Anti-interference laser radar system

Abstract

The invention discloses an anti-interference laser radar system, and the system comprises a main radar module which emits a small-spot light beam towards a target in a target field of view, so as to output corresponding first detection data; the auxiliary radar module is arranged in the transmission light path of the main radar module or on the outer side of the transmission light path, and shares a part of optical elements or all optical elements with the main radar module so as to emit a large-light-spot light beam towards a target in the target view field and output corresponding second detection data; and the data processing circuit optimizes the first detection data by using the second detection data to obtain target detection data. By configuring the placement positions of the main radar module and the auxiliary radar module, it can be ensured that the overall size of the laser radar system is small, the main radar module and the auxiliary radar module can be used for recognizing the suspended matter in the space, and the detection accuracy of the laser radar system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of distance measurement, and in particular to an anti-interference laser radar system. Background Art

[0002] LiDAR can measure the distance to a target based on the time of flight principle (TOF), and realize detection, tracking and identification of target objects. It has been widely used in many fields such as mobile robots, autonomous driving, terrain mapping, etc.

[0003] However, in actual use, there will be many complex situations. For example, when encountering bad weather such as rain, snow, and haze, there will be suspended objects in the detection space formed by rain, fog, snow and other particles. The laser signal will form a high-intensity echo signal after irradiating the suspended objects in the space. After being collected by the laser radar collector, the distance data is output, resulting in noise in the point cloud data output by the laser radar, which reduces the detection performance of the laser radar. In order to solve this problem, Chinese patent 202310600994.X proposes an anti-interference laser radar system, which configures the main radar module and the auxiliary radar module to emit spot beams of different sizes to illuminate the target to analyze whether the target is a suspended object in the space, so as to correct the point cloud data and improve the detection accuracy of the laser radar. However, the placement of the main radar module and the auxiliary radar module is not elaborated in detail.

[0004] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0005] To solve the above-mentioned technical problems, the first aspect of the present application provides an anti-interference laser radar system, characterized in that it includes: a main radar module, which emits a small spot light beam toward a target in a target field of view to output corresponding first detection data; an auxiliary radar module, which is arranged in the transmission optical path of the main radar module or outside the transmission optical path, and shares some or all optical elements with the main radar module to emit a large spot light beam toward the target in the target field of view and output corresponding second detection data; a data processing circuit, which uses the second detection data to optimize the first detection data output by the main radar module to obtain target detection data.

[0006] In some embodiments, the main radar module includes a main transmitter, at least one reflector and a scanner. The small spot light beam emitted by the main transmitter is reflected by the reflector and then transmitted to the scanner and then reflected by the scanner to the target field of view; the auxiliary radar module is arranged on the side of the reflective mirror surface away from the reflector. In one embodiment, the auxiliary radar module includes an auxiliary transmitter; the main transmitter emits a small spot light beam with a first wavelength, and the auxiliary transmitter emits a large spot light beam with a second wavelength; the reflector is configured to reflect the small spot light beam and transmit the large spot light beam. In another embodiment, the main radar module includes a main transmitter, a first reflector, a second reflector and a scanner; the auxiliary radar module is arranged on the side of the reflective mirror surface away from the second reflector; the cross-sectional area of ​​the auxiliary radar module is not greater than the projection area of ​​the second reflector on the main optical axis.

[0007] In some embodiments, the main radar module includes a main transmitter, at least one reflector and a multi-faceted rotating mirror; the auxiliary radar module is arranged outside the transmission optical path of the main radar module and shares the multi-faceted rotating mirror. In one embodiment, the multi-faceted rotating mirror is a double-faceted rotating mirror; the detection data output by the main radar module and the auxiliary radar module has a first time delay; the data processing circuit matches the detection data output by the main radar module and the auxiliary radar module according to the first time delay. In another embodiment, the multi-faceted rotating mirror is a three-faceted rotating mirror; the detection data output by the main radar module and the auxiliary radar module has a second time delay; the data processing circuit matches the detection data output by the main radar module and the auxiliary radar module according to the second time delay.

[0008] In one embodiment, the main radar module includes a main transmitter, a first reflector, a second reflector and a multi-faceted rotating mirror; the auxiliary radar module is arranged on the second reflector and shares the multi-faceted rotating mirror. In another embodiment, the multi-faceted rotating mirror includes a first multi-faceted rotating mirror and a second multi-faceted rotating mirror, the first multi-faceted rotating mirror and the second multi-faceted rotating mirror share a bearing, and the volume of the second multi-faceted rotating mirror is smaller than that of the first multi-faceted rotating mirror.

[0009] In some embodiments, the first detection data includes a first distance corresponding to a small spot light beam, and the second detection data includes a second distance and a second echo intensity corresponding to a large spot light beam; the data processing circuit is also used to: calculate the reflectivity of the target based on the second distance and the second echo intensity, use the first distance, the second distance and the reflectivity of the target to determine whether the target is a suspended object in space, and optimize the first detection data based on the judgment result to obtain target detection data.

[0010] In a second aspect of the present application, a mobile platform is provided, comprising the anti-interference laser radar system proposed in the first aspect of the present application and a platform body, wherein the laser radar system is installed on the platform body.

[0011] By configuring the placement of the main radar module and the auxiliary radar module, the overall size of the lidar system can be kept small, while the main and auxiliary radar modules can be used to identify suspended objects in space, thereby improving the detection accuracy of the lidar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of a laser radar according to an embodiment of the present application; Figure 2 is a schematic diagram of a laser radar with a scanner according to another embodiment of the present application; Figure 3a A schematic diagram of a transmitter in a laser radar system according to an embodiment of the present application; Figure 3b A schematic diagram of a collector in a laser radar system according to an embodiment of the present application; Figure 4a , 4b 4c is a schematic diagram of a laser radar system according to some embodiments of the present application; Figure 5a , 5b is a schematic diagram of a laser radar system according to some other embodiments of the present application; Figure 6a , 6b Schematic diagram of a laser radar system proposed according to some other embodiments of the present application. Implementation

[0013] The following is a clear and complete description of the technical solution in this application in combination with the embodiments and the accompanying drawings. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0014] LiDAR systems can be used to measure the environment around them and have been widely used in autonomous navigation, space mapping, etc. LiDAR systems emit light pulses, which are reflected by targets in the environment. The flight time of the light pulses from emission to reception is measured to determine the distance between the target and the system.

[0015] like Figure 1As shown, it is a schematic diagram of a laser radar according to an embodiment of the present application, and the laser radar 10 includes a transmitter 101, a collector 102, and a control and readout circuit 103 connected to the transmitter and the collector. The transmitter 101 is used to transmit a light signal 110 toward a target 112, and the echo signal 111 reflected by the target 112 is collected by the collector 102 and then outputs an electrical signal. The control and readout circuit 103 is synchronously connected to the transmitter 101 and the collector 102, and is used to control the transmitter 101 to activate the collector 102 to receive the echo signal while emitting a light pulse, and perform a data readout function to process the echo signal to output the distance data of the target. In some embodiments, the laser radar 10 also includes a data processing circuit 104, which is used to receive distance data to generate point cloud data of the detection space.

[0016] The transmitter 101 includes a light source array 1011, a transmitting lens 1012 and a transmitting driving circuit (not shown). The transmitting driving circuit is used to drive the light source array 1011 to emit a light signal, which is modulated by the transmitting lens 1012 and then emitted to the detection space. The light source array 1011 can be an array composed of vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), light emitting diodes (LEDs) or other types of lasers. In the detection space, the light beam emitted by the light source is a light beam with a certain divergence angle. Each emitted light beam passes through the transmitting lens and reaches the detection space to form an illumination area (such as a light spot). As the distance increases, the area of ​​the light spot becomes larger and larger, and the target area covered will gradually expand.

[0017] The collector 102 includes a photosensitive element array 1021, a receiving lens 1022, and a filter (not shown), etc. The receiving lens 1022 images the spot light beam reflected by the target onto the photosensitive element array 1021. The filter is configured to allow light of a fixed wavelength (the wavelength of the emitted light signal) to pass through and filter out other interfering light signals. The photosensitive element array 1021 is used to collect the reflected light beam and convert the light signal into an electrical signal and output it. The electrical signal reflects the information of the light beam (such as echo intensity information, time information, etc.) and can be further used to calculate information such as photon flight time, target distance, and target reflectivity. The photosensitive element array can be an array composed of one of the devices for collecting light signals, such as APD, SPAD, SiPM, etc. In one embodiment, the photosensitive element array is a SPAD array. Since the SPAD is small in size, in order to increase the received energy, multiple SPADs can be selected to be combined together to collect light signals. For example, a photosensitive element includes 4*4 SPADs for collecting the light signal of a light spot.

[0018] The control and readout circuit 103 is used to control the synchronous activation of the emitter 101 and the collector 102, and to receive and process the electrical signal output by each photosensitive element to solve the photon flight time, and thereby obtain the target distance. In one embodiment, the photosensitive element is a SPAD, which can detect weak light signals; the control and readout circuit 103 includes a TDC circuit, a histogram circuit, and a digital signal processing circuit. Among them, the TDC circuit receives the laser emission signal as a start signal, and receives the electrical signal output by the photosensitive element as a cutoff signal, thereby recording the flight time of the photon from emission to collection and generating a time signal (for example, a time code). The time signal is input into the histogram circuit and stored in the corresponding storage unit (time bin). After repeated measurements, histogram data containing pulse waveforms and photon flight time is obtained based on the time-correlated single photon counting method (TCSPC). The digital signal processing circuit is used to process the histogram data to solve the photon flight time, and can further obtain the target distance based on the photon flight time. In some embodiments, the control and readout circuit 103 may also be integrated into the collector as a part of the collector. For ease of description in the following embodiments, the control and readout circuit 103 is regarded as a part of the collector.

[0019] The light source array and the photosensitive element array can be a one-dimensional array or a two-dimensional array. Each row / column of light sources in the light source array extends in a certain direction. Similarly, each row / column of photosensitive elements in the photosensitive element array can extend in a certain direction, together constituting a scan of the field of view corresponding to the extension direction. For example, the column direction corresponds to the vertical field of view, and the row direction corresponds to the horizontal field of view. The measurement dimension of the field of view (FOV) is called the field of view angle. For example, the horizontal FOV is 120 0 , vertical FOV is 60 0 . During the measurement process, the spot beam emitted by each light source toward the detection space will be projected to a fixed position in the space, and will be imaged to the corresponding photosensitive element after being reflected by the target, thus forming a corresponding relationship, which is generally referred to as "forming a detection channel" in the art. The light source array and the photosensitive element array are arranged correspondingly to form a plurality of detection channels, each detection channel includes at least one light source and at least one photosensitive element, and the control and readout circuit 103 receives the electrical signal output by the photosensitive element for processing to obtain the distance of the target in the detection channel. In some embodiments, the control and readout circuit 103 can scan different areas of the field of view by adjusting the order in which the light sources emit light and the corresponding photosensitive element acquisition signals, such as scanning the field of view in the vertical / horizontal direction by turning on row / column by row, or can select to activate only a subset of the light source array and a corresponding subset of the photosensitive element array for measurement at a time, that is, to adjust some detection channels to work simultaneously instead of all detection channels to work simultaneously, which helps to reduce crosstalk between adjacent channels.

[0020] After the detection of the detection space is completed, the calculated distance data is input into the data processing circuit 104, and the data processing circuit 104 is used to generate 3D point cloud data of the detection space after filtering, analyzing and other processing. Among them, the data processing circuit 104 can be an independent dedicated circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc., and can also include a general-purpose processor. In one embodiment, the data processing circuit 104 can be integrated with the control and readout circuit 103, and integrated into the photosensitive element array as part of the collector, such as configuring the photosensitive element array as a stacked structure, the upper layer is the photosensitive element, and the lower layer is configured with the corresponding control and readout circuit and data processing circuit. In another embodiment, when the laser radar is integrated into an intelligent terminal, the data processing circuit 104 can also be used as part of the processor in the terminal.

[0021] In some embodiments, in order to expand the detection field of view of the laser radar, such as to scan the environment around the laser radar, the horizontal FOV is expanded to 360 0 The laser radar can also include a rotating base. The transmitter and collector are stacked and placed on the rotating base. Driven by the rotating base, they rotate around a rotating circle to change the position of the emitted light beam irradiating the detection space. One rotation can realize the scanning of the environment around the laser radar.

[0022] like Figure 2 Shown is a schematic diagram of a laser radar with a scanner according to another embodiment of the present application. Figure 2 Zhongyu Figure 1 The same reference numerals have the same meaning. Figure 2 No more details. Figure 1 Compared with the illustrated embodiment, the laser radar 20 includes a transmitter 101, a collector 102 and a data processing circuit (not shown), and also includes a plurality of reflectors, a plurality of lenses and a scanner 204, which are arranged on the transmission optical path of the optical signal to change the transmission direction of the optical signal and adjust the relative position of the transmitter 101 and the collector 102. During the detection process, the scanner 204 rotates at a very fast speed to project the transmitted light signal to different areas of the detection space, thereby scanning the detection space and reflecting the echo signal to the collector. The scanner 204 can be a prism, a rotating mirror, a swinging mirror, a MEMS reflector or a combination thereof. Figure 2As shown, the optical signal emitted by the transmitter 101 is transmitted to the first reflector 201 and then reflected to the second reflector 202, and then incident on the scanner 204 after being reflected by the second reflector 202, and then transmitted to the detection space; similarly, the reflected optical signal is reflected by the scanner 204 and then transmitted to the third reflector 203, and then returned to the detector 102 by the reflector 203. Furthermore, a plurality of lenses 205 and 206 are also arranged in the optical path.

[0023] In order to solve the problem that the laser radar identifies suspended objects in space (for the convenience of analysis, considering that the speed of light is an order of magnitude different from the speed of movement of rain, fog, snow and other particles, rain, fog, snow and other particles are regarded as suspended objects in space) as targets and causes no recognition when facing bad weather such as rain, snow, fog, haze, etc., Chinese Patent 202310600994.X proposes an anti-interference laser radar system, including a main radar module, an auxiliary radar module and a data processing circuit. The main radar module and the auxiliary radar module emit light spot beams of different sizes to the same target. The data processing circuit analyzes the first detection data output by the main radar module and the second detection data output by the auxiliary radar module to determine whether the target is a suspended object in space or a conventional object, and optimizes the first detection data using the second detection data to obtain the target detection data. Therefore, the auxiliary radar module is used to assist the main radar module in identifying the detected suspended objects in space, and the data processing circuit can eliminate the suspended objects in space in the point cloud data and optimize the detection data output by the main radar module. It can be understood that the main radar module and the auxiliary radar module are only functionally different. Both are laser radars and may include Figure 1 as well as Figure 2 The parts described.

[0024] Specifically, the main radar module includes a main transmitter and a main collector, the main transmitter emits a small spot light beam toward the target, and the main collector collects the small spot light beam reflected back by the target to obtain a first distance and a first echo intensity; the auxiliary radar module includes an auxiliary transmitter and an auxiliary collector, the auxiliary transmitter emits a large spot light beam toward the target, and the auxiliary collector collects the large spot light beam reflected back by the target to obtain a second distance and a second echo intensity; the data processing circuit calculates the reflectivity of the target according to the second distance and the second echo intensity, uses the first distance, the second distance and the reflectivity of the target to determine whether the target is a suspended object in space, and optimizes the first detection data according to the judgment result to obtain target detection data.

[0025] Among them, the large spot beam and the small spot beam, that is, the spot size formed by the beam emitted by the auxiliary radar module irradiating the target is larger than the spot size formed by the beam emitted by the main radar module irradiating the target. Therefore, in this application, the beam emitted by the auxiliary radar module is called a large spot beam, and the beam emitted by the main radar module is called a small spot beam to distinguish it. It should be noted that the small spot beam and the large spot beam here are relative concepts and are not limited. In addition, the number of beams is not limited. It can refer to one beam or multiple beams. For example, in some embodiments, the large spot beam and the small spot beam both contain multiple sub-beams arranged in an array.

[0026] The main radar module and the auxiliary radar module can be two independent modules, which are controlled by the data processing circuit to respectively emit light spot beams of different sizes to the target; or the main radar module and the auxiliary radar module can also be partially or completely integrated together to emit light spot beams of different sizes to the target. The optical path configuration of the main radar module and the auxiliary radar module to emit light beams will be described in detail below with multiple embodiments.

[0027] like Figure 3a and Figure 3b As shown, in one embodiment of the present application, the main and auxiliary transmitters are integrated into the same transmitting circuit board to share a transmitting lens, and the main and auxiliary collectors are integrated into the same receiving circuit board to share a receiving lens.

[0028] Specifically, in the laser radar system, the transmitter includes a transmitting circuit board 33 and a main transmitter 31 and an auxiliary transmitter 32 integrated thereon, the main transmitter 31 includes at least one main transmitting chip 311, the main transmitting chip 311 includes a plurality of first light sources 3111, each transmitting chip 311 is connected to an independent driving circuit, and the driving circuit is used to control the first light source to emit a small spot light beam to reduce the power consumption of the driving circuit. Among them, the plurality of first light sources 3111 can have any arrangement, such as a one-dimensional array, a plurality of columns with a basic one-dimensional form, a two-dimensional matrix, and other arbitrary shapes, preferably, as Figure 3aAs shown, a plurality of first light sources 3111 are arranged along a first direction (such as the vertical direction of the field of view) to form a column of light sources, and a plurality of columns of light sources are staggered along a second direction (such as the horizontal direction of the field of view), and the small spot light beams emitted by adjacent light sources will not overlap in the field of view. Similarly, the auxiliary emitter 32 includes at least one auxiliary emission chip 321, and the auxiliary emission chip 321 includes a plurality of second light sources 3211. Each auxiliary emission chip can also be connected to an independent driving circuit, and the driving circuit is used to control the second light source 3211 to emit a large spot light beam. In some embodiments, the first light source 3111 and the second light source 3211 are light sources of the same type, and the beam divergence angles are configured to be different so that the second light source 3211 emits a large spot light beam and the first light source 3111 emits a small spot light beam. Among them, the number of first light sources is n times the number of second light sources, and n is an integer greater than 1, such as Figure 3a As shown, every two first light sources 3111 are configured to match each second light source 3211. It is understandable that the number of first light sources 3111 matched with each second light source 3211 in the transmitter can be exactly the same, not exactly the same, or completely different, and can be adjusted arbitrarily according to actual needs.

[0029] like Figure 3b As shown, the collector includes a receiving circuit board 36 and a main collector 34 and an auxiliary collector 35 integrated thereon. The main collector 34 includes at least one main collection chip 341, which includes a plurality of first photosensitive areas 3411 and a control and readout circuit. Each first photosensitive area 3411 includes a plurality of photosensitive elements for collecting a small spot light beam reflected back by a target. In one embodiment, combined with Figure 3a As shown, each photosensitive area 3411 is adapted to each column light source, and is used to collect the small spot light beam emitted by each first light source. Similarly, the auxiliary collector 35 includes at least one auxiliary photosensitive chip 351, and the auxiliary photosensitive chip 351 includes a plurality of second photosensitive areas 3511, and each second photosensitive area 3511 includes a plurality of photosensitive elements, which are used to collect the large spot light beam reflected back by the target. Preferably, the photosensitive element is a SPAD, and the area of ​​the second photosensitive area 3511 is larger than the area of ​​the first photosensitive area 3411.

[0030] It can be understood that in practical applications, the number of main transmitting chips in the main transmitter and the number of auxiliary transmitting chips in the auxiliary transmitter can be the same or different, and correspondingly, the number of main acquisition chips and the number of auxiliary acquisition chips can be the same or different, and the arrangement of the light source in each chip can be the same or different. Since the spot sizes emitted by the main radar module and the auxiliary radar module are different, the field of view size corresponding to the main radar module and the field of view size corresponding to the auxiliary radar module can be the same or different, and the angular resolution corresponding to the main radar module and the angular resolution corresponding to the auxiliary radar module can be the same or different. Regardless of how it is configured, it is only necessary to ensure that at least one first light source and one second light source can illuminate the same field of view area. By pre-calibrating the correspondence between the large spot light beam and the small spot light beam, the data processing circuit can judge each large spot light beam and its corresponding at least one small spot light beam one by one when obtaining the data output by the control and readout circuit, so as to analyze each target in the field of view area to identify whether each target is a conventional object or a space suspended object.

[0031] In the laser radar system of the present application, the main transmitter and the auxiliary transmitter can also be configured separately, and the main collector and the auxiliary collector can be configured separately. In the conventional setting, a main radar module and an auxiliary radar module are configured to work together. For example, the main radar module and the auxiliary radar module can be stacked up and down or left and right. The settings of the various parts in the main radar module and the auxiliary radar module can refer to the description of the aforementioned embodiments.

[0032] If the main radar module is a laser radar including a scanner, the auxiliary radar module can also be arranged in the transmission optical path of the main radar module. Figure 2 The embodiment shown in the figure describes the configuration of the main radar module and the auxiliary radar module in detail, wherein Figure 2 The same reference numerals have the same meanings, and the following embodiments are not described in detail. For the configuration of the main transmitter, the auxiliary transmitter, the main collector and the auxiliary collector, reference may be made to the description of the embodiment shown in FIG. 3 .

[0033] In some embodiments, the auxiliary radar module is arranged in the transmission optical path of the main radar module. Specifically, the auxiliary radar module is arranged on the side of the reflective mirror surface away from the reflector, and the main emitter and the auxiliary emitter are configured to emit light beams of different wavelengths, and the reflector is used to reflect the small spot light beam emitted by the main emitter and transmit the large spot light beam emitted by the auxiliary emitter.

[0034] like Figure 4aAs shown, the laser radar system 40 includes a main transmitter 401 and a main collector 402. The small spot light beam emitted by the main transmitting chip 4011 in the main transmitter 401 is reflected by the first reflector 404 to the second reflector 202, and then incident on the scanner 204 after being reflected by the second reflector 202, and then reflected to the target field of view; similarly, the reflected light beam is transmitted to the third reflector 203 after being reflected by the scanner 204, and is reflected by the third reflector 203 to the main collecting chip of the main collector 402. The auxiliary radar module 403 is arranged on the back side of the first reflector 404 (for the convenience of description, the side of the reflector facing the small spot light beam is defined as the front side in this application, and the other side is the back side). The large spot light beam emitted by the auxiliary transmitting chip 4031 in the auxiliary radar module 403 passes through the first reflector 404 and is transmitted to the target field of view along the same transmission path as the small spot light beam. The small spot light beam reflected by the target is reflected by the scanner 404 and the second reflector 202 and then incident on the auxiliary collecting chip 4032. The main transmitting chip 4011 and the auxiliary transmitting chip 4031 transmit light beams of different wavelengths, and the first reflector 404 is configured to reflect a small spot light beam with a first wavelength and transmit a large spot light beam with a second wavelength. For example, the main transmitting chip 4011 transmits a small spot light beam with a wavelength of 905nm, and the auxiliary transmitting chip transmits a large spot light beam with a wavelength of 940nm. Although part of the large spot light beam will be reflected by the third reflector 203 and transmitted to the main collector 402 after being emitted by the scanner 204, since the main collector 402 is equipped with a filter with a wavelength of 905nm, the reflected large spot light beam can be blocked from affecting the detection data of the main radar.

[0035] like Figure 4b As shown, in the laser radar system 40, the auxiliary radar module 403 can also be arranged on the back of the third reflector 405, and the third reflector 405 is configured to reflect a small spot light beam with a first wavelength and transmit a large spot light beam with a second wavelength. Figure 4c As shown, in the laser radar system 40, the auxiliary radar module 403 can also be arranged on the back of the second reflector 406, and the second reflector 406 is configured to reflect the small spot light beam with the first wavelength and transmit the large spot light beam with the second wavelength. Preferably, the cross-sectional area of ​​the auxiliary radar module is not larger than the projection area of ​​the second reflector 406 on the main optical axis to reduce the shielding of the reflected small spot light beam and avoid affecting the ranging performance of the main radar module.

[0036] In some embodiments, the scanner is a multi-faceted rotating mirror, the auxiliary radar module is arranged outside the transmission optical path of the main radar module, and the auxiliary radar module and the main radar module share the multi-faceted rotating mirror, and the auxiliary radar module is arranged outside the multi-faceted rotating mirror. In this arrangement, the auxiliary radar module has little effect on the transmission optical path of the main radar module, and only slightly increases the width of the whole machine.

[0037] like Figure 5a and Figure 5b As shown, in some embodiments, the laser radar system 50 includes a main radar module and an auxiliary radar module 503, wherein the main radar module includes a main transmitter 501, a main collector 502, a multi-faceted rotating mirror 504, and a plurality of reflectors and lenses. The auxiliary radar module 503 is arranged on the outside of the multi-faceted rotating mirror 504. In the embodiment of the present application, the main radar beam transmission surface corresponding to the multi-faceted rotating mirror 504 is defined as the inner side, and the opposite side is the outer side, so the large spot beam emitted by the auxiliary transmitter 5031 in the auxiliary radar module 503 and the small spot beam emitted by the main transmitter 501 in the main radar module are irradiated to the multi-faceted rotating mirror 504 oppositely.

[0038] In one embodiment, Figure 5a As shown, the multi-faceted rotating mirror 504 is a double-faced rotating mirror. At this time, the detection fields of the main radar module and the auxiliary radar module are not synchronized, resulting in a time delay in the measurement data. The time delay is T, T is the period of one rotation of the multi-faceted mirror. That is, after the main radar module emits a small spot beam toward the target field of view to obtain distance data, After T, the auxiliary radar module emits a large spot beam to illuminate the same target field of view to obtain distance data. The data processing circuit matches the correspondence between the main radar data and the auxiliary radar data according to the time delay, for example, a timestamp method can be used to calibrate the main radar data according to the auxiliary radar data.

[0039] In another embodiment, Figure 5b As shown, the multi-faceted rotating mirror 504 is a three-faceted rotating mirror. At this time, the time delay between the main radar module and the auxiliary radar module is T. In another embodiment, the multi-faceted rotating mirror 504 is a four-faceted rotating mirror. In this case, there is no time delay between the measurement data of the primary radar module and the auxiliary radar module, and the detection fields are synchronized in real time.

[0040] In some embodiments, the scanner is a multi-faceted rotating mirror, the auxiliary radar module is disposed inside the multi-faceted rotating mirror and is located above the transmission optical path of the main radar module, and the auxiliary radar module and the main radar module share the multi-faceted rotating mirror.

[0041] like Figure 6a As shown, in one embodiment, compared to Figure 5a In the embodiment shown, the auxiliary radar module 601 is located above the second reflector 202, and the optical axis of the auxiliary radar module is arranged parallel to the optical axis of the auxiliary radar module. In order to ensure the transmission of the light beam, the height of the polygon mirror 504 can be increased to adapt the auxiliary radar module and the main radar module.

[0042] like Figure 6b As shown, in one embodiment, compared to Figure 5aIn the illustrated embodiment, the multi-faceted rotating mirror includes a first rotating mirror 602 and a second rotating mirror 603, and the second rotating mirror 603 is arranged above the first rotating mirror 602 and coaxially arranged with the first rotating mirror 602. Preferably, the first rotating mirror 602 and the second rotating mirror 603 are both multi-faceted rotating mirrors with the same number of faces, and the two share a common driving component, and only differ in size, and the volume of the second rotating mirror 603 is smaller than that of the first rotating mirror 602. The auxiliary radar module 601 is placed above the first rotating mirror 602, and the emitted large spot light beam is projected to the target field of view through the second rotating mirror 603, while the small spot light beam emitted by the main radar module is transmitted to the target field of view through the first rotating mirror 602.

[0043] Furthermore, the present application also provides a mobile platform, comprising the laser radar system described above and a platform body, wherein the laser radar system is installed on the platform body.

[0044] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An anti-interference laser radar system, characterized in that: include: A main radar module emits a small spot light beam toward a target in a target field of view to output corresponding first detection data; an auxiliary radar module, which is arranged in a transmission optical path of the main radar module or outside the transmission optical path and shares some or all optical elements with the main radar module to emit a large spot light beam toward the target in the target field of view and output corresponding second detection data; The data processing circuit optimizes the first detection data using the second detection data to obtain target detection data.

2. The laser radar system according to claim 1, characterized in that The main radar module includes a main transmitter, at least one reflector and a scanner, wherein the small spot light beam emitted by the main transmitter is reflected by the reflector and then transmitted to the scanner and then reflected by the scanner and transmitted to the target field of view; The auxiliary radar module is arranged on a side away from the reflective mirror surface of the reflector.

3. The laser radar system according to claim 2, characterized in that The auxiliary radar module includes an auxiliary transmitter; the main transmitter transmits the small spot light beam with a first wavelength, and the auxiliary transmitter transmits the large spot light beam with a second wavelength; the reflector is configured to reflect the small spot light beam and transmit the large spot light beam.

4. The laser radar system according to claim 2, characterized in that The main radar module includes the main transmitter, a first reflector, a second reflector and the scanner; the auxiliary radar module is arranged on a side of the reflective mirror surface away from the second reflector; and the cross-sectional area of ​​the auxiliary radar module is not larger than the projection area of ​​the second reflector on the main optical axis.

5. The laser radar system according to claim 1, characterized in that The main radar module includes a main transmitter, at least one reflector and a multi-faceted rotating mirror; the auxiliary radar module is arranged outside the transmission light path of the main radar module and shares the multi-faceted rotating mirror.

6. The laser radar system according to claim 5, characterized in that The multi-faceted rotating mirror is a double-faced rotating mirror; the detection data output by the main radar module and the auxiliary radar module have a first time delay; and the data processing circuit matches the detection data output by the main radar module and the auxiliary radar module according to the first time delay.

7. The laser radar system according to claim 5, characterized in that The multi-faceted rotating mirror is a three-faceted rotating mirror; the detection data output by the main radar module and the auxiliary radar module has a second time delay; and the data processing circuit matches the detection data output by the main radar module and the auxiliary radar module according to the second time delay.

8. The laser radar system according to claim 5, characterized in that The main radar module includes the main transmitter, a first reflector, a second reflector and the multi-faceted rotating mirror; the auxiliary radar module is arranged on the second reflector and shares the multi-faceted rotating mirror.

9. The laser radar system according to claim 5, characterized in that: The polygonal mirror comprises a first polygonal mirror and a second polygonal mirror. The first polygonal mirror and the second polygonal mirror share a bearing, and the volume of the second polygonal mirror is smaller than that of the first polygonal mirror.

10. The laser radar system according to claim 1, characterized in that: The first detection data includes a first distance corresponding to the small spot light beam, and the second detection data includes a second distance and a second echo intensity corresponding to the large spot light beam; The data processing circuit is also used to: calculate the reflectivity of the target according to the second distance and the second echo intensity, use the first distance, the second distance and the reflectivity of the target to determine whether the target is a space suspended object, and optimize the first detection data according to the judgment result to obtain target detection data.

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