Search

CN-116338632-B - Laser radar receiving and transmitting optical system, laser radar using same and method for operating laser radar

CN116338632BCN 116338632 BCN116338632 BCN 116338632BCN-116338632-B

Abstract

The invention belongs to the technical field of laser radars, and discloses a laser radar receiving and transmitting optical system, a laser radar using the same and a method for operating the same. The laser radar receiving and transmitting optical system comprises at least one receiving and transmitting module for transmitting laser signals to the optical fiber coupling module or receiving reflected laser signals from the optical fiber coupling module, an optical fiber coupling module for transmitting the received transmitted laser signals to the conjugated system module or transmitting the reflected laser signals received from the conjugated system module to the receiving and transmitting module for processing, a scanning module, a conjugated system module for focusing the transmitted laser signals from the optical fiber coupling module to the scanning module or coupling the reflected laser signals received by the scanning module into the optical fiber coupling module, wherein the distance between the focus of a focusing system and the scanning module is adjustable, and a beam expanding module for expanding and collimating the transmitted laser signals from the scanning module and then transmitting the collimated light signals to a region to be detected or converging the reflected light signals of the region to be detected to the scanning module.

Inventors

  • GUO JIJIE
  • FANG ZHIQIANG

Assignees

  • 深圳市速腾聚创科技有限公司

Dates

Publication Date
20260505
Application Date
20211224

Claims (12)

  1. 1. The laser radar receiving and transmitting optical system is characterized by comprising at least one receiving and transmitting module, an optical fiber coupling module, a conjugation system module, a scanning module and a beam expanding module, wherein the receiving and transmitting module is used for transmitting laser signals to the optical fiber coupling module or receiving reflected laser signals from the optical fiber coupling module, the optical fiber coupling module is used for transmitting the received transmitted laser signals to the conjugation system module or transmitting the reflected laser signals received from the conjugation system module to the receiving and transmitting module for processing, the conjugation system module is used for focusing the transmitted laser signals from the optical fiber coupling module to the scanning module or coupling the reflected laser signals received by the scanning module into the optical fiber coupling module, the distance between the focus of a focusing system of the conjugation system module and the scanning module is adjustable to adjust the offset of light spots formed on the conjugation system module, and the beam expanding module is used for converging the reflected light signals of the region to be measured after beam expansion of the transmitted light signals passing through the scanning module to the region to be measured or converging the reflected light signals of the region to the scanning module.
  2. 2. The lidar transceiving optical system of claim 1, wherein the conjugated system module comprises a collimation system and a focusing system.
  3. 3. The lidar transceiving optical system according to claim 2, wherein a ratio of a focal length of the collimation system to a focal length of the focusing system is adjustable.
  4. 4. The lidar transceiver optical system of claim 3, wherein the ratio of the focal length of the collimating system to the focal length of the focusing system ranges from 2 to 80.
  5. 5. The lidar transceiving optical system according to any of claims 1 to 4, wherein a distance between a focal point of a focusing system of the conjugation system module and the scanning module is equal to or larger than a focal length of the beam expansion module.
  6. 6. The lidar transceiving optical system according to any of claims 1 to 4, wherein the scanning module comprises a first galvanometer through which outgoing laser signals emitted by the conjugated system module are scanned into the beam expansion module.
  7. 7. The lidar transceiving optical system according to any of claims 1 to 4, wherein the scanning module comprises a second galvanometer and a turning mirror, wherein outgoing laser signals emitted by the conjugation system module are deflected by the second galvanometer and then scanned by the turning mirror to enter the beam expanding module, or outgoing laser signals emitted by the conjugation system module are deflected by the second galvanometer and then scanned by the turning mirror to enter the beam expanding module.
  8. 8. The lidar transceiver optical system of any of claims 1-4, wherein the transceiver module comprises a transmitting module, a light separation module and a receiving module, wherein the transmitting module is configured to transmit the transmitted laser signal, the light separation module is configured to pass through the transmitted laser signal and emit the transmitted laser signal to the fiber coupling module, and further configured to deflect the received reflected laser signal to the receiving module, and the receiving module is configured to receive and process the reflected laser signal deflected by the light separation module.
  9. 9. The lidar transceiver optical system of claim 8, wherein the light separation module is formed by sequentially connecting at least one beam splitter and at least one circulator, an outgoing laser signal emitted by the emission module enters the optical fiber coupling module after passing through the beam splitter and the circulator, and a reflected laser signal from the optical fiber coupling module is received and processed by the receiving module after being deflected by the circulator.
  10. 10. The lidar transceiving optical system according to any of claims 1 to 4, wherein the fiber coupling module comprises a single mode fiber.
  11. 11. A lidar comprising a lidar transceiving optical system according to any of claims 1 to 10.
  12. 12. A method of operating a lidar transceiving optical system, characterized in that the method is based on a lidar transceiving optical system according to any of claims 1 to 10, the method comprising the steps of: In the process of transmitting laser signals, the distance between the focus of a focusing system of a conjugated system module in a laser radar receiving and transmitting optical system and a scanning module is adjusted so as to adjust the angle of a scanning field of view of a beam expanding module; in the receiving process of the laser signal, the distance between the focus of the focusing system of the conjugated system module and the scanning module in the laser radar receiving and transmitting optical system is reduced, so that the offset of the light spot formed on the conjugated system module is reduced, and the offset of the light spot on the optical fiber coupling module is reduced.

Description

Laser radar receiving and transmitting optical system, laser radar using same and method for operating laser radar Technical Field The invention relates to an FMCW (Frequency Modulated Continuous Wave frequency modulated continuous wave) laser radar technology, in particular to a laser radar receiving and transmitting optical system, a laser radar using the same and a method for operating the same. Background In the fields of high and new technologies such as intelligent robots, unmanned aerial vehicles, smart cities, etc., the accuracy of environmental perception and the rapid response to corresponding environmental changes are particularly important. In the laser radar of the remote sensor, a Micro-Electro-MECHANICAL SYSTEM, MEMS (Micro-Electro-MECHANICAL SYSTEM, MEMS) galvanometer is taken as a core laser radar, and the integrated Micro-galvanometer rotates to reflect laser to finish scanning, so that the prior art is mature, and the laser radar can be produced in mass completely, thereby realizing light and rapid scanning and having great development prospect. However, due to the problems caused by the MEMS galvanometer itself in rapid oscillations, a balance is required in terms of rotation angle, frame rate, ranging capability, and reliability. Therefore, how to expand the scanning field of view and reduce the optical signal loss of the system without sacrificing the frame rate and ranging capability, and the like, is a research focus in the field. Disclosure of Invention In order to expand the scanning field range and reduce the optical signal loss of the system without sacrificing the performances of frame rate, ranging capability and the like, the invention provides a laser radar receiving and transmitting optical system, a laser radar using the same and a method for operating the same. The laser radar receiving and transmitting optical system comprises at least one receiving and transmitting module, an optical fiber coupling module, a conjugation system module, a scanning module and a beam expanding module, wherein the receiving and transmitting module is used for transmitting laser signals to the optical fiber coupling module or receiving reflected laser signals from the optical fiber coupling module, the optical fiber coupling module is used for transmitting the received transmitted laser signals to the conjugation system module or transmitting the reflected laser signals received from the conjugation system module to the receiving and transmitting module for processing, the conjugation system module is used for focusing the transmitted laser signals from the optical fiber coupling module to the scanning module or coupling the reflected laser signals received by the scanning module into the optical fiber coupling module, the distance between the focus of a focusing system of the conjugation system module and the scanning module is adjustable to adjust the offset of light spots formed on the conjugation system module, and the beam expanding module is used for converging the transmitted laser signals passing through the scanning module to a region to be measured or converging the reflected laser signals of the region to be measured to the scanning module. Further, the conjugation system module comprises a collimation system and a focusing system. Further, the ratio of the focal length of the collimating system to the focal length of the focusing system is adjustable. Further, the ratio of the focal length of the collimation system to the focal length of the focusing system is 2-80. Further, a distance between a focus of a focusing system of the conjugate system module and the scanning module is larger than or equal to a focal length of the beam expanding module. Further, the scanning module comprises a first galvanometer, and the outgoing laser signals sent out by the conjugation system module enter the beam expanding module through scanning of the first galvanometer. Further, the scanning module comprises a second galvanometer and a rotating mirror, and the outgoing laser signal sent out by the conjugation system module is deflected by the second galvanometer and then scanned by the rotating mirror to enter the beam expanding module, or the outgoing laser signal sent out by the conjugation system module is deflected by the second galvanometer and then enters the beam expanding module. Further, the transceiver module comprises a transmitting module, a light separation module and a receiving module, wherein the transmitting module is used for transmitting and transmitting laser signals; the light separation module is used for transmitting the laser signals to the optical fiber coupling module, and deflecting the received reflected laser signals to the receiving module, and the receiving module is used for receiving and processing the reflected laser signals deflected by the light separation module. Further, the light separation module is formed by sequentially connecting at least one beam splitter