Laser transceiver system of laser radar and laser radar thereof

Abstract

The utility model discloses a laser transmit-receive system of a laser radar and the laser radar thereof, and the system comprises a rotating mirror which rotates around a rotating shaft; the emission unit array emits M emission light beams and emits the M emission light beams to the environment through the first mirror surface of the rotating mirror, the emission unit array comprises N emission unit sub-arrays, and the N emission unit sub-arrays are arranged in the extension direction of the rotating shaft; the N groups of transmitting lenses are in one-to-one correspondence with the N transmitting unit sub-arrays, and the N groups of transmitting lenses are arranged along the extension direction of the rotating shaft; the receiving lens is used for receiving M echo light beams of the M emission light beams through the second mirror surface of the rotating mirror; and the receiving unit array is arranged corresponding to the transmitting unit array and is used for receiving the M echo light beams. According to the utility model, aberration can be improved, the size of a laser transmit-receive system is compressed, the adjustment efficiency of transmit-receive laser signal alignment is improved, and the heat dissipation efficiency is improved. The resolution ratio of the central field of view of the laser radar is doubled by means of the arrangement of the photoelectric detection array.

Description

TECHNICAL FIELD

[0001] The utility model relates to the laser radar technical field based on photoelectric detection, especially a kind of laser transceiver system and laser radar of laser radar. BACKGROUND

[0002] Laser radar has been widely applied in various fields due to its high precision, high resolution and other measurement advantages. Especially in the field of autonomous vehicles, whether calibration, testing or actual scene application, laser radar as a core sensor is essential.

[0003] Laser transceiver system is an important component of laser radar, and its design scheme directly determines the optical performance of laser signal, and then affects the ranging capability and point cloud quality of laser radar. However, in the prior art, there are problems such as large aberration of transceiver system, large volume difficult to compress, low laser detection resolution, which limits the performance development and application range of laser radar. UTILITY MODEL CONTENT

[0004] The technical problem solved by the utility model is to provide a laser transceiver system of laser radar for improving aberration and compressing the volume of laser transceiver system.

[0005] Further, the adjustment efficiency of transceiving laser signal alignment is improved.

[0006] Further, the heat dissipation efficiency is improved.

[0007] The utility model discloses a laser transceiver system of laser radar, comprising:

[0008] Rotating mirror, rotates around rotating shaft;

[0009] Transmitting unit array, emits M transmitting beams and emits to the environment via the first mirror surface of the rotating mirror, the transmitting unit array includes N transmitting unit subarrays, N transmitting unit subarrays are arranged along the extension direction of the rotating shaft;

[0010] N groups of transmitting lenses correspond to the N transmitting unit subarrays one by one, and the N groups of transmitting lenses are arranged along the extension direction of the rotating shaft;

[0011] Receiving lens, receives M echo beams of the M transmitting beams via the second mirror surface of the rotating mirror;

[0012] Receiving unit array, corresponding arrangement with the transmitting unit array, for receiving the M echo beams.

[0013] The receiving unit array has at least three columns of photoelectric detection arrays, and the three columns of photoelectric detection arrays are staggered in the extension direction of the rotating shaft.

[0014] The array of the transmitting units comprises at least a first array of the transmitting units corresponding to the first group of the transmitting lenses and a second array of the transmitting units corresponding to the second group of the transmitting lenses.

[0015] The first array of the transmitting units comprises two columns of the transmitting units corresponding to the first and third columns of the arrays of the photodetectors.

[0016] The second array of the transmitting units comprises one column of the transmitting units corresponding to the second column of the arrays of the photodetectors.

[0017] The two columns of the transmitting units of the first array of the transmitting units are equidistantly arranged relative to the optical axis of the first group of the transmitting lenses.

[0018] The one column of the transmitting units of the second array of the transmitting units is arranged relative to the position of the optical axis of the second group of the transmitting lenses.

[0019] The three columns of the arrays of the photodetectors are staggered by an odd multiple of half of the height of the receiving surface of the photodetector in the extension direction of the rotation axis.

[0020] The array of the transmitting units comprises a plurality of the transmitting units, and the transmitting unit is a linear light source.

[0021] The laser transceiver system comprises at least three arrays of the transmitting units.

[0022] The array of the transmitting units comprises at least part of the transmitting units of adjacent columns or only part of the transmitting units in the same column.

[0023] The array of the transmitting units is located on the same transmitting circuit board.

[0024] Each group of the transmitting lenses is arranged in a direction perpendicular to the rotation axis.

[0025] The utility model discloses still a kind of laser radar, including the laser transceiver system of the laser radar.

[0026] Through the above technical scheme, the utility model can improve aberration, compress the volume of laser transceiver system, improve the adjustment efficiency of receiving and transmitting laser signal alignment, improve heat dissipation efficiency.Further, the resolution of central field of view of laser radar is doubled by the arrangement of array of photodetector. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 As shown in the structure diagram of the laser transceiver system of the laser radar of the utility model.

[0028] Figure 2 As shown in the arrangement diagram of the array of receiving units 21 of the utility model.

[0029] Figure 3The receiving visual field position schematic diagram of the photoelectric detection array is shown.

[0030] Figure 4 The receiving visual field position schematic diagram of the photoelectric detection array of another embodiment of the utility model is shown.

[0031] Figure 5 The arrangement schematic diagram of the transmitting unit array and the transmitting lens of the utility model is shown.

[0032] Figure 6 、 7 The arrangement schematic diagram of the transmitting unit array and the transmitting lens of other embodiments of the utility model is shown.

[0033] Figure 8 The structure schematic diagram of the laser transceiver system of the laser radar is shown. DETAILED DESCRIPTION

[0034] The implementation process of the technical scheme of the utility model is described below in combination with specific embodiments, which is not as a limitation on the utility model.

[0035] In order to improve the aberration of the laser radar and compress the volume of the laser transceiver system, the utility model provides a laser transceiver system of a laser radar.

[0036] As Figure 1 The structure schematic diagram of the laser transceiver system of the laser radar is shown, which is the top view direction. The laser transceiver system of the utility model is arranged in the laser radar. The laser transceiver system comprises a transmitting unit array 11, a transmitting lens 12, a receiving unit array 21, a receiving lens 22 and a rotating mirror 3.

[0037] The rotating mirror 3 rotates around the rotation axis O, and the extension direction of the rotation axis O is the Z direction. The rotating mirror has at least three mirror surfaces, preferably four mirror surfaces. The included angle of each mirror surface with the rotation axis O is not completely the same, that is, the pitch of each mirror surface relative to the rotation axis O is different, and the projection direction of each mirror surface to the transmitting light beam is different.

[0038] The transmitting unit array 11 is used for emitting M transmitting light beams, and the M transmitting light beams are emitted to the environment via the transmitting lens 12 and the first mirror surface 31 of the rotating mirror 3. The receiving unit array 21 is used for receiving the M echo light beams corresponding to the M transmitting light beams, in particular, receiving the M echo light beams via the second mirror surface 32 of the rotating mirror and the receiving lens 22. The first mirror surface and the second mirror surface are two adjacent mirror surfaces of the rotating mirror. The arrangement mode of the transmitting unit array 11 and the receiving unit array 21 corresponds.

[0039] Since the transmitting unit array and the receiving unit array both realize the transmitting and receiving by using the respective lenses, the transmitting light path and the receiving light path are independent of each other, the appropriate optical lenses can be designed respectively, so that the loss and distortion of the light beam in the propagation are reduced, the imaging clarity and accuracy are improved, the imaging quality is good, and the aberration is reduced. Meanwhile, if only one set of transmitting lenses is arranged, the volume waste caused by increasing the aperture of the transmitting lenses or the distance between the transmitting lenses and the transmitting unit array is avoided, which plays an important role in compressing the size of the laser transmitting and receiving system and even the laser radar.

[0040] As shown in Figure 2 , 3 The receiving unit array 21 is arranged as shown in the schematic view of the receiving unit array 21 of the utility model.

[0041] The receiving unit array 21 has at least three columns of photoelectric detection arrays, and three columns are taken as an example in the embodiment, and other quantities are also within the disclosure range of the utility model. The three columns of photoelectric detection arrays are staggered in the extension direction (Z direction) of the rotation shaft in turn, form a stepped arrangement, and a distance is arranged between the adjacent photoelectric detection arrays in each column. Each photoelectric detection array includes a plurality of photoelectric detectors, and the plurality of photoelectric detectors are arranged in a one-dimensional array in turn. The photoelectric detector can adopt SiPM, APD, SPAD or InGaAs.

[0042] The first column has photoelectric detection arrays D1, D2 and D3, the second column has photoelectric detection arrays E1, E2 and E3, and the third column has photoelectric detection arrays F1, F2, and a total of eight.

[0043] In the embodiment, each photoelectric detection array includes four photoelectric detectors, and the four photoelectric detectors are arranged in a one-dimensional array in turn.

[0044] Each photoelectric detector has a receiving surface with a height H, and the corresponding photoelectric detection arrays of adjacent columns are staggered by an odd multiple of H / 2 in the Z direction, so that the resolution of the central field of view is twice that of the edge field of view.

[0045] The photoelectric detection arrays D1 and E1 are staggered by 2.5H in the Z direction, the photoelectric detection arrays E1 and F1 are staggered by 1.5H in the Z direction, the photoelectric detection arrays D2 and F1 are staggered by 2.5H in the Z direction, the photoelectric detection arrays D2 and E2 are staggered by 1.5H in the Z direction, the photoelectric detection arrays E2 and F2 are staggered by 2.5H in the Z direction, the photoelectric detection arrays F2 and D3 are staggered by 1.5H in the Z direction, and the photoelectric detection arrays D3 and E3 are staggered by 2.5H in the Z direction.

[0046] The receiving field of view position of each photoelectric detection array is as shown in Figure 3, especially the receiving field of view position of each photodetector is shown by the dashed line in the figure, due to the staggered arrangement of the photodetector arrays in the array, the density of the dashed line of the middle section field of view LL' in the receiving field of view MM' is 2 times that of the sections ML or L'M'. It can be seen that, by arranging the photodetector arrays in a staggered relay manner, the resolution of the central field of view of the laser radar transceiver system is 2 times that of the edge field of view, and the detection capability and identification quality of the central field of view are improved.

[0047] In particular, in the field of view in the Z direction, only two photodetector arrays are arranged in the receiving section of the central field of view, for example, the photodetector arrays D1, E1 are arranged in the section LN1, the photodetector arrays E1, F1 are arranged in the section N1N2, the photodetector arrays D2, F1 are arranged in the section N2N3, the photodetector arrays D2, E2 are arranged in the section N3N4, the photodetector arrays E2, F2 are arranged in the section N4N5, the photodetector arrays D3, F2 are arranged in the section N5N6, and the photodetector arrays D3, E3 are arranged in the section N6L'. It can be seen that any field of view corresponding to the central field of view of the receiving unit array corresponds to at least two photodetectors, and by arranging two photodetectors corresponding to the same field of view in a smaller area, the receiving field of view angle corresponding to a single photodetector can be reduced.

[0048] As shown in Figure 3 , the angle between each mirror surface of the rotating mirror and the rotation axis is different, and the utility model can realize the scanning effect of 32*4=128 lines.

[0049] In another embodiment, as shown in Figure 4 , the photodetector arrays D1, E1 are staggered by 1.5H in the Z direction, the photodetector arrays E1, F1 are staggered by 2.5H in the Z direction, the photodetector arrays D2, F1 are staggered by 1.5H in the Z direction, the photodetector arrays D2, E2 are staggered by 2.5H in the Z direction, the photodetector arrays E2, F2 are staggered by 1.5H in the Z direction, the photodetector arrays F2, D3 are staggered by 2.5H in the Z direction, and the photodetector arrays D3, E3 are staggered by 1.5H in the Z direction.

[0050] All the photodetector arrays correspond to the same receiving lens, and the central column is located at the position of the optical axis of the corresponding receiving lens.

[0051] As shown in Figure 5 , it is an arrangement schematic view of the transmitting unit array and the transmitting lens of the utility model.

[0052] The transmitting unit array 11 comprises N transmitting unit sub-arrays, and the N transmitting unit sub-arrays are arranged along the extension direction (Z direction) of the rotating shaft O. The transmitting unit array is located in different regions of the same transmitting circuit board. Each transmitting unit sub-array corresponds to a group of transmitting lenses, and the N transmitting unit sub-arrays correspond to the N groups of transmitting lenses in a one-to-one manner. The N groups of transmitting lenses are arranged along the extension direction (Z direction) of the rotating shaft.

[0053] Each transmitting unit sub-array comprises a plurality of transmitting units, and the transmitting unit is a linear light source. The linear light source adopts a VCSEL (Vertical-Cavity Surface-Emitting Laser) laser emitter. Specifically, the linear light source can be formed by closely arranging a plurality of laser emitters in a row. Alternatively, the linear light source can be a linear array laser. The linear light source can emit a linear light beam, so that the radius of the echo light beam returned by the linear light beam is enlarged, thereby making the echo light beam more easily detected by the photoelectric detection array, and improving the signal energy detection efficiency of the system.

[0054] The transmitting unit array 11 and the receiving unit array 21 are arranged correspondingly, the transmitting light beams emitted by each linear light source are received by the corresponding photoelectric detection array, so that the transmitting light path and the receiving light path can correspond to each other, the receiving field of view and the transmitting field of view are nested with each other, so as to improve the optical efficiency of the overall system.

[0055] As shown in Figure 5 The linear light sources A1, A2 and A3 are located in the first column, the linear light sources B1, B2 and B3 are located in the second column, and the linear light sources C1 and C2 are located in the third column. The linear light sources A1, A2, A3, C1 and C2 form a first transmitting unit sub-array, which is provided with corresponding transmitting lenses 121 and performs beam shaping and transceiving alignment through the transmitting lenses 121. The linear light sources B1, B2 and B3 form a second transmitting unit sub-array, which is provided with corresponding transmitting lenses 122 and performs beam shaping and transceiving alignment through the transmitting lenses 122.

[0056] The signals emitted by the linear light sources A1, A2 and A3 are sequentially received by the photoelectric detection arrays D1, D2 and D3, respectively, the signals emitted by the linear light sources B1, B2 and B3 are sequentially received by the photoelectric detection arrays E1, E2 and E3, respectively, and the signals emitted by the linear light sources C1 and C2 are sequentially received by the photoelectric detection arrays F1 and F2, respectively.

[0057] The utility model discloses in order to improve the efficiency of light shaping and transceiving alignment, reduce the phase difference produced by transceiving misplacement, divide the transmitting unit array into multiple transmitting unit subarrays, and each transmitting unit subarray corresponds to a group of transmitting lens respectively, and the transmitting light beams emitted by each transmitting unit subarray are shaped independently, which improves the adjustment accuracy of shaping, realizes transceiving alignment through zoning adjustment, avoids affecting the signal performance of other subarrays when light path error defects occur due to vibration or impact, and meanwhile, multiple groups of transmitting lenses can ensure that the distribution of laser signals is relatively uniform.

[0058] Specifically, Figure 5 In the embodiment shown, the linear light sources A1, A2 and A3 are arranged at equal intervals L along the optical axis D of the transmitting lens 121, and the linear light sources B1, B2 and B3 are arranged at the positions of the optical axis D of the transmitting lens 122.

[0059] The three columns of linear light sources are arranged in different regions of the same transmitting circuit board, and the linear light sources arranged in the same transmitting unit subarray are separated by columns (non-adjacent columns), so that the linear light sources in the same transmitting unit subarray have sufficient wiring and heat dissipation space in the vicinity, which can ensure the effective spacing of circuit arrangement, reduce electrical interference, prevent overheating damage and improve signal quality.

[0060] As shown in Figure 6 In another embodiment, the transmitting unit array is divided into three transmitting unit subarrays, and three groups of transmitting lenses are arranged. The transmitting unit subarray includes at least part of the transmitting units in adjacent columns, or only includes part of the transmitting units in the same column.

[0061] The linear light sources A1, B1 and B2 form a first transmitting unit subarray, which is arranged corresponding to the transmitting lens 121 and performs light shaping and transceiving alignment through the transmitting lens 121. The linear light sources A2 and A3 form a second transmitting unit subarray, which is arranged corresponding to the transmitting lens 122 and performs light shaping and transceiving alignment through the transmitting lens 122. The linear light sources B3, C1 and C2 form a third transmitting unit subarray, which is arranged corresponding to the transmitting lens 123 and performs light shaping and transceiving alignment through the transmitting lens 123.

[0062] As shown in Figure 7 In the embodiment shown, the linear light sources A1, A2 and B1 form a first transmitting unit subarray, which is arranged corresponding to the transmitting lens 121 and performs light shaping and transceiving alignment through the transmitting lens 121. The linear light sources B2, C1 and C2 form a second transmitting unit subarray, which is arranged corresponding to the transmitting lens 122 and performs light shaping and transceiving alignment through the transmitting lens 122. The linear light sources A1 and B3 form a third transmitting unit subarray, which is arranged corresponding to the transmitting lens 123 and performs light shaping and transceiving alignment through the transmitting lens 123.

[0063] The centers of the three groups of emitting lenses are arranged along the same reference straight line, that is, the optical axes D of the lenses are arranged in sequence.

[0064] The number of the linear light sources corresponding to different emitting lenses can be the same or different.

[0065] The different linear light sources are grouped and shaped by the multiple groups of emitting lenses, the linear light sources at adjacent positions are divided into the same group, the linear light sources in the same group correspond to the same group of emitting lenses, that is, the same optical parameters are obtained, so that the projection elevation directions tend to be generally consistent.

[0066] Each group of emitting lenses can include multiple emitting lenses, which are arranged along the direction perpendicular to the rotation axis, that is, along the direction perpendicular to the Z direction, as shown in FIG. 4. Figure 8 The N groups of emitting lenses are arranged along the extension direction of the rotation axis (Z direction), and the multiple emitting lenses in each group of emitting lenses are arranged along the direction perpendicular to the Z direction, so that the receiving and transmitting system can fully utilize the effective area capable of producing light path folding, improve the efficiency of light beam projection, and ensure the energy distribution in the light path.

[0067] Through the above technical solutions, the present application can improve the aberration, compress the volume of the laser receiving and transmitting system, improve the adjustment efficiency of the receiving and transmitting laser signal alignment, and improve the heat dissipation efficiency.

[0068] The above embodiments are only used to describe the technical solutions of the present application, and are not regarded as limiting the present application.

Claims

1. A laser transceiver system of a lidar, characterized by, Comprising: a rotating mirror rotating around a rotation axis; an array of emitting units emitting M emitting beams and emitting into the environment via a first mirror surface of the rotating mirror, the array of emitting units comprising N arrays of emitting units arranged along an extension direction of the rotation axis; N sets of emitting lenses corresponding to the N arrays of emitting units respectively, the N sets of emitting lenses arranged along the extension direction of the rotation axis; a receiving lens receiving M echo beams of the M emitting beams via a second mirror surface of the rotating mirror; an array of receiving units corresponding to the array of emitting units and configured to receive the M echo beams.

2. The laser transceiver system of the lidar according to claim 1, wherein: the array of receiving units has at least three columns of photodetector arrays, the three columns of photodetector arrays being staggered by an odd multiple of half of a height of a photodetector receiving surface in the extension direction of the rotation axis.

3. The laser transceiver system of the lidar according to claim 2, wherein: the array of emitting units comprises at least a first array of emitting units corresponding to a first set of emitting lenses and a second array of emitting units corresponding to a second set of emitting lenses; the first array of emitting units comprises two columns of emitting units corresponding to the first and third columns of photodetector arrays respectively; the second array of emitting units comprises one column of emitting units corresponding to the second column of photodetector arrays.

4. The laser transceiver system of the lidar of claim 3, wherein, the two columns of emitting units of the first array of emitting units are arranged equidistantly with respect to an optical axis of the first set of emitting lenses; the one column of emitting units of the second array of emitting units is arranged corresponding to a position of an optical axis of the second set of emitting lenses.

5. The laser transceiver system of the lidar of claim 2, wherein, the three columns of photodetector arrays are staggered by an odd multiple of half of a height of a photodetector receiving surface in the extension direction of the rotation axis.

6. The laser transceiver system of the lidar of claim 1, wherein, the array of emitting units comprises a plurality of emitting units, and each emitting unit is a linear light source.

7. The laser transceiver system of the lidar according to claim 6, wherein: the laser transceiver system comprises at least three arrays of emitting units; the array of emitting units comprises at least part of the emitting units in adjacent columns or only part of the emitting units in the same column.

8. The laser transceiver system of the lidar of claim 1, wherein, the array of emitting units is located on the same emitting circuit board.

9. The laser transceiver system of the lidar of claim 1, wherein, each set of emitting lenses is arranged along a direction perpendicular to the rotation axis.

10. A lidar, comprising: a lidar comprising the laser transceiver system according to any one of claims 1-9.

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