CN111289995B - Three-dimensional laser radar device and system - Google Patents
Three-dimensional laser radar device and system Download PDFInfo
- Publication number
- CN111289995B CN111289995B CN201811394053.0A CN201811394053A CN111289995B CN 111289995 B CN111289995 B CN 111289995B CN 201811394053 A CN201811394053 A CN 201811394053A CN 111289995 B CN111289995 B CN 111289995B
- Authority
- CN
- China
- Prior art keywords
- unit
- ranging
- lens group
- imaging
- visible light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003384 imaging method Methods 0.000 claims abstract description 78
- 230000003287 optical effect Effects 0.000 claims abstract description 42
- 238000012545 processing Methods 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 28
- 230000004075 alteration Effects 0.000 claims description 20
- 239000012788 optical film Substances 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 230000004927 fusion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
本发明提供了一种三维激光雷达装置及系统，该三维激光雷达装置包括：激光发射单元，扫描单元，控制单元，测距单元，透反棱镜，成像单元，信号处理单元及数据处理单元；控制单元分别与激光发射单元和扫描单元电连接；激光发射单元与扫描单元光路连接，透反棱镜分别与测距单元和成像单元光路连接；信号单元与测距单元电连接，数据处理单元分别与信号单元和成像单元电连接。相比于现有技术中集成了摄像头的三维激光雷达装置，本装置使用了分束装置，通过测距单元及成像单元能够同时采集被测物的位置信息及影像信息，降低了光学系统设计难度，减小了激光雷达尺寸并降低了成本。
The present invention provides a three-dimensional laser radar device and system, the three-dimensional laser radar device includes: a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit; the control unit is electrically connected to the laser emitting unit and the scanning unit respectively; the laser emitting unit is optically connected to the scanning unit, and the transflective prism is optically connected to the distance measuring unit and the imaging unit respectively; the signal unit is electrically connected to the distance measuring unit, and the data processing unit is electrically connected to the signal unit and the imaging unit respectively. Compared with the three-dimensional laser radar device integrated with a camera in the prior art, the present device uses a beam splitting device, and can simultaneously collect the position information and image information of the object to be measured through the distance measuring unit and the imaging unit, which reduces the difficulty of optical system design, reduces the size of the laser radar and reduces the cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of laser radars, in particular to a three-dimensional laser radar device and a system.
Background
Unmanned, high-precision map survey and drawing, assisted driving and continuous development of robot vision technology, the demand of laser radar with strong ranging capability, small volume and low cost is continuously increased, and especially in the unmanned, high-precision map survey and drawing field, the novel demands of point cloud data and image data fusion are put forward for the laser radar.
However, in the conventional point cloud image data fusion system, a camera is usually integrated outside the laser radar, and the two systems of the three-dimensional laser radar and the camera are simply fused, so that on one hand, the coordinate calibration needs to be independently performed on each three-dimensional laser radar and the camera matched with each three-dimensional laser radar, and the assembly and adjustment difficulty of the system is increased. On the other hand, as the two independent systems are fused, the space size cannot be reasonably utilized, the whole space size of the system is overlarge, and the integrated use is not facilitated. In the third aspect, the simple integration and tedious calibration of the two systems increases the overall cost of the system.
Disclosure of Invention
The embodiment of the invention provides a three-dimensional laser radar device and a system, which solve the technical problems of high installation and adjustment difficulty, overlarge space size and high integral cost in a commonly used point cloud image data fusion system in the prior art.
In a first aspect, an embodiment of the present invention provides a three-dimensional laser radar apparatus, including a laser emission unit, a scanning unit, a control unit, a ranging unit, a transflective prism, an imaging unit, a signal processing unit, and a data processing unit;
The control unit is respectively and electrically connected with the laser emission unit and the scanning unit, the laser emission unit is in optical path connection with the scanning unit, the transflective prism is respectively and electrically connected with the ranging unit and the imaging unit, the signal unit is electrically connected with the ranging unit, and the data processing unit is respectively and electrically connected with the signal unit and the imaging unit;
the laser emission unit is used for emitting a modulated laser beam under the control of the control unit;
The scanning unit is used for deflecting the modulated laser beam under the control of the control unit so as to complete the two-dimensional scanning of the detection area;
the control unit is used for controlling the laser emission unit and the scanning unit;
The distance measuring unit is used for converging the modulated laser beam and the visible light reflected by the detected object in the detection area, correcting the aberration of the visible light for the first time and converting the optical signal of the modulated laser beam deflected by the transflective prism into an electric signal;
the transflective prism is used for deflecting the modulated laser beams converged by the ranging unit and transmitting the visible light;
The imaging unit is used for continuously correcting the aberration of the visible light and converting the visible light signal into image data of the measured object;
The signal processing unit is used for converting the electric signal output by the ranging unit into point cloud data of the measured object;
The data processing unit is used for fusing the point cloud data of the detected object and the image data of the detected object and outputting detected object detection data with position information and image information.
Further, the device comprises a ranging lens group and a ranging photoelectric detector;
the distance measuring lens group is in optical path connection with the distance measuring photoelectric detector through the transflective prism;
the distance measuring lens group is used for converging the modulated laser beam and the visible light reflected by the detected object in the detection area and correcting the aberration of the visible light for the first time;
the ranging photoelectric detector is used for converting the optical signals of the modulated laser beams deflected by the transflective prism into electric signals.
Further, the device comprises an imaging unit, an imaging lens group and an imaging photoelectric detector;
The imaging lens group is in optical path connection with the imaging photoelectric detector;
The imaging lens group is used for continuously correcting the aberration of the visible light;
the imaging photoelectric detector is used for converting the visible light signals after aberration correction of the imaging lens group into image data of the measured object.
Further, in the device, the center of the reflecting surface of the transreflective prism coincides with the optical axis of the distance measuring lens group, the reflecting surface is coated with an optical film so as to deflect the optical axis of the modulated laser beam converged by the distance measuring lens group, and the visible light is transmitted through the transreflective prism;
Wherein the reflection wavelength range of the optical film is 0.85-1.6 μm.
Further, the device is as described above, so that the center of the ranging photodetector is located on the focal plane of the ranging lens group after the optical axis of the ranging lens group is deflected.
Further, the distance measuring lens group comprises at least one free-form surface lens or at least two spherical mirrors.
Further, in the device described above, the optical axis of the imaging lens group coincides with the center of the reflecting surface of the transflector.
Further, in the apparatus described above, the imaging photodetector is located at a focal plane of the imaging lens group.
Further, the imaging lens group comprises at least one free-form surface lens or at least two spherical mirrors.
Further, the device as described above, the modulated laser beam is a near infrared modulated laser beam, and the wavelength of the modulated laser beam is in the range of 0.85 μm to 1.6 μm.
In a second aspect, an embodiment of the present invention provides a three-dimensional laser radar system, including the three-dimensional laser radar apparatus according to any one of the first aspect.
The embodiment of the invention provides a three-dimensional laser radar device and a system, wherein the three-dimensional laser radar device comprises a laser emission unit, a scanning unit, a control unit, a ranging unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit; the control unit is respectively and electrically connected with the laser emission unit and the scanning unit, the laser emission unit is respectively and electrically connected with the scanning unit, the transreflective prism is respectively and electrically connected with the ranging unit and the imaging unit, the signal unit is electrically connected with the ranging unit, the data processing unit is respectively and electrically connected with the signal unit and the imaging unit, the laser emission unit is used for emitting modulated laser beams under the control of the control unit, the scanning unit is used for deflecting the modulated laser beams to complete the two-dimensional scanning of a detection area, the control unit is used for controlling the laser emission unit and the scanning unit, the ranging unit is used for converging the modulated laser beams and visible light reflected by a measured object in the detection area, the aberration of the visible light is primarily corrected, the transreflective prism is used for deflecting the modulated laser beams converged by the ranging unit and transmitting the visible light, the control unit is used for continuously converting the modulated laser beams into the visible light, the ranging unit is used for continuously converting the visible light into the data signal of the measured object to be processed, and the device is used for fusing the point cloud data of the object to be detected and the image data of the object to be detected and outputting object detection data with position information and image information. The method comprises the steps of splitting detection light and visible light reflected by a target converged by a ranging unit through a transreflective prism, converting detection light signals into electric signals, outputting point cloud data of a detected object after the electric signals pass through a signal processing unit, outputting image data of the detected object by visible light through an imaging unit, and outputting detection data of final point cloud and image fusion after the point cloud data and the image data of the detected object pass through a data processing unit. Compared with the three-dimensional laser radar device integrated with a camera in the prior art, the device uses the beam splitting device, and the position information and the image information of the measured object can be collected simultaneously through the ranging unit and the imaging unit, so that the design difficulty of an optical system is reduced, the size of the laser radar is reduced, and the cost is reduced.
It should be understood that the description of the invention above is not intended to limit key or critical features of embodiments of the invention, nor to limit the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural diagram of a three-dimensional laser radar apparatus according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a three-dimensional laser radar device according to a second embodiment of the present invention.
Reference numerals
101-Laser emission unit 102-modulated laser beam 103-scanning unit 104-control unit 105-mixed reflection beam 106-ranging unit 106 a-ranging mirror group 106 b-ranging photo detector 107-transflective prism 108-modulated laser beam 109-visible light 110-imaging unit 110 a-imaging mirror group 110 b-imaging photo detector 111-signal processing unit 112-data processing unit
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
The terms first, second, third, fourth and the like in the description and in the claims and in the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be capable of being practiced otherwise than as specifically illustrated and described. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a three-dimensional laser radar apparatus according to an embodiment of the present invention, and as shown in fig. 1, the three-dimensional laser radar apparatus according to the present embodiment includes a laser emitting unit 101, a scanning unit 103, a control unit 104, a ranging unit 106, a transflective prism 107, an imaging unit 110, a signal processing unit 111, and a data processing unit 112.
The control unit 104 is electrically connected with the laser emission unit 101 and the scanning unit 103 respectively, the laser emission unit 101 is in optical path connection with the scanning unit 103, the transflective prism 107 is in optical path connection with the ranging unit 106 and the imaging unit 110 respectively, the signal unit is electrically connected with the ranging unit 106, and the data processing unit 112 is electrically connected with the signal unit and the imaging unit 110 respectively.
In this embodiment, the laser emitting unit 101 is configured to emit the modulated laser beam 102 under the control of the control unit 104.
The modulated laser beam 102 emitted by the laser emitting unit 101 may be a near infrared modulated laser beam, and the wavelength range of the near infrared modulated laser beam may be 0.85 μm-1.6 μm, or may be other ranges, which is not limited in this embodiment.
In this embodiment, the laser emitting unit 101 emits a modulated laser beam 102, and the modulated laser beam 102 is incident on the scanning unit 103.
In this embodiment, the scanning unit 103 is configured to deflect the modulated laser beam 102 under the control of the control unit 104, so as to complete two-dimensional scanning of the detection area.
Specifically, the scanning unit 103 may deflect the modulated laser beam 102 through mechanical scanning or non-mechanical scanning to complete horizontal two-dimensional scanning of the detection area, and the two-dimensional scanning may be full-field two-dimensional scanning or partial-field two-dimensional scanning, which is not limited in this embodiment.
The control unit 104 is configured to control the laser emission unit 101 and the scanning unit 103.
In this embodiment, the control unit 104 may send a control emission instruction to the laser emission unit 101 to control the laser emission unit 101 to emit the modulated laser beam 102, and may send a control scanning instruction to the scanning unit 103 to control deflection of the modulated laser beam 102 to complete two-dimensional scanning of the detection area.
The ranging unit 106 is configured to collect the modulated laser beam 102 and the visible light 109 reflected by the object in the detection area, correct aberration of the visible light 109 for the first time, and convert the optical signal of the modulated laser beam deflected by the transflective prism 107 into an electrical signal. The transflective prism 107 is configured to deflect the modulated laser beam 102 converged by the ranging unit 106 and transmit the visible light 109. The signal processing unit 111 is configured to convert the electrical signal output by the ranging unit 106 into point cloud data of the object to be measured.
Specifically, in this embodiment, after the scanning unit 103 scans the detection area in two dimensions, the ranging unit 106 converges the modulated laser beam 102 and the visible light 109 reflected by the object to be detected in the detection area, the modulated laser beam 102 and the visible light 109 reflected by the object to be detected are the mixed reflected beam 105, the aberration of the visible light is corrected for the first time by the ranging unit 106, the mixed reflected beam 105 splits the modulated laser beam 102 and the visible light 109 after passing through the transflective prism 107, and the modulated laser beam 102 converged by the ranging unit 106 is deflected and the visible light 109 is transmitted. The modulated laser beam 108 after deflection is received by the ranging unit 106, the optical signal of the modulated laser beam after deflection is converted into an electrical signal, the electrical signal is input to the signal processing unit 111, and the signal processing unit 111 converts the electrical signal into point cloud data of the object under test.
The ranging unit 106 may include a ranging lens set and a ranging photodetector, or may be other devices, which is not limited in this embodiment.
In this embodiment, the imaging unit 110 is configured to continuously correct the aberration of the visible light 109, and convert the visible light 109 signal into image data of the object to be measured.
Specifically, in this embodiment, the visible light 109 transmitted through the transflective prism 107 is received by the imaging unit 110, the imaging unit 110 continues to correct the aberration of the visible light 109, and converts the visible light 109 signal of the object to be measured into the image data of the object to be measured, and the image data of the object to be measured is sent to the data processing unit 112.
In this embodiment, the data processing unit 112 is configured to fuse the point cloud data of the object to be tested and the image data of the object to be tested, and output object detection data with position information and image information.
Specifically, in this embodiment, the data processing unit 112 receives the point cloud data of the object to be detected and the image data of the object to be detected from the signal processing unit 111, and fuses the point cloud data of the object to be detected and the image data of the object to be detected, where the fused object to be detected has position information and image information.
In the data processing unit 112, the specific method for fusing the point cloud data of the object to be measured and the image data of the object to be measured is not limited in this embodiment.
The three-dimensional laser radar device provided by the embodiment comprises a laser emitting unit 101, a scanning unit 103, a control unit 104, a ranging unit 106, a transreflective prism 107, an imaging unit 110, a signal processing unit 111 and a data processing unit 112, wherein the control unit 104 is respectively and electrically connected with the laser emitting unit 101 and the scanning unit 103, the laser emitting unit 101 is in optical path connection with the scanning unit 103, the transreflective prism 107 is respectively and optically connected with the ranging unit 106 and the imaging unit 110, the signal unit is electrically connected with the ranging unit 106, the data processing unit 112 is respectively and electrically connected with the signal unit and the imaging unit 110, the data processing unit 101 is used for emitting a modulated laser beam 102 under the control of the control unit 104, the scanning unit 103 is used for deflecting the modulated laser beam 102 under the control of the control unit 104 to complete the two-dimensional scanning of a detection area, the control unit 104 is used for controlling the laser emitting unit 101 and the scanning unit 103, the ranging unit 106 is used for converging an electric signal of the ranging unit 106, the signal processing unit 106 is used for converging the modulated laser beam of the modulated laser beam 102 and converting the modulated laser beam into a visible light into a signal, the image of the modulated laser beam 109 is corrected by the laser beam 109, the modulated laser beam is converted into the image of the first-time image, the modulated signal 109 is corrected by the modulated laser beam 109, the data processing unit 112 is configured to fuse the point cloud data of the object to be measured with the image data of the object to be measured, and output object detection data having position information and image information. The detection light and the visible light 109 reflected by the target converged by the ranging unit 106 are split by the transreflective prism 107, the detection light signals are converted into electric signals, the electric signals are transmitted through the signal processing unit 111 to output point cloud data of the detected object, the visible light 109 is transmitted through the imaging unit 110 to output image data of the detected object, and the point cloud data and the image data of the detected object are transmitted through the data processing unit 112 to output detection data of final point cloud and image fusion. Compared with the three-dimensional laser radar device integrated with a camera in the prior art, the device uses the beam splitting device, and can collect the position information and the image information of the measured object simultaneously through the ranging unit 106 and the imaging unit 110, so that the design difficulty of an optical system is reduced, the size of the laser radar is reduced, and the cost is reduced.
Example two
Fig. 2 is a schematic structural diagram of a three-dimensional laser radar device according to a second embodiment of the present invention, and as shown in fig. 2, the three-dimensional laser radar device according to the present embodiment further refines the ranging unit 106 and the imaging unit 110 on the basis of the three-dimensional laser radar device according to the first embodiment of the present invention, and the three-dimensional laser radar device according to the present embodiment further includes the following technical solutions.
Further, in the present embodiment, the ranging unit 106 includes a ranging mirror group 106a and a ranging photodetector 106b.
The distance measuring lens group 106a and the distance measuring photodetector 106b are connected by an optical path through the transflective prism 107. The distance measuring lens set 106a is configured to collect the modulated laser beam 102 and the visible light 109 reflected by the object in the detection area, and correct aberration of the visible light 109 for the first time. The ranging photodetector 106b converts an optical signal of the modulated laser beam deflected by the transflective prism 107 into an electrical signal.
Preferably, in this embodiment, the center of the reflecting surface of the transflector 107 coincides with the optical axis of the ranging mirror set 106a, and the reflecting surface is coated with an optical film, so that the optical axis of the modulated laser beam 102 converged by the ranging mirror set 106a is deflected, the visible light 109 is transmitted through the transflector 107 after being rectified for the first time, and the center of the ranging photodetector 106b is located on the focal plane of the ranging mirror set 106a after the optical axis of the ranging mirror set 106a is deflected.
Specifically, in this embodiment, the ranging mirror set 106a converges the modulated laser beam 102 and the visible light 109 reflected by the object to be measured in the detection area, and the modulated laser beam 102 and the visible light 109 reflected by the object to be measured are the mixed reflected beam 105, and since the optical axis of the ranging mirror set 106a coincides with the center of the reflecting surface of the transflective prism 107, the optical axis of the modulated laser beam 102 converged by the ranging mirror set 106a deflects, so that the optical axis of the modulated laser beam 102 after deflection forms a certain angle with the optical axis of the ranging mirror set 106a, and the center of the ranging photodetector 106b is disposed on the focal plane of the ranging mirror set 106a after deflection of the optical axis of the ranging mirror set 106a, so that the deflected modulated laser beam 102 is completely received by the ranging photodetector 106b, and the optical signal of the laser modulated laser beam 108 after deflection can be converted into an electrical signal more accurately.
Wherein the reflection wavelength range of the optical film is 0.85 μm-1.6 μm.
Specifically, the reflective surface is coated with an optical film capable of reflecting the modulated laser beam 102 having a wavelength range of 0.85 μm to 1.6 μm and transmitting the visible light 109.
Optionally, in this embodiment, the distance measuring lens set 106a includes at least one free-form lens or at least two spherical mirrors.
In this embodiment, the distance measuring lens set 106a may include at least one free-form lens, or may include at least two spherical lenses, so that the distance measuring lens set 106a has more selectivity to meet different requirements.
Further, in the present embodiment, the imaging unit 110 includes an imaging lens group 110a and an imaging photodetector 110b.
The imaging lens group 110a is in optical path connection with the imaging photodetector 110 b.
Specifically, the imaging lens group 110a is configured to continuously correct the aberration of the visible light 109. The imaging photodetector 110b is configured to convert the visible light 109 signal after aberration correction of the imaging lens group 110a into image data of the object to be measured.
Preferably, the optical axis of the imaging lens group 110a coincides with the center of the reflecting surface of the transflective prism 107. The imaging photodetector 110b is located at the focal plane of the imaging lens group 110 a.
Specifically, in this embodiment, the imaging lens group 110a receives the visible light 109 transmitted by the transmission prism, and the optical axis of the imaging lens group 110a coincides with the center of the reflecting surface of the transmission prism 107, so that the imaging lens group 110a can accurately correct the aberration of the visible light 109 transmitted through the transmission prism 107, so that the object to be measured forms a clear image. The imaging photo-detector 110b is located on the focal plane of the imaging lens assembly 110a, so that the visible light 109 collected by the imaging lens assembly 110a is completely received by the imaging photo-detector 110b, and the imaging photo-detector 110b can accurately convert the visible light 109 signal after aberration correction of the imaging lens assembly 110a into the image data of the measured object.
Optionally, imaging lens group 110a includes at least one free-form lens or at least two spherical mirrors.
In this embodiment, the imaging lens assembly 110a may include at least one free-form lens, or may include at least two spherical lenses, which can enable the imaging lens assembly 110a to have more selectivity to meet different requirements.
Further, in the present embodiment, the modulated laser beam 102 is a near infrared adjustment laser beam, and the wavelength of the modulated laser beam 102 is in the range of 0.85 μm to 1.6 μm.
Example III
The embodiment of the invention provides a three-dimensional laser radar system, which comprises the three-dimensional laser radar device provided by the first embodiment or the second embodiment of the invention.
In this embodiment, the structure and function of the three-dimensional laser radar device are the same as those of the three-dimensional laser radar device provided in the first embodiment or the second embodiment of the present invention, and will not be described in detail here.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.
Claims (6)
1. The three-dimensional laser radar device is characterized by comprising a laser emission unit, a scanning unit, a control unit, a ranging unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit;
The system comprises a laser emitting unit, a scanning unit, a control unit, a transparent reflecting prism, a distance measuring unit, a signal processing unit, a data processing unit, a signal processing unit and an imaging unit, wherein the control unit is respectively and electrically connected with the laser emitting unit and the scanning unit;
the laser emission unit is used for emitting a modulated laser beam under the control of the control unit;
The scanning unit is used for deflecting the modulated laser beam under the control of the control unit so as to complete the two-dimensional scanning of the detection area;
the control unit is used for controlling the laser emission unit and the scanning unit;
The distance measuring unit is used for converging the modulated laser beam and the visible light reflected by the detected object in the detection area, correcting the aberration of the visible light for the first time and converting the optical signal of the modulated laser beam deflected by the transflective prism into an electric signal;
the transflective prism is used for deflecting the modulated laser beams converged by the ranging unit and transmitting the visible light;
The imaging unit is used for continuously correcting the aberration of the visible light and converting the visible light signal into image data of the measured object;
The signal processing unit is used for converting the electric signal output by the ranging unit into point cloud data of the measured object;
The data processing unit is used for fusing the point cloud data of the detected object and the image data of the detected object and outputting detected object detection data with position information and image information;
The ranging unit comprises a ranging lens group and a ranging photoelectric detector;
the distance measuring lens group is in optical path connection with the distance measuring photoelectric detector through the transflective prism;
the distance measuring lens group is used for converging the modulated laser beam and the visible light reflected by the detected object in the detection area and correcting the aberration of the visible light for the first time;
The ranging photoelectric detector is used for converting the optical signals of the modulated laser beams deflected by the transflective prism into electric signals;
The center of the reflecting surface of the transreflective prism coincides with the optical axis of the ranging lens group, the optical axis of the modulated laser beam of the ranging lens group deflects, so that an included angle is formed between the optical axis of the deflected modulated laser beam and the optical axis of the ranging lens group, and the center of the ranging photoelectric detector is positioned on the focal plane of the ranging lens group after the optical axis of the ranging lens group deflects;
the imaging unit comprises an imaging lens group and an imaging photoelectric detector;
The imaging lens group is in optical path connection with the imaging photoelectric detector, the optical axis of the imaging lens group coincides with the center of the reflecting surface of the transflective prism, and the imaging photoelectric detector is positioned on the focal plane of the imaging lens group;
The imaging lens group is used for continuously correcting the aberration of the visible light;
the imaging photoelectric detector is used for converting the visible light signals after aberration correction of the imaging lens group into image data of the measured object.
2. The apparatus of claim 1, wherein the reflective surface is coated with an optical film to deflect an optical axis of the modulated laser beam converged by the distance measuring lens group, and the visible light is transmitted through the transflective prism;
Wherein the reflection wavelength range of the optical film is 0.85-1.6 μm.
3. The apparatus of claim 1, wherein the range lens assembly comprises at least one free-form lens or at least two spherical mirrors.
4. The apparatus of claim 1, wherein the imaging lens group comprises at least one free-form lens or at least two spherical mirrors.
5. The apparatus of any one of claims 1-4, wherein the modulated laser beam is a near infrared modulated laser beam having a wavelength in the range of 0.85 μm to 1.6 μm.
6. A three-dimensional lidar system comprising a three-dimensional lidar device according to any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811394053.0A CN111289995B (en) | 2018-11-21 | 2018-11-21 | Three-dimensional laser radar device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811394053.0A CN111289995B (en) | 2018-11-21 | 2018-11-21 | Three-dimensional laser radar device and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111289995A CN111289995A (en) | 2020-06-16 |
| CN111289995B true CN111289995B (en) | 2025-04-08 |
Family
ID=71021829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811394053.0A Active CN111289995B (en) | 2018-11-21 | 2018-11-21 | Three-dimensional laser radar device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111289995B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213934211U (en) * | 2020-07-17 | 2021-08-10 | 中国工程物理研究院应用电子学研究所 | MEMS one-dimensional laser radar and digital camera surveying and mapping device |
| CN114646943A (en) * | 2020-12-17 | 2022-06-21 | 上海禾赛科技有限公司 | Receiving device, laser radar comprising same and detection method |
| KR20230150331A (en) * | 2021-04-08 | 2023-10-30 | 헤사이 테크놀로지 씨오., 엘티디. | Solid-state laser radar and detection method using the same |
| CN113593041B (en) * | 2021-08-12 | 2024-01-16 | 宁波未感半导体科技有限公司 | Encoding disk, point cloud data correction system, method, equipment and storage medium |
| CN114063111A (en) * | 2022-01-14 | 2022-02-18 | 探维科技(北京)有限公司 | Radar detection system and method of image fusion laser |
| CN115032646A (en) * | 2022-06-28 | 2022-09-09 | 岚图汽车科技有限公司 | Lidar camera co-location sensing method, system and storage medium |
| CN117768634B (en) * | 2024-02-22 | 2025-01-03 | 长春市榣顺科技有限公司 | Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150068545A (en) * | 2013-12-11 | 2015-06-22 | 한국생산기술연구원 | System for sensing complex image |
| CN209803333U (en) * | 2018-11-21 | 2019-12-17 | 北京万集科技股份有限公司 | 3D lidar device and system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004198386A (en) * | 2002-12-20 | 2004-07-15 | Nikon Vision Co Ltd | Distance measuring device |
| DE102006031114B4 (en) * | 2006-06-29 | 2008-07-03 | Kst Gmbh Kamera & System Technik | 3D combination meter from digital camera and laser scanner |
| CN101766472B (en) * | 2009-12-31 | 2012-03-21 | 中国科学院长春光学精密机械与物理研究所 | Liquid crystal adaptive retinal imaging optical system for aberration correction with self-regulating visibility |
| RU2544305C1 (en) * | 2013-10-31 | 2015-03-20 | ОАО "Национальный центр лазерных систем и комплексов "Астрофизика" | Laser location system |
| JP6732442B2 (en) * | 2015-12-15 | 2020-07-29 | 株式会社トプコン | Lightwave distance measuring device |
| JP6877946B2 (en) * | 2016-10-17 | 2021-05-26 | 株式会社トプコン | Laser scanner |
| CN108205124B (en) * | 2016-12-19 | 2024-05-10 | 武汉万集光电技术有限公司 | An optical device and laser radar system based on micro-electromechanical galvanometer |
| CN207457496U (en) * | 2017-11-23 | 2018-06-05 | 北京万集科技股份有限公司 | Laser radar Optical devices and laser radar system based on more visual field light combination mirrors |
-
2018
- 2018-11-21 CN CN201811394053.0A patent/CN111289995B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150068545A (en) * | 2013-12-11 | 2015-06-22 | 한국생산기술연구원 | System for sensing complex image |
| CN209803333U (en) * | 2018-11-21 | 2019-12-17 | 北京万集科技股份有限公司 | 3D lidar device and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111289995A (en) | 2020-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111289995B (en) | Three-dimensional laser radar device and system | |
| US10281262B2 (en) | Range-finder apparatus, methods, and applications | |
| US10914839B2 (en) | Optical assembly and a lidar device having an optical assembly of this type | |
| CN109477896B (en) | Optical system for sensing scan field | |
| US10788574B2 (en) | LIDAR device and LIDAR system including the same | |
| US11227895B2 (en) | Reimaging in a lidar system | |
| CN106291509A (en) | Laser radar optical system | |
| KR102209500B1 (en) | Lidar apparatus | |
| CN108415002A (en) | Laser radar optical system and laser radar | |
| US20200150418A1 (en) | Distance measurement device and mobile body | |
| CN111352125A (en) | Coaxial macro scanner system | |
| JP2019124649A (en) | Light radiation device, object information detector, method for adjusting optical path, method for detecting object information, and optical modulation unit | |
| CN110531369B (en) | Solid-state laser radar | |
| CN209803333U (en) | 3D lidar device and system | |
| US20210382150A1 (en) | Wide fov lidar and vehicle with multiple galvanometer scanners | |
| CN113447947A (en) | Device and method for generating scene data | |
| CN109828254B (en) | Laser radar optical device and laser radar system based on multi-viewing field beam mirror | |
| CN113126106A (en) | Laser radar | |
| US11940564B2 (en) | Laser radar device | |
| CN113447939B (en) | Distance measuring device | |
| CN223092135U (en) | Optical transceiver components for laser radar, laser radar and terminal equipment | |
| CN111830524B (en) | Lens, lens system, laser radar transmitting system and laser radar receiving system | |
| CN111308442B (en) | Laser radar | |
| US20220291357A1 (en) | Optical sensing system | |
| TW202235902A (en) | Optical sensing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231220 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Donghu New Technology Development Zone, Wuhan City, Hubei Province Applicant after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: Wanji space, building 12, Zhongguancun Software Park, yard 8, Dongbei Wangxi Road, Haidian District, Beijing 100193 Applicant before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |