A special-shaped lens assembly for changing laser scanning resolution and a three-dimensional laser radar

Abstract

The present disclosure provides a special-shaped lens assembly for changing the laser scanning resolution, comprising: a flat plate lens, comprising a first plane and a second plane that are arranged opposite to each other and parallel to each other; N first right-angle lenses, located on the first plane of the flat plate lens; wherein each first right-angle lens corresponds to a beam of laser scanning light, and is used to focus and transmit the corresponding laser scanning light; N is a positive integer greater than or equal to 2; N second right-angle lenses, located on the second plane of the flat plate lens; wherein the N second right-angle lenses correspond one-to-one to the N first right-angle lenses, and the N second right-angle lenses are used to focus and transmit the laser scanning light output by the N first right-angle lenses again, so that the scanning light irradiated on the rails in the area to be measured is evenly distributed.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar technology, and in particular to a special-shaped lens assembly for changing the laser scanning resolution and a three-dimensional laser radar. Background Art

[0002] Laser radar is an active remote sensing device that uses lasers as the light source and photoelectric detection technology. Laser radar is an advanced detection method that combines laser technology with modern photoelectric detection technology. It consists of a transmitting system, a receiving system, and information processing. Three-dimensional laser radar uses laser as the transmitting source and receives the returned information to describe the surface morphology of the measured object. Due to the different positions and reflectivities of the measured objects, the received return signals are also different. The three-dimensional information measured by the three-dimensional laser radar uses the scanning of the laser light in the laser radar to measure an entire area to be measured, and obtains the surface morphology composed of thousands of points containing distance and depth information, forming a three-dimensional point cloud graphic.

[0003] Commercial radars on the market are limited by the performance, volume, cost and other conditions of components, and their resolution and field of view often cannot meet the needs of special scenarios. The laser radar system for railway monitoring requires the laser radar to accurately identify small obstacles (20cm×20cm×20cm) that break into the railway and issue an alarm, which requires the laser radar to have a high resolution. However, most finished three-dimensional laser radars on the market cannot meet the requirements of the railway department, especially when the monitoring distance exceeds 100m, they cannot distinguish 20cm×20cm×20cm obstacles. Summary of the invention

[0004] In order to solve the above problems in the prior art, the present invention provides a special-shaped lens assembly and a three-dimensional laser radar for changing the laser scanning resolution, aiming to focus and transmit the laser scanning light emitted by the radar, thereby solving the technical problem that the radar cannot distinguish obstacles when the monitoring distance is large.

[0005] The first aspect of the present disclosure provides a special-shaped lens assembly for changing the laser scanning resolution, comprising: a flat plate lens, which comprises a first plane and a second plane that are arranged opposite to each other and parallel to each other; N first right-angle lenses, which are located on the first plane of the flat plate lens; wherein each first right-angle lens corresponds to a beam of laser scanning light, and is used to focus and transmit the laser scanning light corresponding to it; N is a positive integer greater than or equal to 2; N second right-angle lenses, which are located on the second plane of the flat plate lens; wherein the N second right-angle lenses correspond one-to-one to the N first right-angle lenses, and the N second right-angle lenses are used to focus and transmit the laser scanning light output by the N first right-angle lenses again, so that the scanning light irradiated on the rails in the area to be measured is evenly distributed.

[0006] Furthermore, a straight edge of each first right-angle lens is located on one side of the flat lens, and a hypotenuse of the lens is perpendicular to the corresponding laser scanning light.

[0007] Furthermore, the flat lens is perpendicular to the laser scanning light beam located at a middle position among the multiple laser scanning light beams.

[0008] Furthermore, the included angle θ between two adjacent laser scanning light beams in the plurality of laser scanning light beams is equal, and the size of an internal angle in each first right-angle lens that contacts the flat lens is also θ.

[0009] Furthermore, the refractive indexes of the N first right-angle lenses and the N second right-angle lenses are the same; and the refractive angles of the N second right-angle lenses are greater than the refractive angles of the N first right-angle lenses.

[0010] Further, half of the first right-angle lenses among the N first right-angle lenses are arranged on one side of the flat lens opposite to the other half of the first right-angle lenses.

[0011] Furthermore, the N first right-angle lenses, the flat lens, and the N second right-angle lenses are all made of transparent media.

[0012] Furthermore, the special-shaped lens assembly for changing the laser scanning resolution is arranged in front of the radar transmitting port.

[0013] Furthermore, the inner angles of the N second right-angle lenses in contact with the flat lens are Greater than the inner angle θ at which the N first right-angle lenses contact the flat lens.

[0014] The second aspect of the present disclosure provides a three-dimensional laser radar, comprising: a special-shaped lens assembly for changing the laser scanning resolution as provided in the first aspect of the present disclosure, wherein the special-shaped lens assembly for changing the laser scanning resolution is arranged in front of the radar transmitting port, and is used for focusing and transmitting multiple beams of laser scanning light emitted by the radar, so that the scanning light irradiated on the rails in the area to be measured is evenly distributed.

[0015] The embodiments of the present disclosure provide a special-shaped lens assembly and a three-dimensional laser radar for changing the laser scanning resolution. The special-shaped lens assembly performs two focusing and transmission processes on the laser scanning light emitted by the three-dimensional laser radar through a plurality of first right-angle lenses and a second right-angle lens respectively arranged on both sides of a flat lens. The laser scanning light on the side where the rails in the area to be measured are farther away from the laser radar can be gathered, and the laser scanning light on the side where the rails in the area to be measured are closer to the laser radar can be dispersed, thereby achieving uniform distribution of the scanning light irradiated on the rails in the area to be measured, so as to improve the monitoring accuracy of the three-dimensional laser radar on small obstacles when the scanning interval is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] For a more complete understanding of the present disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, in which:

[0017] Figure 1 The schematic diagram of the structure of a common three-dimensional laser radar is shown schematically;

[0018] Figure 2 A schematic diagram of the structure of a special-shaped lens assembly for changing the laser scanning resolution according to an embodiment of the present disclosure is shown;

[0019] Figure 3 A schematic diagram of laser light of a special-shaped lens assembly for changing laser scanning resolution according to an embodiment of the present disclosure is schematically shown;

[0020] Figure 4 The figure schematically shows a light processing diagram of a laser beam by one of the units according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0022] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0023] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0024] Figure 1 The schematic diagram shows the structure of a common three-dimensional laser radar.

[0025] like Figure 1As shown, the three-dimensional laser radar includes: a three-dimensional laser radar 10, a radar support frame 20, a radar fixing adapter 30 and a pole base 40. The radar fixing adapter 30 is located above the pole base 40, and the radar support frame 20 is located on the radar fixing adapter 30, which is used to support the three-dimensional laser radar 10. The three-dimensional laser radar 10 is used to emit laser scanning light to monitor the rails 50 in the area to be measured.

[0026] from Figure 1 It can be seen that when the scanning angle of the 3D laser radar 10 is the same, the scanning line interval is small on the side of the rail 50 in the area to be tested that is close to the 3D laser radar 10, while the scanning line interval increases sharply on the side of the rail 50 in the area to be tested that is far from the 3D laser radar 10. When the scanning line interval is greater than 20 cm, small obstacles that the railway department requires to be warned will not be found.

[0027] Based on the technical defects of ordinary three-dimensional laser radar in the prior art, the embodiments of the present invention provide a special-shaped lens assembly for changing the laser scanning resolution. The special-shaped lens assembly can improve the monitoring performance of three-dimensional laser radar with lower resolution and meet the high-resolution obstacle monitoring requirements of the railway section.

[0028] Figure 2 The schematic diagram shows the structure of a special-shaped lens assembly for changing the laser scanning resolution according to an embodiment of the present disclosure.

[0029] like Figure 2 As shown, the special-shaped lens assembly 200 for changing the laser scanning resolution is arranged in front of the radar transmitting port, and is used to change the transmission path of the laser scanning light emitted by the radar. The special-shaped lens assembly 200 includes: N first right-angle lenses 210, a flat lens 220 and N second right-angle lenses 230, wherein N is a positive integer greater than or equal to 2. In the embodiment of the present disclosure, the flat lens 220 includes a first plane and a second plane that are arranged opposite to each other and parallel to each other. The N first right-angle lenses 210 are located on the first plane of the flat lens 220; wherein each first right-angle lens 210 corresponds to a beam of laser scanning light, and is used to focus and transmit the corresponding laser scanning light. The N second right-angle lenses 230 are located on the second plane of the flat lens 220; wherein the N second right-angle lenses 230 correspond one-to-one to the N first right-angle lenses 210, and the N second right-angle lenses 230 are used to focus and transmit the laser scanning light output by the N first right-angle lenses 210 again, so that the scanning light irradiated on the rail 50 in the test area can be evenly distributed.

[0030] In the embodiment of the present disclosure, when the special-shaped lens assembly 200 is used, the scanning line interval on the side of the rail 50 in the area to be measured that is close to the three-dimensional laser radar 10 can be smaller, and the special-shaped lens assembly 200 will disperse the light; and the scanning line interval on the side of the rail 50 in the area to be measured that is far from the three-dimensional laser radar 10 can be sharply increased, and the special-shaped lens assembly 200 will gather the light, so that the scanning light on the rail 50 in the area to be measured can be evenly distributed.

[0031] like Figure 3 As shown, when N is 4, the first right-angle lens 210 specifically includes: a first right-angle lens 211, a first right-angle lens 212, a first right-angle lens 213 and a first right-angle lens 214. The first right-angle lenses 211, 212 and the first right-angle lenses 213, 214 are relatively arranged on the flat lens to achieve focusing and transmission processing of laser scanning light with different incident directions. The second right-angle lens 230 specifically includes: a second right-angle lens 231, a second right-angle lens 232, a second right-angle lens 233 and a second right-angle lens 234. Among them, the first laser scanning light L1, the second laser scanning light L2, the fourth laser scanning light L4 and the fifth laser scanning light L5 are respectively irradiated vertically (that is, the incident angle is 90°) on the hypotenuse of the first right-angle lens 211, the first right-angle lens 212, the first right-angle lens 213 and the first right-angle lens 214. The first right-angle lens 211, the first right-angle lens 212, the first right-angle lens 213 and the first right-angle lens 214 are respectively used to perform a first focusing and transmission processing on the corresponding laser scanning light, and then after entering the flat lens 220, they are again subjected to a second focusing and transmission processing through the second right-angle lens 231, the second right-angle lens 232, the second right-angle lens 233 and the second right-angle lens 234, respectively, to obtain the first laser scanning light L1', the second laser scanning light L2', the fourth laser scanning light L4' and the fifth laser scanning light L5' after focusing and transmission. The third laser scanning light L3 directly enters the flat lens 220 vertically and exits the flat lens 220 along the original emission route, that is, the third laser scanning light L3 at the middle position does not undergo focusing and transmission processing by the first right-angle lens and the second right-angle lens.

[0032] Depend on Figure 3 As shown, the special-shaped lens assembly 200 performs two focusing and transmission processes on the laser scanning light, so that each laser scanning light can be deflected at a corresponding angle, so that the scanning light on the rail 50 in the test area can be evenly distributed.

[0033] Preferably, the angle θ between two adjacent laser scanning beams in the multiple laser scanning beams is equal, and the size of an internal angle in each first right-angle lens that contacts the flat lens is also θ. Continuing with the above embodiment, the third laser scanning beam L3 is perpendicular to the center position of the flat lens 220, and the angle between two adjacent laser scanning beams is θ, then the angle between the first laser scanning beam L1 and the second laser scanning beam L2, the angle between the second laser scanning beam L2 and the third laser scanning beam L3, the angle between the third laser scanning beam L3 and the fourth laser scanning beam L4, and the angle between the fourth laser scanning beam L4 and the fifth laser scanning beam L5 are equal, all of which are θ.

[0034] like Figure 4 As shown, following the above embodiment, the normal angle between the second laser scanning light L2 and the middle part of the flat lens 220 is also θ. Similarly, the normal angle between the first laser scanning light L1 and the middle part of the flat lens 220 is 2θ, the normal angle between the fourth laser scanning light L4 and the middle part of the flat lens 220 is θ, and the normal angle between the fifth laser scanning light L5 and the middle part of the flat lens 220 is 2θ.

[0035] In the embodiment of the present disclosure, the refractive indexes of the N first right-angle lenses 210 and the N second right-angle lenses 230 are preferably the same. The refractive angles of the N second right-angle lenses 230 are greater than the refractive angles of the N first right-angle lenses 210 .

[0036] Taking the second laser scanning light L2 as an example, in order to make the second laser scanning light L2 perpendicular to the first right-angle lens 212, the angle (non-right angle) between the first right-angle lens 212 and the flat lens 220 is also θ. The angle (non-right angle) between the second right-angle lens 232 and the flat lens 220 is set to in, At this time, the angle between the light incident on the second right-angle lens 232 and the normal line (incident angle) is The exit angle σ can be calculated by the following formula:

[0037]

[0038] Where n is the refractive index of the lens medium.

[0039] like Figure 4 As shown, the original emission angle of the second laser scanning light L2 is θ (corresponding to the position of the light L2'), while the actual emission angle of the second laser scanning light L2 is σ (corresponding to the position of the light L2'), and the corresponding deflection angle is Under the same exit angle σ, it can be seen from the above formula that the refraction angle of the laser scanning light after the refocusing and transmission processing by the second right-angle lens 232 is related to the refractive index of the second right-angle lens. Therefore, according to the required deflection angle, multiple first right-angle lenses 210 and multiple second right-angle lenses 230 can be designed to achieve focusing and transmission processing of the laser scanning beam, so that the scanning light irradiated on the rail 50 in the test area can be evenly distributed.

[0040] In the embodiment of the present disclosure, the N first right-angle lenses 210 , the flat lens 220 , and the N second right-angle lenses 230 are all made of transparent media, and the embodiment of the present disclosure does not limit the preparation materials of each lens.

[0041] It should be noted that in the embodiments of the present disclosure, the number of the first right-angle lens and the second right-angle lens includes but is not limited to 4. To meet different application scenarios, it can also be 3, 5, 6 or more. The embodiments of the present disclosure do not limit the number of the first right-angle lens and the second right-angle lens. In addition, the focusing process of other laser scanning light is consistent with the principle of the second laser scanning light L2, and the embodiments of the present disclosure will not be described in detail one by one.

[0042] On the other hand, an embodiment of the present disclosure provides a three-dimensional laser radar, including: a special-shaped lens assembly 200 for changing the laser scanning resolution as shown in the above embodiment, wherein the special-shaped lens assembly 200 for changing the laser scanning resolution is arranged in front of the radar transmitting port, and is used for focusing and transmitting multiple beams of laser scanning light emitted by the radar, so that the scanning light irradiated on the rails in the area to be measured can be evenly distributed.

[0043] It should be noted that the specific structure of the special-shaped lens assembly 200 and the light processing process are as follows: Figures 2 to 4 As shown, no further details are given here.

[0044] The embodiments of the present disclosure provide a special-shaped lens assembly and a three-dimensional laser radar for changing the laser scanning resolution. The special-shaped lens assembly performs two focusing and transmission processes on the laser scanning light emitted by the three-dimensional laser radar through a plurality of first right-angle lenses and a second right-angle lens respectively arranged on both sides of a flat lens. The laser scanning light on the side where the rails in the area to be measured are farther away from the laser radar can be gathered, and the laser scanning light on the side where the rails in the area to be measured are closer to the laser radar can be dispersed, thereby achieving uniform distribution of the scanning light irradiated on the rails in the area to be measured, so as to improve the monitoring accuracy of the three-dimensional laser radar on small obstacles when the scanning interval is large.

[0045] While the disclosure has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive.

[0046] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of scopes, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of scopes without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0047] Although the present disclosure has been shown and described with reference to specific exemplary embodiments of the present disclosure, it should be understood by those skilled in the art that various changes in form and details may be made to the present disclosure without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents. Therefore, the scope of the present disclosure should not be limited to the above-mentioned embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A special-shaped lens assembly for changing the laser scanning resolution, characterized in that: include: A flat lens, comprising a first plane and a second plane which are arranged opposite to each other and parallel to each other; N first right-angle lenses are located on the first plane of the flat lens; each first right-angle lens corresponds to a beam of laser scanning light, and is used to focus and transmit the corresponding laser scanning light; N is a positive integer greater than or equal to 2; N second right-angle lenses are located on the second plane of the flat lens; wherein the N second right-angle lenses correspond one-to-one to the N first right-angle lenses, and the N second right-angle lenses are used to focus and transmit the laser scanning light output by the N first right-angle lenses again, so that the scanning light irradiated on the rails in the area to be measured is evenly distributed.

2. The special-shaped lens assembly for changing the laser scanning resolution according to claim 1, characterized in that: A straight edge of each first right-angle lens is located on one side of the flat lens, and a hypotenuse of the lens is perpendicular to the corresponding laser scanning light.

3. The special-shaped lens assembly for changing the laser scanning resolution according to claim 1, characterized in that: The flat lens is perpendicular to the laser scanning light beam located at the middle position among the multiple laser scanning light beams.

4. The special-shaped lens assembly for changing the laser scanning resolution according to claim 3, characterized in that: The included angle θ between two adjacent laser scanning light beams in the plurality of laser scanning light beams is equal, and the size of an internal angle in each first right-angle lens that contacts the flat lens is also θ.

5. The special-shaped lens assembly for changing the laser scanning resolution according to claim 1, characterized in that: The refractive indexes of the N first right-angle lenses and the N second right-angle lenses are the same; and the refractive angles of the N second right-angle lenses are greater than the refractive angles of the N first right-angle lenses.

6. The special-shaped lens assembly for changing the laser scanning resolution according to claim 1, characterized in that: Half of the N first right-angle lenses and the other half of the first right-angle lenses are arranged on one side of the flat lens opposite to each other.

7. The special-shaped lens assembly for changing the laser scanning resolution according to claim 1, characterized in that: The N first right-angle lenses, the flat plate lens and the N second right-angle lenses are all made of transparent media.

8. The special-shaped lens assembly for changing the laser scanning resolution according to claim 1, characterized in that: The special-shaped lens component for changing the laser scanning resolution is arranged in front of the radar emission port.

9. The special-shaped lens assembly for changing the laser scanning resolution according to claim 4, characterized in that: The inner angle of the N second right-angle lenses in contact with the flat lens is greater than the inner angle θ at which the N first right-angle lenses contact the flat lens.

10. A three-dimensional laser radar, characterized in that: include: The special-shaped lens assembly for changing the laser scanning resolution as described in any one of claims 1 to 9 is arranged in front of the radar transmitting port and is used for focusing and transmitting multiple beams of laser scanning light emitted by the radar so that the scanning light irradiated on the rails in the area to be measured is evenly distributed.

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