CN210347920U - Laser receiving device and laser radar system - Google Patents
Laser receiving device and laser radar system Download PDFInfo
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- CN210347920U CN210347920U CN201920654481.6U CN201920654481U CN210347920U CN 210347920 U CN210347920 U CN 210347920U CN 201920654481 U CN201920654481 U CN 201920654481U CN 210347920 U CN210347920 U CN 210347920U
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Abstract
The utility model relates to a laser radar technical field especially relates to a laser receiving device and laser radar system. The laser receiving device is used for receiving laser beams from a target object, and comprises: a first lens, a microlens array, and a detector array. The first lens is used for collimating and converging the laser beam. The micro lens array is arranged opposite to the first lens and comprises a second lens, the second lens is used for receiving the laser beam from the first lens, and an imaging interval for imaging of the first lens is formed between the first lens and the second lens. The detector array includes a photodetector for converting the optical signal into an electrical signal, the photodetector receiving the laser beam from the second lens and imaging by the second lens. The utility model discloses a combination of first lens and second lens has changed laser receiving arrangement's whole formation of image focus, has improved laser radar system's receiving field of view, has finally improved laser radar system's scanning performance.
Description
Technical Field
The utility model relates to a laser radar technical field especially relates to a laser receiving device and laser radar system.
Background
Referring to fig. 1, a laser radar system 100 'is a radar system that detects a characteristic quantity, such as a position and a velocity, of a target object 104' by emitting a laser beam 11 'to the target object 104' by a laser emitting device and receiving a laser beam 12 'from the target object 104'. Specifically, by generating the laser beam 11' by the laser emitting unit 101', the galvanometer 102' reflects the laser beam 11' toward the target 104', the target 104' receives the laser beam 11 "and simultaneously reflects the laser beam 12' toward the lens 103' of the laser receiving device, and the photodetector 104' receives the laser beam 12' from the lens 103 '. Wherein, the photosensitive surface of the photodetector 103' is used for receiving the laser beam 12' and then processed by the receiving processor to obtain the information of the target 104 '. The photodetector 104' includes an APD photodetector, a SPAD photodetector, or the like.
However, because of the high cost and complex process, the effective receiving area of the photosensitive surface of the APD or SPAD photodetector sold in the market at present is about 0.2mm2Which limits the receive field of view of lidar system 100 'and thereby affects the scanning performance of lidar system 100'.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a laser receiving device aims at solving because the effective receiving area undersize of photoelectric detector's photosensitive surface, and leads to the limited problem of laser radar system's scanning visual field.
The utility model provides a laser receiving device for receive the laser beam from the target object, wherein, the laser beam incides to the target object is followed the target object is outside to be reflected, laser receiving device includes:
a first lens disposed on an optical path of the laser beam reflected outward from the target object, the first lens being configured to collimate and converge the laser beam;
the micro lens array is arranged opposite to the first lens and comprises a second lens, the second lens is used for receiving the laser beam from the first lens, an imaging interval for imaging the first lens is formed between the first lens and the second lens, and an image formed by the first lens in the imaging interval is a real image;
a detector array comprising a photodetector for converting an optical signal into an electrical signal, the photodetector receiving the laser beam from the second lens and imaging the second lens;
wherein the microlens array is located between the first lens and the detector array.
In one embodiment, the second lens array is provided with a plurality of second lenses, each second lens is provided with one corresponding photodetector, each second lens is located on the same plane perpendicular to the propagation direction of the laser beam, and the imaging area is formed between each second lens and the first lens; each of the photodetectors is located on the same plane perpendicular to the propagation direction of the laser beam.
In one embodiment, each of the second lenses is continuously arranged on the same plane.
In one embodiment, the microlens array further comprises an optical filter for filtering out noise light signals incident on the photodetector, the optical filter being located between the second lens and the photodetector.
In one embodiment, the filter is a narrow band filter or a broadband filter.
In one embodiment, the laser receiving apparatus further comprises a receiving processor electrically connected to the detector array, the receiving processor for analyzing and processing the laser beam.
In one embodiment, the first lens is a convex lens or a combination of lenses.
In one embodiment, the second lens is a convex lens or a combination of lenses.
Another object of the present invention is to provide a laser radar system, which includes: the laser receiving device, the laser emitting device for emitting the laser beam to the target object and the control device for controlling the laser emitting device and the laser receiving device are as described above.
In one embodiment, the laser emitting device includes a laser emitting unit for generating the laser beam and a galvanometer for receiving the laser beam from the laser emitting unit and reflecting the laser beam toward the target object.
The technical effects of the utility model are that: the target object reflects the laser beam to the first lens, and the first lens forms a real image in the imaging area after receiving the laser beam. The laser beam emitted from the real image is incident to the second lens, and the second lens collimates and converges the laser beam and then images the laser beam on the photoelectric detector. Through the combination of the first lens and the second lens, the integral imaging focal length of the laser receiving device is changed, the receiving field of view of the laser radar system is improved, and finally the scanning performance of the laser radar system is improved.
Drawings
FIG. 1 is a schematic diagram of a prior art lidar system;
fig. 2 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of the laser transmitter and the laser receiver of FIG. 2;
FIG. 4 is a schematic structural diagram of the microlens array of FIG. 3;
FIG. 5 is a schematic diagram of the detector array of FIG. 3;
fig. 6 is a schematic structural view of a plurality of imaging sections of fig. 3 continuously distributed.
The correspondence between reference numbers and names in the drawings is as follows:
100. a laser radar system; 200. a laser emitting device; 300. a laser receiving device; 400. a control device; 104. a target object; 201. a laser emitting unit; 202. a galvanometer; 303. a first lens; 308. an imaging plane; 304. a microlens array; 305. an optical filter; 306. a detector array; 310. a second lens; 311. a photodetector; 307', real image; 61. a first imaging interval; 62. a second imaging interval; 63. a third imaging interval; 64. a fourth imaging interval;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "thickness", "upper", "lower", "vertical", "parallel", "bottom", "angle", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship.
Referring to fig. 2 to 4, embodiments of the present invention provide a laser receiving device 300 and a laser radar system 100 having the same. Lidar system 100 further comprises a laser transmitter 200 and a control device 400. The control device 400 is connected to the laser emitting device 200, and controls the laser emitting device 200 to emit the laser beam 21 to the target 104. The control device 400 is further connected to the laser receiving device 300, and controls the laser receiving device 300 to receive the echo signal reflected by the target 104, and obtains the information related to the target 104 after internal processing by the laser receiving device 300. It is understood that lidar system 100 in the present embodiment is an off-axis optical receiving system.
The laser emitting device 200 emits the laser beam 21 toward the target 104, and the laser beam 21' is incident on the target 104 and reflected outward by the target 104. The laser receiving device 300 is used to receive the laser beam 32 from the target 104. The laser receiving apparatus 300 includes: a first lens 303, a microlens array 304, and a detector array 306. The first lens 303 is disposed on the optical path of the laser beam 32 reflected outward from the target 104, and the first lens 303 collimates and converges the laser beam 32, thereby achieving optimization of the beam. The micro lens array 304 is arranged opposite to the first lens 303 and receives the laser beam 32 'emitted from the first lens 303, the micro lens array 304 comprises a second lens 310, the second lens 310 is used for receiving the laser beam 32' emitted from the first lens 303, and an imaging interval for imaging the first lens 303 is formed between the first lens 303 and the second lens 310. Referring to fig. 6, an image formed by the first lens element 303 in the imaging region is a real image 307'. Specifically, the imaging area has an imaging plane 308, and a real image 307' formed by the first lens 303 is located on the imaging plane 308. The detector array 306 includes a photodetector 311 for converting the optical signal into an electrical signal, the photodetector 311 for receiving the laser beam 32 ″ from the second lens 310 and converting the optical signal into an electrical signal, the second lens 310 being imaged to the photodetector 311 and being imaged as a real image. Therein, the micro lens array 304 is located between the first lens 303 and the detector array 306.
The target 104 reflects the laser beam 32 toward the first lens 303, and after the first lens 303 receives the laser beam 32, the laser beam 32 is converged and collimated, and a real image 307' is formed in an imaging region. The laser beam 32' emitted from the real image 307' continues to enter the second lens 310, and after the second lens 310 collimates and converges the laser beam 32', the laser beam enters the photodetector 311 and is imaged on the photodetector 311. By the combination of the first lens 303 and the second lens 310, the total imaging focal length of the laser receiving device 300 is changed, so that the receiving field of view of the laser radar system 100 is improved, and finally the scanning performance of the laser radar system 100 is improved.
In some embodiments, photodetector 311 includes an APD detector, a SPAD detector, and the like. It will be appreciated that the SPAD detector is an APD detector operating in geiger mode.
In one embodiment, the laser receiver 300 further includes a receiver processor electrically connected to the detector array 306 for analyzing and processing the laser beam 32 "received by the photodetector 311.
In one embodiment, the first lens 303 is a convex lens or a lens combination, wherein the lens combination is a compound lens formed by more than two single lenses.
In one embodiment, the second lens 310 is a convex lens or a lens combination, wherein the lens combination is a compound lens formed by more than two single lenses.
Referring to fig. 4 and 6, in an embodiment, the second lens 310 array is provided with a plurality of second lenses 310, each second lens 310 is provided with a corresponding photodetector 311, each second lens 310 is located on the same plane perpendicular to the propagation direction of the laser beam, and an imaging region is formed between each second lens 310 and the first lens 303. It will be appreciated that the diameter of the second lens 310 is smaller than the diameter of the first lens 303. The provision of the plurality of second lenses 310 makes it possible to receive almost all of the laser beam 32' emitted from the first lens 303 by the microlens array 304. Specifically, the second lens 310 in this embodiment is provided with four pieces, and the four pieces of the second lens 310 form the first imaging section 61, the second imaging section 62, the third imaging section 63, and the fourth imaging section 64 with the first lens 303, respectively. It is understood that the image formed by the first lens 303 in each imaging zone is also located on the same plane perpendicular to the propagation direction of the laser beam 32. In other embodiments, the number of the second lenses 310 may also be five or more, and is not limited herein. It is understood that the larger the number of second lenses 310 is, the more imaging regions are divided, which is more advantageous for improving the detection accuracy of laser radar system 100 on target 104. Accordingly, a plurality of photodetectors 311 are also arranged in an array and in one-to-one correspondence with the second lenses 310, and the photodetectors 311 are also located on the same plane perpendicular to the propagation direction of the laser beam 32 ″.
In one embodiment, the second lenses 310 are continuously arranged on the same plane. Specifically, the plurality of second lenses 310 are continuously disposed in multiple rows and multiple columns on the same plane, so that the real image 307' formed by the first lens 303 is continuously divided by each imaging section and is re-imaged to the corresponding photodetector 311 through each second lens 310, thereby further improving the detection accuracy of the laser radar system 100. It will be appreciated that each photodetector 311 converts the received optical signal into an electrical signal. And the electric signals of the photodetectors 311 are analyzed and processed by a receiving processor, so as to obtain the information of the target object 104, thereby completing the scanning of the laser radar.
Referring to fig. 2 to 4, in an embodiment, the receiving device 300 further includes an optical filter 305, the optical filter 305 is used for filtering the background light signal incident to each of the photodetectors 311, and the optical filter 305 is located between the second lens 310 and the photodetector 311. The filter 305 may reduce the power of the background light received by the surface of the photodetector 311, thereby reducing shot noise generated by the background light.
In addition, the filter 305 may also be used in some embodiments that require filtering, for example, an infrared filter in an infrared imaging module is required to allow only infrared light in a certain wavelength band to pass through, and for example, a bayer filter is often provided in a color imaging module to generate a color image.
In one embodiment, the filter 305 is a narrowband filter.
In one embodiment, filter 305 is a broadband filter.
In one embodiment, the laser emitting device 200 includes a laser emitting unit 201 for generating the laser beam 21 and a galvanometer 202 for receiving the laser beam 21 from the laser emitting unit 201 and reflecting the laser beam 21' toward the target 104.
In one embodiment, galvanometer 202 includes an optical mirror for incidence of laser beam 21 and an electronic drive amplifier to drive deflection of the optical mirror. The optical mirror is driven by an electronic drive amplifier to deflect in the X direction and/or the Y direction, thereby controlling the deflection and scanning of the laser beam 21' in the X direction and/or the Y direction. Wherein the X direction is a propagation direction of the laser beam 21', and the Y direction is orthogonal to the X direction.
In some embodiments, the laser emitting device 200 includes a laser for emitting a laser signal, a laser modulator, a laser driving circuit, and the like.
In some embodiments, the control device 400 includes registers, a control processor, control circuitry, and the like.
In some embodiments, the laser includes a ruby laser, a he — ne laser, a laser diode, etc., and the laser emits a laser signal to the target 104 to detect a characteristic quantity such as a position, a velocity, etc. of the target 104. It should be noted that the laser may also be a laser emitting end formed by combining the laser and an optical component (e.g., a lens, a light cone, etc.), and the laser emitting end may be set according to specific requirements, which is not limited herein.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A laser receiving device for receiving a laser beam from an object, wherein the laser beam is incident on the object and reflected outward from the object, the laser receiving device comprising:
a first lens disposed on an optical path of the laser beam reflected outward from the target object, the first lens being configured to collimate and converge the laser beam;
the micro lens array is arranged opposite to the first lens and comprises a second lens, the second lens is used for receiving the laser beam from the first lens, an imaging interval for imaging the first lens is formed between the first lens and the second lens, and an image formed by the first lens in the imaging interval is a real image;
a detector array comprising a photodetector for converting an optical signal into an electrical signal, the photodetector receiving the laser beam from the second lens and imaging the second lens;
wherein the microlens array is located between the first lens and the detector array.
2. A laser receiving apparatus according to claim 1, wherein: the second lens array is provided with a plurality of second lenses, each second lens is correspondingly provided with one photoelectric detector, each second lens is positioned on the same plane perpendicular to the propagation direction of the laser beam, and the imaging interval is formed between each second lens and the first lens; each of the photodetectors is located on the same plane perpendicular to the propagation direction of the laser beam.
3. A laser receiving apparatus according to claim 2, wherein: the second lenses are continuously arranged on the same plane.
4. A laser receiving device according to any one of claims 1 to 3, wherein: the micro-lens array further comprises an optical filter, the optical filter is used for filtering noise optical signals entering the photoelectric detector, and the optical filter is located between the second lens and the photoelectric detector.
5. The laser receiving apparatus according to claim 4, wherein: the optical filter is a narrow-band optical filter or a broadband optical filter.
6. A laser receiving device according to any one of claims 1 to 3, wherein: the laser receiving device also comprises a receiving processor electrically connected with the detector array, and the receiving processor is used for analyzing and processing the laser beam.
7. A laser receiving device according to any one of claims 1 to 3, wherein: the first lens is a convex lens or a lens combination.
8. A laser receiving device according to any one of claims 1 to 3, wherein: the second lens is a convex lens or a lens combination.
9. A lidar system, comprising: the laser receiver according to any one of claims 1 to 8, a laser transmitter for transmitting the laser beam to a target, and a controller for controlling the laser transmitter and the laser receiver.
10. The lidar system of claim 9, wherein: the laser emitting device comprises a laser emitting unit for generating the laser beam and a galvanometer for receiving the laser beam from the laser emitting unit and reflecting the laser beam to the target object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920654481.6U CN210347920U (en) | 2019-05-08 | 2019-05-08 | Laser receiving device and laser radar system |
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| CN201920654481.6U CN210347920U (en) | 2019-05-08 | 2019-05-08 | Laser receiving device and laser radar system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111413687A (en) * | 2020-05-19 | 2020-07-14 | 武汉天眸光电科技有限公司 | Laser radar optical system and laser radar |
| CN114325640A (en) * | 2021-11-18 | 2022-04-12 | 杭州宏景智驾科技有限公司 | Laser radar receiving device and laser radar |
-
2019
- 2019-05-08 CN CN201920654481.6U patent/CN210347920U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111413687A (en) * | 2020-05-19 | 2020-07-14 | 武汉天眸光电科技有限公司 | Laser radar optical system and laser radar |
| CN114325640A (en) * | 2021-11-18 | 2022-04-12 | 杭州宏景智驾科技有限公司 | Laser radar receiving device and laser radar |
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Address after: 12 / F, joint headquarters building, high tech Zone, 63 Xuefu Road, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Obi Zhongguang Technology Group Co., Ltd Address before: 12 / F, joint headquarters building, high tech Zone, 63 Xuefu Road, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN ORBBEC Co.,Ltd. |