mirror 120 can be selected from 0° to 54°. Of course, for a laser radar system set at a high place, such as a laser radar system set on a traffic gantry, it is necessary to scan the vehicles passing below, and it is not necessary to scan the area above its axis. The wedge angle of the first wedge mirror 120 is not limited to 0° to 54°. In addition, in the present embodiment, the gradient refractive index of the first wedge-shaped mirror 120 is selected to be 1.3-2.45, which is relatively easy to implement. Common glass materials can be used to achieve the above gradient refractive index range, which can reduce the cost of the first wedge-shaped mirror 120 .

[0068] Furthermore, the number of gradients of the gradient setting rate of the second wedge-shaped mirror 220 is less than or equal to the number of the laser detection devices 210, and at least one echo light beam passes through each gradient.

[0069] Furthermore, the number of the laser detector devices 210 is not less than 2, and the angle between the optical axes of two adjacent laser detector devices 210 in the vertical direction is not less than 0.2°; and / or

[0070] The wedge angle of the second wedge mirror 220 is greater than 0° and less than or equal to 54°; and / or

[0071] The gradient refractive index of the second wedge-shaped mirror 220 is in the range of 1.3 to 2.45.

[0072] In this embodiment, the setting principle of the parameters of the second wedge mirror 220 can be the same as that of the first wedge mirror 120, and will not be repeated here. It should be noted that the parameters of the second wedge mirror 220 can be the same as those of the first wedge mirror 120, or can be different, and the number of laser detection devices 210 is not limited to the same as the number of laser emitting devices 110.

[0073] Furthermore, the collimating lens assembly 130 includes at least one free-form surface lens or a spherical mirror; and / or

[0074] The converging lens assembly 230 includes at least one free-form surface lens or a spherical mirror.

[0075] In this embodiment, the collimating lens group 130 is used to collimate each light beam passing through it, and the converging lens group 230 is used to converge the echo light beam. Any form of the collimating lens group 130 and the converging lens group 230 in the prior art can be used respectively, wherein the collimating lens group 130 and the converging lens group 230 can each include at least one free-form surface lens or spherical mirror, which will not be repeated here.

[0076] Another embodiment of the present invention provides a laser radar system, comprising: the laser radar optical device as described in the above embodiment, as well as a rotation support unit 400, a circuit control unit 300 and a signal processing unit 500.

[0077] Among them, the laser radar optical device is arranged on the rotating support unit 400, so as to realize the rotational scanning of the laser radar system; the circuit control unit 300 is used to control the rotation of the rotating support unit 400, and of course it can also control the laser radar optical device; the signal processing unit 500 is used to process the signal collected by the laser receiving unit 200.

[0078] In this embodiment, the laser radar optical device includes: a laser emitting unit 100 and a laser receiving unit 200, wherein the laser emitting unit 100 includes a laser emitting device 110, a first wedge-shaped mirror 120 and a collimating lens group 130, the collimating lens group 130 is used to collimate the outgoing laser of the laser emitting device 110, and the first wedge-shaped mirror 120 is used to change the optical axis direction of the outgoing laser of the laser emitting device 110, thereby changing the vertical field of view distribution of the laser radar;

[0079] The laser receiving unit 200 includes a laser detector 210 , a second wedge-shaped mirror 220 and a focusing lens group 230 . The focusing lens group 230 is used to focus the echo light beam. The second wedge-shaped mirror 220 is used to change the optical axis direction of the echo light beam and is received by the laser detector 210 .

[0080] The laser radar system provided in this embodiment adds a first wedge-shaped mirror to the laser emitting unit, changes the optical axis direction of the outgoing laser of the laser emitting device by the first wedge-shaped mirror, and collimates the outgoing laser of the laser emitting device by the collimating lens group, so that the vertical field of view distribution obtained is the required asymmetric field of view distribution, and then adds a second wedge-shaped mirror to the laser receiving unit, changes the optical axis direction of the echo beam by the second wedge-shaped mirror, and converges the echo beam by the converging lens group, so that the laser detector device receives the echo beam. In this embodiment, the vertical field of view distribution can be changed by adding a first wedge-shaped mirror without changing the angle between the laser emitting device and the laser detector device, and different vertical field of view distributions can be achieved by using different first wedge-shaped mirrors, and other devices do not need to be changed or debugged, which reduces the design difficulty, simplifies the debugging process, shortens the manufacturing cycle, and reduces the manufacturing cost; and after adding the first wedge-shaped mirror and the second wedge-shaped mirror, the edge aberration can be reduced, and the imaging quality of the edge field of view beam can be significantly improved.

[0081] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser radar optical device, characterized in that: include: A laser emitting unit and a laser receiving unit; The laser emitting unit includes a laser emitting device, a first wedge-shaped mirror and a collimating lens group, wherein the collimating lens group is used to collimate the outgoing laser of the laser emitting device, and the first wedge-shaped mirror is used to change the optical axis direction of the outgoing laser of the laser emitting device, thereby changing the vertical field of view distribution of the laser radar; the refractive index of the first wedge-shaped mirror has a gradient refractive index in the vertical direction; The laser receiving unit comprises a laser detector, a second wedge-shaped mirror and a focusing mirror group, wherein the focusing mirror group is used to focus the echo light beam, and the second wedge-shaped mirror is used to change the optical axis direction of the echo light beam and is received by the laser detector; the refractive index of the second wedge-shaped mirror has a gradient refractive index in the vertical direction; The number of gradients of the gradient refractive index of the first wedge-shaped mirror is less than or equal to the number of the laser emitting devices, and at least one outgoing laser beam passes through each gradient; the number of gradients of the gradient setting rate of the second wedge-shaped mirror is less than or equal to the number of the laser detection devices, and at least one echo light beam passes through each gradient.

2. The laser radar optical device according to claim 1, characterized in that: The first wedge-shaped mirror is located between the laser emitting device and the collimating lens group; or, the first wedge-shaped mirror is located on a side of the collimating lens group away from the laser emitting device; or, the first wedge-shaped mirror is located between two adjacent lenses in the collimating lens group; The second wedge-shaped mirror is located between the converging mirror group and the laser detector device; or, the second wedge-shaped mirror is located on a side of the converging mirror group away from the laser detector device; or, the second wedge-shaped mirror is located between two adjacent lenses in the converging mirror group.

3. The laser radar optical device according to claim 1 or 2, characterized in that: The number of the laser emitting devices is not less than 2, and the angle between the optical axes of two adjacent outgoing laser beams in the vertical direction is not less than 0.2°; and / or The wedge angle of the first wedge mirror is greater than 0° and less than or equal to 54°; and / or The gradient refractive index of the first wedge-shaped mirror is in the range of 1.3 to 2.

45.

4. The laser radar optical device according to claim 1 or 2, characterized in that: The number of the laser detectors is not less than 2, and the angle between the optical axes of two adjacent laser detectors in the vertical direction is not less than 0.2°; and / or The wedge angle of the second wedge mirror is greater than 0° and less than or equal to 54°; and / or The gradient refractive index of the second wedge-shaped mirror is in the range of 1.3 to 2.

45.

5. The laser radar optical device according to claim 2, characterized in that: The collimating lens assembly comprises at least one free-form surface lens or a spherical mirror; and / or The converging mirror group includes at least one free-form surface lens or a spherical mirror.

6. A laser radar system, characterized in that: It comprises a laser radar optical device as described in any one of claims 1 to 5, as well as a rotation support unit, a circuit control unit and a signal processing unit.

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