Optical component detection system for laser radar and laser radar

Abstract

The present invention provides an optical component detection system for a laser radar. The optical component includes a transmitting optical component and a receiving optical component. The optical component detection system includes: a detection laser and a detection detector. The detection laser is configured to emit a detection laser beam, which passes through the transmitting optical component and / or the receiving optical component and is emitted to the outside of the laser radar or incident on the detection detector; the detection detector is configured to receive the detection laser beam or the echo of the detection laser beam after being reflected from a target and passing through the receiving optical component, and convert it into a detection electrical signal; and a signal processing unit communicates with the detection detector to receive the detection electrical signal and is configured to determine the operating status of the optical component based on the detection electrical signal. The optical component detection system designed by the present invention can detect the operating status of the transmitting and / or receiving optical components and the in-place status of each optical device during radar operation, thereby improving the efficiency of radar fault detection.

Description

Technical Field

[0001] The present disclosure relates to the field of photoelectric detection, and in particular to an optical component detection system for a laser radar and a laser radar. Background Art

[0002] LiDAR (LiDAR) is a radar system that uses laser beams to detect target characteristics such as position and velocity. It is an advanced detection method that combines laser technology with photoelectric detection technology. Due to its advantages such as high resolution, good concealment, strong resistance to active interference, excellent low-altitude detection performance, small size, and light weight, LiDAR is widely used in autonomous driving, transportation communications, drones, intelligent robots, resource exploration, and other fields.

[0003] Optical devices (such as convex and concave lenses, plane mirrors, concave mirrors, convex mirrors, and semi-transparent mirrors) serve as the core components of LiDAR. They collimate, deflect, reflect, and converge the light emitted by the laser and the light reflected from the target, thereby achieving different optical path designs based on the functional requirements of the LiDAR. Each optical device has its own unique role in LiDAR. Only when all optical devices are functioning properly can the light path be correctly guided, ensuring the LiDAR maintains high detection performance.

[0004] During LiDAR operation, external vibrations, glue failure, and other factors can cause optical component anomalies, such as breakage or displacement. Any such anomaly can shift the optical path, degrading or even eliminating the system's functionality and impacting radar performance. If the optical system is used in safety-related systems, optical component anomalies can also pose a safety risk. Therefore, it's essential to detect LiDAR optical component anomalies.

[0005] Before leaving the factory, the laser radar will calibrate each optical device and fix the optical device in the predetermined position according to the designed optical path. Figure 1 The figure shows a basic LiDAR schematic. When lens (group) 1 and lens (group) 2 are in their predetermined positions, the light emitted by the laser is collimated by lens 1 and irradiated onto the target. The target diffusely reflects the laser light, and a portion of the reflected light is converged by lens 2 onto the light detection element. The detection is completed through time of flight (TOF) calculation.

[0006] When the laser radar is in use, if any one of the two lenses (groups) is out of position, broken or deformed, it will affect the detection performance of the laser radar. Figure 2aAs shown in Figure 2b, for example, if the transmitting end lens 1 is misplaced, broken, or deformed, the laser light emitted by the laser will be deflected in other directions by lens 1 and will not illuminate the target. In this case, the LiDAR will not be able to detect the target. For another example, if the receiving end lens 2 is misplaced, broken, or deformed, the reflected light from the target will be deflected in other directions by lens 2 and will not illuminate the light detection element. In this case, the LiDAR will also not be able to detect the target.

[0007] In fact, with the development of LiDAR technology and its commercial success, the optical and mechanical structure of LiDAR is becoming more and more complex. In addition to lenses, it may also use complex optical devices and optical device combinations such as rotating mirrors, galvanometers, wedge prisms, and concave mirrors. Figure 3 It is a typical lidar optical system that uses a combination of optical devices.

[0008] LiDAR has increasingly higher requirements for the accuracy of its optical system, and its fault tolerance is also getting lower and lower. However, there is no effective means in the existing technology to detect the optical system of LiDAR after it leaves the factory. Optical system abnormalities are often discovered during the maintenance process after the LiDAR fails to work normally.

[0009] The contents of the background technology section are merely technologies known to the public and do not necessarily represent the existing technologies in this field. Summary of the Invention

[0010] In view of one or more defects in the prior art, the present invention designs an optical component detection system that can detect the working status of the transmitting end optical component and / or the receiving end optical component and the in-place status of each optical device in real time during the operation of the laser radar, thereby improving the efficiency of laser radar fault detection.

[0011] The present invention provides an optical component detection system for a laser radar, wherein the optical component of the laser radar includes a transmitting end optical component and a receiving end optical component, and the optical component detection system includes:

[0012] A detection laser and a detection detector, wherein the detection laser is configured to emit a detection laser beam, the detection laser beam passes through the transmitting end optical component and / or the receiving end optical component, and is emitted to the outside of the laser radar or is incident on the detection detector;

[0013] The detection detector is configured to receive the detection laser beam or the echo of the detection laser beam after being reflected on the target object and passing through the receiving end optical component, and convert it into a detection electrical signal; and

[0014] A signal processing unit communicates with the detection detector to receive the detection electrical signal and is configured to determine the working state of the optical component according to the detection electrical signal.

[0015] According to one aspect of the present invention, the detection laser includes a first detection laser arranged upstream of the optical path of the transmitting end optical component, and the first detection laser is configured to emit a first detection laser beam; the detection detector includes a first detection detector arranged downstream of the optical path of the transmitting end optical component, and the first detection detector is configured to receive the first detection laser beam and convert it into a first detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component of the laser radar based on the first detection electrical signal.

[0016] According to one aspect of the present invention, the detection laser includes a second detection laser arranged upstream of the optical path of the transmitting end optical component, and the second detection laser is configured to emit a second detection laser beam; the detection detector includes a second detection detector arranged downstream of the optical path of the receiving end optical component, and the second detection detector is configured to receive the echo of the second detection laser beam after being reflected on the target object and passing through the receiving end optical component and convert it into a second detection electrical signal, and the signal processing unit is configured to determine the working status of the optical component of the laser radar based on the second detection electrical signal.

[0017] According to one aspect of the present invention, the laser radar is a laser radar including a rotating mirror or a galvanometer, the detection laser includes a third detection laser arranged upstream of the optical path of the transmitting end optical component, and the third detection laser is configured to emit a third detection laser beam; the detection detector includes a third detection detector arranged downstream of the optical path of the receiving end optical component, and the third detection detector is configured to receive the third detection laser beam and convert it into a third detection electrical signal, and the signal processing unit is configured to determine the working status of the optical component of the laser radar based on the third detection electrical signal.

[0018] According to one aspect of the present invention, the third detection laser is configured to emit the third detection laser beam when the laser radar is in a non-ranging state.

[0019] According to one aspect of the present invention, when the signal strength of the detected electrical signal is greater than a preset threshold, it is determined that the optical component of the laser radar is normal.

[0020] According to one aspect of the present invention, the detection laser is arranged on the laser circuit board of the laser radar, and the detection detector is arranged on the detector circuit board of the laser radar or on a structural component of the laser radar.

[0021] According to one aspect of the present invention, the optical component further includes a fixing member, and the transmitting end optical component and the receiving end optical component are fixed in the laser radar through the fixing member.

[0022] According to one aspect of the present invention, the optical component detection system includes an in-situ detection unit arranged on the fixing member, the in-situ detection unit is configured to detect the in-situ state of the optical component, and the signal processing unit communicates with the in-situ detection unit to determine the in-situ state of the optical component.

[0023] According to one aspect of the present invention, the device further comprises a wireless communication unit coupled to the signal processing unit and configured to report the working status of the optical component and / or the presence status of the optical component to a mobile terminal device.

[0024] The present invention also provides a laser radar, comprising:

[0025] a transmitting unit, comprising a laser and a transmitting end optical component, wherein the laser is configured to emit a detection laser beam, and the detection laser beam is emitted to the outside of the laser radar via the transmitting end optical component;

[0026] a receiving unit, comprising a detector and a receiving-end optical component, wherein the receiving-end optical component is configured to converge the echo of the probing laser beam reflected on the target object onto the detector, and the detector converts the echo into an electrical signal; and

[0027] Optical component inspection system, including:

[0028] A detection laser and a detection detector, wherein the detection laser is configured to emit a detection laser beam, the detection laser beam passes through the transmitting end optical component and / or the receiving end optical component, and is emitted to the outside of the laser radar or is incident on the detection detector;

[0029] The detection detector is configured to receive the detection laser beam or the echo of the detection laser beam after being reflected on the target object and passing through the receiving end optical component, and convert it into a detection electrical signal; and

[0030] A signal processing unit communicates with the detection detector to receive the detection electrical signal, and is configured to determine the working status of the transmitting end optical component and / or the receiving end optical component according to the detection electrical signal.

[0031] According to one aspect of the present invention, the detection laser includes a first detection laser arranged upstream of the optical path of the transmitting end optical component, and the first detection laser is configured to emit a first detection laser beam; the detection detector includes a first detection detector arranged downstream of the optical path of the transmitting end optical component, and the first detection detector is configured to receive the first detection laser beam and convert it into a first detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component of the laser radar based on the first detection electrical signal.

[0032] According to one aspect of the present invention, the detection laser includes a second detection laser arranged upstream of the optical path of the transmitting end optical component, and the second detection laser is configured to emit a second detection laser beam; the detection detector includes a second detection detector arranged downstream of the optical path of the receiving end optical component, and the second detection detector is configured to receive the echo of the second detection laser beam after being reflected on the target object and passing through the receiving end optical component and convert it into a second detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component and / or the receiving end optical component of the laser radar based on the second detection electrical signal.

[0033] According to one aspect of the present invention, the laser radar is a laser radar including a rotating mirror or a galvanometer, the detection laser includes a third detection laser arranged upstream of the optical path of the transmitting end optical component, and the third detection laser is configured to emit a third detection laser beam; the detection detector includes a third detection detector arranged downstream of the optical path of the receiving end optical component, and the third detection detector is configured to receive the third detection laser beam and convert it into a third detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component and / or the receiving end optical component of the laser radar based on the third detection electrical signal.

[0034] According to one aspect of the present invention, the third detection laser is configured to emit the third detection laser beam when the laser radar is in a non-ranging state.

[0035] According to one aspect of the present invention, when the signal strength of the detected electrical signal is greater than a preset threshold, it is determined that the transmitting end optical component and / or the receiving end optical component of the laser radar are normal.

[0036] According to one aspect of the present invention, the detection laser is arranged on the laser circuit board of the laser radar, and the detection detector is arranged on the detector circuit board of the laser radar or on a structural component of the laser radar.

[0037] According to one aspect of the present invention, the optical component further includes a fixing member, and the transmitting end optical component and the receiving end optical component are fixed in the laser radar through the fixing member.

[0038] According to one aspect of the present invention, the optical path detection system includes an in-situ detection unit arranged on the fixing member, the in-situ detection unit is configured to detect the in-situ state of the optical component, and the signal processing unit communicates with the in-situ detection unit to determine the in-situ state of the transmitting end optical component and / or the receiving end optical component.

[0039] According to one aspect of the present invention, it further includes a wireless communication unit coupled to the signal processing unit and configured to report the working status of the transmitting end optical component and / or the receiving end optical component and the in-place status of the optical component to the mobile terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which constitute part of this disclosure, are used to provide a further understanding of the disclosure. The exemplary embodiments of the disclosure and their descriptions are used to explain the disclosure and do not constitute an improper limitation of the disclosure. In the accompanying drawings:

[0041] Figure 1 A schematic diagram of a laser radar is shown;

[0042] Figure 2a A schematic diagram showing an abnormality of the optical device at the transmitting end;

[0043] Figure 2b A schematic diagram showing an abnormality of optical components at the receiving end;

[0044] Figure 3 A schematic diagram of a lidar showing a typical optical component combination;

[0045] Figure 4 A schematic diagram of an optical component detection system according to an embodiment of the present invention is shown;

[0046] Figure 5 A schematic diagram of a normal optical path for transmitting end optical component detection according to the first embodiment of the present invention is shown;

[0047] Figure 6 A schematic diagram of detecting an abnormal optical path of an optical component at a transmitting end according to a first embodiment of the present invention is shown;

[0048] Figure 7 A schematic diagram showing a normal optical path for receiving end optical component detection according to a second embodiment of the present invention is shown;

[0049] Figure 8 A schematic diagram showing abnormal optical path detection of a receiving end optical component according to a second embodiment of the present invention is shown;

[0050] Figure 9 A schematic diagram of rotating mirror laser radar optical component detection according to the third embodiment of the present invention is shown;

[0051] Figure 10 A schematic diagram showing the in-position state detection of an optical device according to a fourth embodiment of the present invention is shown;

[0052] Figure 11 A module diagram of an optical device in-position state detection method according to a fourth embodiment of the present invention is shown;

[0053] Figure 12A schematic diagram showing a shorting switch of a presence detection unit according to an embodiment of the present invention is shown;

[0054] Figure 13 A schematic diagram showing a micro switch of a presence detection unit according to an embodiment of the present invention is shown;

[0055] Figure 14 A diagram showing a laser radar module according to an embodiment of the present invention is shown;

[0056] Figure 15 A flow chart of an optical component detection method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0057] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0058] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present invention and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the aforementioned features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0059] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0060] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may also include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0061] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0062] The present invention designs an optical component detection system for laser radar, which can, on the one hand, perform real-time detection of the optical components at the transmitting end and / or the optical components at the receiving end, and on the other hand, perform real-time detection of the in-place status of each optical device in the laser radar, and transmit the detection results to the mobile terminal to prompt the user of the usage status of the laser radar.

[0063] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0064] Figure 4 A schematic diagram of an optical component detection system according to an embodiment of the present invention is shown. The laser radar 10 includes a transmitting end optical component 12, a receiving end optical component 13 and an optical component detection system 11.

[0065] The transmitting end optical component 12 includes optical devices that can collimate, deflect, reflect, scan or converge the laser beam, such as one or more lenses, semi-transparent mirrors, reflective mirrors, rotating mirrors, and galvanometer mirrors.

[0066] The receiving end optical component 13 includes optical devices that can collimate, deflect, reflect, scan or converge the laser beam, such as one or more lenses, semi-transparent mirrors, reflective mirrors, rotating mirrors, and galvanometer mirrors.

[0067] The optical component detection system 11 includes a detection laser 111 , a detection detector 112 and a signal processing unit 113 .

[0068] The detection laser 111 is configured to emit a detection laser beam, which can be received by the detection detector 112 after passing through the transmitting end optical component 12 (e.g. Figure 4 or reflected on the target object and then passed through the receiving end optical component 13 and received by the detection detector 112 (as shown by the dotted arrow in the figure). Figure 4 (indicated by the solid arrow).

[0069] When the transmitting end optical component 12 is detected, the detection laser 111 is set in the optical path upstream of the transmitting end optical component 12, and the detection detector 112 is set in the optical path downstream of the transmitting end optical component 12. During detection, the detection laser 111 emits a detection laser beam, which passes through the transmitting end optical component 12 and is incident on the detection detector 112. Figure 4 In the optical path indicated by the dashed arrow, the detection detector 112 converts the detection laser beam into a detection electrical signal. The signal processing unit 113 communicates with the detection detector 112 and receives the detection electrical signal, determining the operating status of the transmitting optical component 12 based on the detection electrical signal. According to one embodiment of the present invention, when the transmitting optical component 12 is functioning normally, the detection detector 112 is able to normally receive the detection laser beam and convert it into a detection electrical signal. When the transmitting optical component 12 is misaligned, broken, or deformed, the detection detector 112 is unable to receive the detection laser beam, or the received detection laser beam has a low intensity, resulting in a small amplitude of the generated detection electrical signal. Therefore, based on the detection electrical signal, it is possible to determine whether the transmitting optical component 12 is operating normally.

[0070] When detecting the receiving end optical component 13, the detection laser 111 is set in the optical path upstream of the transmitting end optical component 12, and the detection detector 112 is set in the optical path downstream of the receiving end optical component 13. During detection, the detection laser 111 emits a detection laser beam, which passes through the transmitting end optical component 12 and then exits the laser radar 10. The echo after being reflected by the target object passes through the receiving end optical component 13 and is received by the detection detector 112. Figure 4 The solid arrows in the center indicate the optical path. Detection detector 112 converts the echo into an electrical detection signal. Signal processing unit 113 communicates with detection detector 112 and receives the electrical detection signal. Based on the electrical detection signal, it determines the operating status of both transmitter optical assembly 12 and receiver optical assembly 13. When transmitter optical assembly 12 is functioning properly, the operating status of receiver optical assembly 13 can be determined. In other words, the determination of the detection result of receiver optical assembly 13 requires the normal functioning of transmitter optical assembly 12.

[0071] The detection laser 111 is set upstream in the optical path, and the detection detector 112 is set downstream in the optical path. This is a rough description of their positions and is only used to illustrate the optical component detection process designed by the present invention. The specific setting positions of the detection laser 111 and the detection detector 112 are further described through examples.

[0072] The following defines the terms used in Examples 1 and 2. A laser radar (LIDAR) includes a ranging laser and a ranging detector. The ranging laser emits a detection laser beam, which, after passing through the transmitting optical assembly, exits the LiDAR to detect targets. The detection laser beam is diffusely reflected by the target, and a portion of the echo returns to the LiDAR. After passing through the receiving optical assembly 13, it is incident on the ranging detector, which receives and converts it into an electrical signal for calculating the flight time of the detection laser beam and the distance to the target. In this invention, the transmitting optical path refers to the optical path that the detection laser beam emitted by the ranging laser travels from the laser to the LiDAR boundary. That is, the transmitting optical path begins at the laser and ends at the LiDAR boundary. The LiDAR boundary is the physical boundary that separates the interior and exterior of the LiDAR, such as a LiDAR cover, base, or frame. The receiving optical path refers to the optical path that the echo signal travels after entering the LiDAR boundary and reaching the detector. That is, the receiving optical path begins at the LiDAR boundary and ends at the detector.

[0073] Figure 5 The schematic diagram of the optical component detection system according to the first embodiment of the present invention is shown, which can be used to detect the optical component at the transmitting end, wherein the optical component at the transmitting end is in a normal working state. Figure 6 It shows the situation when the optical component at the transmitting end is in an abnormal working state.

[0074] like Figure 5 As described above, on the laser circuit board, the first detection laser LD1 is positioned adjacent to the ranging laser and does not affect its normal operation. The first detection detector D1 is positioned on a component at the end of the transmitting optical path, such as the lidar cover, base, or frame, in a location that does not affect ranging. Furthermore, the installation positions of the first detection laser LD1 and the first detection detector D1 are defined such that, when the transmitting optical assembly 12 is operating normally (normal here includes normal position and structure), the detection laser beam L1 emitted by the first detection laser LD1, after passing through the transmitting optical assembly 12, can precisely illuminate the first detection detector D1.

[0075] like Figure 6As shown, once an optical device in the transmitting end optical component 12 is abnormal, such as the lens is out of position (deviating from the initial position), the detection laser beam L1 emitted by the first detection laser LD1 cannot irradiate the first detection detector D1, so that the signal processing unit 113 (for example, implemented by FPGA (Field-Programmable Gate Array)) can obtain the abnormal information.

[0076] According to a preferred embodiment of the present invention, the first detection detector D1 can be connected to the signal processing unit via wires to transmit the detection electrical signal, and can also be connected to the signal processing unit via wireless communication to transmit the detection electrical signal.

[0077] Figure 7 A schematic diagram of an optical component detection system according to a second embodiment of the present invention is shown, which can be used to detect a transmitting end optical component and a receiving end optical component, wherein the transmitting end optical component and the receiving end optical component are both in a normal working state. Figure 8 It shows the situation when the optical component at the receiving end is in an abnormal working state.

[0078] like Figure 7 As shown, a second detection laser LD2 is placed next to the ranging laser, and a second detection detector D2 is placed on a component at the end of the receiving optical path (e.g., a detector circuit board or a structural component of the laser radar 10). Furthermore, the installation positions of the second detection laser LD2 and the second detection detector D2 are defined as follows: when the transmitting optical component 12 and the receiving optical component 13 are normal (normal here includes normal position and normal structure), the detection laser beam L2 emitted by the second detection laser LD2 passes through the transmitting optical component 12, and the echo L2' reflected from the target object passes through the receiving optical component 13 and then irradiates the second detection detector D2.

[0079] The premise of detecting the receiving end optical component 13 is that the detection of the transmitting end optical component 12 is normal. Figure 8 As shown, the detection laser beam L2 emitted by the second detection laser LD2 passes through the transmitting end optical component 12, and the echo L2' reflected on the target object passes through the receiving end optical component 13 and does not illuminate the second detection detector D2, so that the signal processing unit can obtain abnormal information.

[0080] Figure 7 and Figure 8 In the embodiment, in addition to the second detection laser LD2 and the second detection detector D2, the Figure 5 and Figure 6The first detection laser LD1 and the first detection detector D1 in the embodiment can be used to detect the working status of the transmitting end optical component and the receiving end optical component respectively.

[0081] Those skilled in the art will appreciate that the first detection detector D1 and the second detection detector D2 can be connected to different signal processing units or to the same signal processing unit, and all of this is within the scope of the present invention. Furthermore, embodiments can be conceived that include only the second detection laser LD2 and the second detection detector D2, without including the first detection laser LD1 and the first detection detector D1, and all of this is within the scope of the present invention.

[0082] The first embodiment and the second embodiment can be implemented separately or in combination. Figure 7 As shown, the first detection laser LD1 and the first detection detector D1 cooperate to detect the working status of the transmitting end optical component 12; the second detection laser LD2 and the second detection detector D2 cooperate to detect the working status of the transmitting end optical component 12 and the receiving end optical component 13, and when the transmitting end optical component 12 is normal, the working status of the receiving end optical component 13 can be judged.

[0083] The optical components in the first and second embodiments are merely combinations of lenses and reflectors. In fact, there are many other forms of optical devices, such as rotating mirrors or galvanometer mirrors.

[0084] Figure 9 This diagram shows the optical component detection of a rotating-mirror lidar according to the third embodiment of the present invention. The rotating-mirror lidar includes a ranging laser and a ranging detector. The detection optical path is the optical path that the detection laser beam emitted by the ranging laser travels from the laser to the detector. The detection optical path begins at the laser and ends at the detector.

[0085] The rotating mirror lidar has a limited field of view (FOV). Its transmitting and receiving units only operate when the mirror is rotated within the detection window's angular range; they are inoperative at other angles. This characteristic of the rotating mirror can be leveraged to perform optical component inspection within the lidar 10. Specifically, a third detection laser LD3 is placed on the laser circuit board, next to the ranging laser, and a third detection detector D3 is placed at the end of the detection optical path. The third detection laser LD3 and third detection detector D3 are positioned so that, when the optical components are operating normally and the mirror is rotated to a specific angle (non-ranging angle), the detection laser beam L3 emitted by the third detection laser LD3 passes through the optical components and strikes the third detection detector D3. This allows optical component inspection to be performed within the rotating mirror lidar and, preferably, during non-detection hours, thereby avoiding interference from the ranging laser light and improving detection accuracy.

[0086] According to a preferred embodiment of the present invention, the signal processing unit 113 receives the detection electrical signal from the detection detector 112 and can determine whether the detected optical component is in a normal operating state based on one or more parameters of the detection electrical signal. For example, when the signal strength of the detection electrical signal is greater than a preset threshold, the corresponding optical component is determined to be in a normal operating state.

[0087] The three aforementioned embodiments all involve detecting optical components. When an optical component is misplaced, the first detection detector D1, the second detection detector D2, and the third detection detector D3 fail to receive light from the first detection laser LD1, the second detection laser LD2, and the third detection laser LD3. The signal processing unit 113 can only detect an optical component anomaly but cannot determine which optical component is misplaced. To address this issue, the present invention also proposes a detection solution based on the presence of an optical component.

[0088] Figure 10 A schematic diagram illustrating the detection of the in-position status of optical devices according to a fourth embodiment of the present invention is shown. Each optical device in the transmitting optical assembly 12 is secured to the laser radar via its own mounting fixture. Each optical device in the receiving optical assembly 13 is also secured to the laser radar via its own mounting fixture. When the optical devices are assembled, at least one in-position detection unit is mounted on each optical device's mounting fixture. Each in-position signal detection unit communicates with the signal processing unit 113 to determine the in-position status of each optical device. When any optical device is displaced, a detection signal from the in-position detection unit is triggered. The signal processing unit 113 uses the detection signal to determine the in-position status of each optical device.

[0089] Figure 11A module diagram for detecting the in-position status of an optical device according to a fourth embodiment of the present invention is shown. In-position detection unit P1 is installed on the fixing member of optical device 1, in-position detection unit P2 is installed on the fixing member of optical device 2, and so on. Two in-position detection units can also be installed on the fixing member of one optical device, for example, in-position detection unit Pn and in-position detection unit Pn' are installed at both ends of the fixing member of optical device n. Multiple in-position detection units can also be installed on the fixing member of each optical device to provide a redundant configuration.

[0090] According to a preferred embodiment of the present invention, the presence detection unit may be, for example, a short-circuit switch or a micro switch.

[0091] Figure 12 A schematic diagram illustrates a shorting switch in a presence detection unit according to one embodiment of the present invention. Taking optical device I in the figure as an example, when optical device I is in place, it engages with a shorting plate and presses it against interfaces 1 and 2. The shorting switch is closed, and a continuous microcurrent flows through the switch circuit. Once optical device I is displaced, it no longer engages with the shorting plate, which separates from interfaces 1 and 2. The shorting switch opens, and current no longer flows through the switch circuit. Consequently, the signal processing unit recognizes that optical device I is out of position.

[0092] Figure 13 A schematic diagram shows the microswitch of a presence detection unit according to one embodiment of the present invention. Taking optical device II as an example, when optical device II is in place, it engages and presses the microswitch button, causing the microswitch to be off and no current to flow through the switch circuit. Once optical device II is displaced, it no longer engages the button, causing it to pop up, closing the microswitch circuit and allowing a continuous microcurrent to flow through the switch circuit. This allows the signal processing unit to detect that optical device II is out of position.

[0093] The above four embodiments are not limited to being implemented individually, but can also be implemented in combination, so as to detect whether the optical components are normal and whether each optical device is in place.

[0094] According to a preferred embodiment of the present invention, the laser radar 10 further includes a wireless communication unit 114, such as Figure 4 As shown, the optical component is coupled to the signal processing unit 113 and is configured to report the operating status of the optical component and / or the presence status of the optical component to a mobile terminal to prompt the user. Mobile terminals include but are not limited to automobile central control screens, computers, and mobile phones. Preferably, the data transmission method between the signal processing unit 113 and the mobile terminal is wireless communication.

[0095] like Figure 14 As shown, the present invention further provides a laser radar 20, comprising:

[0096] The transmitting unit 21 includes a laser 211 and a transmitting end optical component 212. The laser 211 is configured to emit a detection laser beam. The detection laser beam is emitted to the outside of the laser radar 20 via the transmitting end optical component 212.

[0097] a receiving unit 22 comprising a detector 221 and a receiving-end optical component 222, wherein the receiving-end optical component 222 is configured to converge the echo of the detection laser beam reflected on the target object onto the detector 221, and the detector 221 converts the echo into an electrical signal; and

[0098] The optical component detection system 11 includes:

[0099] A detection laser 111 and a detection detector 112, wherein the detection laser 111 is configured to emit a detection laser beam, which passes through the transmitting end optical component 212 and / or the receiving end optical component 222 and is emitted to the outside of the laser radar 20 or is incident on the detection detector 112;

[0100] The detection detector 112 is configured to receive the detection laser beam or the echo of the detection laser beam after being reflected on the target and passing through the receiving end optical component 222, and convert it into a detection electrical signal; and

[0101] The signal processing unit 113 communicates with the detection detector 112 to receive the detection electrical signal, and is configured to determine the working status of the transmitting end optical component 212 and / or the receiving end optical component 222 according to the detection electrical signal.

[0102] According to a preferred embodiment of the present invention, the detection laser 111 includes a first detection laser LD1 arranged upstream of the optical path of the transmitting end optical component 212, and the first detection laser LD1 is configured to emit a first detection laser beam; the detection detector 112 includes a first detection detector D1 arranged downstream of the optical path of the transmitting end optical component 212, and the first detection detector D1 is configured to receive the first detection laser beam and convert it into a first detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component 212 of the laser radar 20 based on the first detection electrical signal.

[0103] According to a preferred embodiment of the present invention, the detection laser 111 includes a second detection laser LD2 arranged upstream of the optical path of the transmitting end optical component 212, and the second detection laser LD2 is configured to emit a second detection laser beam; the detection detector 112 includes a second detection detector D2 arranged downstream of the optical path of the receiving end optical component, and the second detection detector D2 is configured to receive the echo of the second detection laser beam after being reflected on the target object and passing through the receiving end optical component 222 and convert it into a second detection electrical signal, and the signal processing unit 113 is configured to determine the working status of the transmitting end optical component 212 and / or the receiving end optical component 222 of the laser radar 20 based on the second detection electrical signal.

[0104] According to a preferred embodiment of the present invention, the laser radar 20 is a laser radar including a rotating mirror or a galvanometer, the detection laser 111 includes a third detection laser LD3 arranged upstream of the optical path of the transmitting end optical component 212, and the third detection laser LD3 is configured to emit a third detection laser beam; the detection detector 112 includes a third detection detector D3 arranged downstream of the optical path of the receiving end optical component, and the third detection detector D3 is configured to receive the third detection laser beam and convert it into a third detection electrical signal, and the signal processing unit 113 is configured to determine the working status of the transmitting end optical component 212 and / or the receiving end optical component 222 of the laser radar 20 based on the third detection electrical signal.

[0105] According to a preferred embodiment of the present invention, the third detection laser LD3 is configured to emit the third detection laser beam when the laser radar 20 is in a non-ranging state.

[0106] According to a preferred embodiment of the present invention, when the signal strength of the detected electrical signal is greater than a preset threshold, it is determined that the transmitting end optical component 212 and / or the receiving end optical component 222 of the laser radar 20 are normal.

[0107] According to a preferred embodiment of the present invention, the detection laser 111 is arranged on the laser circuit board of the laser radar 20, and the detection detector 112 is arranged on the detector circuit board of the laser radar 20 or on a structural component of the laser radar.

[0108] According to a preferred embodiment of the present invention, the optical component further includes a fixing member, and the transmitting end optical component 212 and the receiving end optical component 222 are fixed in the laser radar through the fixing member.

[0109] According to a preferred embodiment of the present invention, the optical path detection system includes an in-situ detection unit arranged on the fixing member, and the in-situ detection unit is configured to detect the in-situ state of the optical component, and the signal processing unit 113 communicates with the in-situ detection unit to determine the in-situ state of the transmitting end optical component 212 and / or the receiving end optical component 222.

[0110] According to a preferred embodiment of the present invention, it further includes a wireless communication unit 23, coupled to the signal processing unit 113, and configured to report the working status of the transmitting end optical component 212 and / or the receiving end optical component 222 and the in-place status of the optical component to the mobile terminal device.

[0111] The present invention also provides an optical component detection method 100 that can be used for laser radar, such as Figure 15 As shown, the optical component detection system as described above is implemented, the optical component of the laser radar includes a transmitting end optical component and a receiving end optical component, and the optical component detection method includes:

[0112] S101: emitting a detection laser beam;

[0113] S102: The detection laser beam passes through the transmitting end optical component and / or the receiving end optical component, and is emitted to the outside of the laser radar or incident on the detection detector;

[0114] S103: The detection detector receives the detection laser beam or the echo of the detection laser beam after being reflected on the target object and passes through the optical component, and converts it into a detection electrical signal; and

[0115] S104: Determine the status of the optical component of the laser radar based on the detection electrical signal.

[0116] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An optical component detection system for a laser radar, wherein the optical component of the laser radar includes a transmitting end optical component and a receiving end optical component, and the optical component detection system includes: a plurality of detection lasers and a plurality of detection detectors, wherein the detection lasers are configured to emit detection laser beams, the detection laser beams pass through the transmitting end optical component, and are emitted to the outside of the laser radar or incident on the detection detectors; The detection detector is configured to receive the detection laser beam or the echo of the detection laser beam after being reflected on the target object and passing through the receiving end optical component, and convert it into a detection electrical signal; and a signal processing unit, communicating with the detection detector to receive the detection electrical signal, and configured to determine a working state of the optical component based on the detection electrical signal, the working state including loss of position, fragmentation, or deformation; The plurality of detection lasers include a first detection laser disposed upstream of the optical path of the transmitting end optical component, the first detection laser being configured to emit a first detection laser beam; The multiple detection detectors include a first detection detector arranged downstream of the optical path of the transmitting end optical component and a second detection detector arranged downstream of the optical path of the receiving end optical component, wherein the first detection detector is configured to receive the first detection laser beam and convert it into a first detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component of the laser radar based on the first detection electrical signal.

2. The optical component detection system according to claim 1, wherein the detection laser includes a second detection laser arranged upstream of the optical path of the transmitting-end optical component, and the second detection laser is configured to emit a second detection laser beam; the second detection detector is configured to receive the echo of the second detection laser beam after being reflected on the target object and passing through the receiving-end optical component and convert it into a second detection electrical signal, and the signal processing unit is configured to determine the working status of the optical component of the laser radar based on the second detection electrical signal. 3 . The optical component detection system according to claim 1 , wherein the laser radar is a laser radar including a rotating mirror or a galvanometer mirror.

4. The optical component detection system as described in claim 1, wherein when the signal strength of the detection electrical signal is greater than a preset threshold, it is determined that the optical component of the laser radar is normal.

5. The optical component detection system as described in claim 4, wherein the detection laser is arranged on the laser circuit board of the laser radar, and the detection detector is arranged on the detector circuit board of the laser radar or on a structural component of the laser radar.

6. The optical component detection system as described in claim 5, wherein the optical component further includes a fixing member, and the transmitting end optical component and the receiving end optical component are fixed in the laser radar through the fixing member.

7. The optical component detection system as described in claim 6, wherein the optical component detection system includes an in-situ detection unit arranged on the fixing member, the in-situ detection unit is configured to detect the in-situ state of the optical component, and the signal processing unit communicates with the in-situ detection unit to determine the in-situ state of the optical component.

8. The optical component detection system according to claim 7, further comprising a wireless communication unit coupled to the signal processing unit and configured to report the working status of the optical component and / or the in-place status of the optical component to a mobile terminal device.

9. A laser radar comprising: a transmitting unit, comprising a laser and a transmitting end optical component, wherein the laser is configured to emit a detection laser beam, and the detection laser beam is emitted to the outside of the laser radar via the transmitting end optical component; a receiving unit, comprising a detector and a receiving-end optical component, wherein the receiving-end optical component is configured to converge the echo of the detection laser beam reflected on the target object onto the detector, and the detector converts the echo into an electrical signal; and Optical component inspection system, including: a plurality of detection lasers and a plurality of detection detectors, wherein the detection lasers are configured to emit detection laser beams, the detection laser beams pass through the transmitting end optical component, and are emitted to the outside of the laser radar or incident on the detection detectors; The detection detector is configured to receive the detection laser beam or the echo of the detection laser beam after being reflected on the target object and passing through the receiving end optical component, and convert it into a detection electrical signal; and a signal processing unit, communicating with the detection detector to receive the detection electrical signal, and configured to determine the operating status of the transmitting end optical component and / or the receiving end optical component based on the detection electrical signal, wherein the operating status includes loss of position, fragmentation, or deformation; The plurality of detection lasers include a first detection laser disposed upstream of the optical path of the transmitting end optical component, the first detection laser being configured to emit a first detection laser beam; The multiple detection detectors include a first detection detector arranged downstream of the optical path of the transmitting end optical component and a second detection detector arranged downstream of the optical path of the receiving end optical component, wherein the first detection detector is configured to receive the first detection laser beam and convert it into a first detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component of the laser radar based on the first detection electrical signal.

10. The laser radar as claimed in claim 9, wherein the detection laser includes a second detection laser arranged upstream of the optical path of the transmitting end optical component, and the second detection laser is configured to emit a second detection laser beam; the second detection detector is configured to receive the echo of the second detection laser beam after being reflected on the target object and passing through the receiving end optical component and convert it into a second detection electrical signal, and the signal processing unit is configured to determine the working status of the transmitting end optical component and / or the receiving end optical component of the laser radar based on the second detection electrical signal.

11. The laser radar as claimed in claim 9, wherein the laser radar is a laser radar including a rotating mirror or a galvanometer mirror.

12. The laser radar as claimed in claim 9, wherein when the signal strength of the detected electrical signal is greater than a preset threshold, it is determined that the transmitting end optical component and / or the receiving end optical component of the laser radar are normal.

13. The laser radar as claimed in claim 12, wherein the detection laser is arranged on a laser circuit board of the laser radar, and the detection detector is arranged on a detector circuit board of the laser radar or on a structural component of the laser radar.

14. The laser radar as described in claim 13, wherein the optical component further includes a fixing member, and the transmitting end optical component and the receiving end optical component are fixed in the laser radar through the fixing member.

15. The laser radar as claimed in claim 14, wherein the optical component detection system includes an in-situ detection unit arranged on the fixing member, the in-situ detection unit is configured to detect the in-situ state of the optical component, and the signal processing unit communicates with the in-situ detection unit to determine the in-situ state of the transmitting end optical component and / or the receiving end optical component.

16. The laser radar as claimed in claim 15 further includes a wireless communication unit, coupled to the signal processing unit, and configured to report the working status of the transmitting end optical component and / or the receiving end optical component and the in-place status of the optical component to the mobile terminal device.

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