CN105277931A - Multi-beam collimation emission and receiving system for laser radar and lens thereof - Google Patents
Multi-beam collimation emission and receiving system for laser radar and lens thereof Download PDFInfo
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- CN105277931A CN105277931A CN201410347171.1A CN201410347171A CN105277931A CN 105277931 A CN105277931 A CN 105277931A CN 201410347171 A CN201410347171 A CN 201410347171A CN 105277931 A CN105277931 A CN 105277931A
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Abstract
The present invention belongs to the optical system, and specifically relates to a multi-beam collimation emission and receiving system for laser radar and a lens thereof. The system provided by the invention comprises a collimation emission lens and a focusing receiving lens matching the collimation emission lens. The collimation emission lens and the focusing receiving lens are arranged in a support, one side of the collimation emission lens tube is provided with a laser, one side of the focusing receiving lens tube is provided with a detector, and the support is configured to ensure the simultaneous movement of the collimation emission lens and the focusing receiving lens. According to the invention, the collimation emission of a laser beam in the field of view of 40 degrees and the focusing detection of a parallel beam in the field of view of 40 degrees may be realized, the beam-divergence angle after collimation is less than 3mrad and the spot size after focusing is less than 0.2mm. Through adoption of a D-type lens joint array, the emission optical path and the receiving optical path are approximately in parallel so that a blind area is decreased to be close to zero. Through adoption of same structure and parameters of a lens for emission and receiving, the structure is simple, the manufacture is easy, the cost is low and the batch production may be realized.
Description
Technical field
The invention belongs to optical system, be specifically related to a kind of laser radar multiple beam collimated emission and receiving system and camera lens thereof.
Background technology
Laser radar is the expanded application of laser ranging technique, by combinationally using with inertial measurement system, global position system etc., not only can obtain the positional information of Target scalar, also can obtain target reflectance spectrum information, can be used for range finding, tests the speed and target identification.The basic functional principle of laser radar is: to Target scalar scanning Emission Lasers bundle in certain field range, the laser beam reflected by photovalve receiving target, measure laser beam from the time difference or the phase shift that are transmitted into reception, obtain the distance of Target scalar, the position of Target scalar can be calculated in conjunction with self attitude information and positional information.
It is adopt single-element detector that direct detection laser infrared radar imaging mode mainly contains two kinds: one, and each only detection pixel, completes the detection of other dimensions in conjunction with mechanical scanning mode; Two is employing planar array detectors, and all pixels of each detection, although this method structure is simple, requires high to laser power, cannot adopt highly sensitive APD detector, so current laser radar many employings Surface scan system.
Transmitting and receiving optical system is the important component part of laser radar, the laser beam of semiconductor laser have vertical different with being parallel to the junction plane both direction angle of divergence, light spot shape is irregular (as be ellipse or long strip type), there is the shortcomings such as intrinsic astigmatism, therefore must the light beam of noise spectra of semiconductor lasers output carry out collimating to improve its output beam quality in use.In order to enable laser radar detect distance as far as possible far away, just need high performance focusing receiving optics.
For the laser radar of current Surface scan system, its launching and receiving camera lens mostly only carries out collimating for single beam and focuses on, 3 dimension imagings are realized in conjunction with rotating mechanism by vibration mirror scanning, the limitation of this mode is that vibration mirror scanning speed is low, needing the application scenario of high speed real time imagery (as unmanned vehicle obstacle) to be restricted, be necessary that relating to one can meet multiple beam collimated emission and receive camera lens.Simultaneously because light path launched by existing laser radar camera lens and receiving light path separates, this will cause problem of parallax experienced, will produce a nearly blind area and blind area far away, directly affect laser radar detection effect in close and away from camera lens position.
Summary of the invention
The object of the invention is the defect for prior art, a kind of laser radar multiple beam collimated emission and receiving system and camera lens thereof are provided.
The present invention is achieved in that a kind of collimated emission camera lens, it is characterized in that: comprise arrange in turn in the bracket lens barrel, receive the first lens, receive camera lens spacer ring, receive the second lens, receive the 3rd lens, and be arranged on support outer and with the optical filter of reception the 3rd lens in same light path.
As above a kind of collimated emission camera lens, wherein, described reception first lens are lenticular lens, it comprises radius-of-curvature and arranges different first surfaces and the second curved surface, receive the second lens and receive the 3rd lens and be respectively concave-concave and biconvex lens, receive the second lens to comprise radius-of-curvature and arrange different 3rd curved surface and the 4th curved surface, receive the 3rd lens to comprise radius-of-curvature and arrange the 5th different curved surfaces and the 6th curved surface, receive the second lens and receive the 3rd lens forming gummed mirror, the 4th curved surface and the 5th curved surface are cemented surface.
As above a kind of collimated emission camera lens, wherein, the material of described reception first lens is SF1, the radius of curvature R 1=46.3mm of first surface, the radius of curvature R 2=-329.6mm of the second curved surface, the interval, face of first surface and the second curved surface and the center thickness d1=5mm of first surface, first surface, second curved surface plating anti-reflection film, reflectivity <5%, the material receiving the second lens is SF1, the radius of curvature R 3=-45.08mm of the 3rd curved surface, the radius of curvature R 4=32.5mm of the 4th curved surface, the interval, face of the 3rd curved surface and the 4th curved surface and the center thickness d1=3mm of first surface, 3rd curved surface plating anti-reflection film, reflectivity <5%, the material receiving the 3rd lens is BK7, the radius of curvature R 5=32.5mm of the 5th curved surface, the radius of curvature R 6=-32.4mm of the 6th curved surface, the interval, face of the 5th curved surface and the 6th curved surface and the center thickness d1=8mm of first surface, 5th curved surface, 6th curved surface plating anti-reflection film, reflectivity <5%.
A kind of focusing receives camera lens, wherein, comprise arrange in turn in the bracket lens barrel, launch the first lens, launch camera lens spacer ring 8, launch the second lens, launch the 3rd lens.
One as implied above focuses on and receives camera lens, wherein, described transmitting first lens are lenticular lens, it comprises radius-of-curvature and arranges different first surfaces and the second curved surface, launch the second lens and launch the 3rd lens and be respectively concave-concave and biconvex lens, launch the second lens to comprise radius-of-curvature and arrange different 3rd curved surface and the 4th curved surface, launch the 3rd lens to comprise radius-of-curvature and arrange the 5th different curved surfaces and the 6th curved surface, launch the second lens and launch the 3rd lens forming gummed mirror, the 4th curved surface and the 5th curved surface are cemented surface.
One as implied above focuses on and receives camera lens, wherein, the material of described transmitting first lens is SF1, the radius of curvature R 1=46.3mm of first surface, the radius of curvature R 2=-329.6mm of the second curved surface, the interval, face of first surface and the second curved surface and the center thickness d1=5mm of first surface, first surface, second curved surface plating anti-reflection film, reflectivity <5%, the material launching the second lens is SF1, the radius of curvature R 3=-45.08mm of the 3rd curved surface, the radius of curvature R 4=32.5mm of the 4th curved surface, the interval, face of the 3rd curved surface and the 4th curved surface and the center thickness d1=3mm of first surface, 3rd curved surface plating anti-reflection film, reflectivity <5%, the material launching the 3rd lens is BK7, the radius of curvature R 5=32.5mm of the 5th curved surface, the radius of curvature R 6=-32.4mm of the 6th curved surface, the interval, face of the 5th curved surface and the 6th curved surface and the center thickness d1=8mm of first surface, 5th curved surface, 6th curved surface plating anti-reflection film, reflectivity <5%.
A kind of laser radar multiple beam collimated emission and receiving system, wherein, the focusing reception camera lens comprising collimated emission camera lens and match with it, collimated emission camera lens and focusing receive camera lens and arrange in the bracket, laser instrument is set in collimated emission lens barrel side, this support of detector is set in focusing reception lens barrel side and can ensures collimated emission camera lens and focus on reception camera lens to be synchronized with the movement.
A kind of laser radar multiple beam collimated emission as above and receiving system, wherein, described laser radar multiple beam collimated emission and receiving system comprise multiple collimated emission camera lens and multiple focusing and receive the array that camera lens forms, described multiple collimated emission camera lens is arranged on arc-shaped curved surface, the radius of arc-shaped curved surface is 109mm, multiple focusing receives camera lens and is arranged on arc-shaped curved surface, the radius of arc-shaped curved surface is 88mm, the arc that collimated emission camera lens is formed is identical with focusing on the center of circle receiving the arc that camera lens is formed, and collimated emission camera lens can be arranged arbitrarily in scope within 40 °, central angle and focus on and receive camera lens.
Effect of the present invention is: the focusing-detection that can realize parallel beam in the collimated emission of 40 ° of visual field inner laser bundles and 40 ° of visual fields, beam divergence angle <3mrad can be reached, spot size <0.2mm after focusing on after collimation; Adopt D type lens combinatorial array can make to launch light path with receiving light path close to parallel, blind area is reduced to and is close to zero, simulation result is as shown in accompanying drawing 2 and accompanying drawing 3 simultaneously; Transmitting and receiving adopt identical lens arrangement and parameter, and structure is simple, and manufacture easy, cost is low, can be mass.
Accompanying drawing explanation
Fig. 1 is the structural representation that the invention provides laser radar multiple beam collimated emission and receiving system;
Fig. 2 is collimated emission camera light trace figure of the present invention;
Fig. 3 is that focusing of the present invention receives camera light trace figure.
In figure: 1. lens barrel, 2. reception the first lens, 3. reception camera lens spacer ring, 4. reception the second lens, 5. reception the 3rd lens, 6. dividing plate, 7. transmitting the first lens, 8. transmitting camera lens spacer ring, 9. transmitting the second lens, 10. transmitting the 3rd lens, 11. detectors, 12. laser instruments, 13. objects, 14. optical filters.
Embodiment
As shown in Figure 1, a kind of laser radar multiple beam collimated emission and receiving system, the focusing reception camera lens comprising collimated emission camera lens and match with it, collimated emission camera lens and focusing receive camera lens and arrange in the bracket, laser instrument 12 is set in collimated emission lens barrel side, this support of detector 11 is set in focusing reception lens barrel side and can ensures collimated emission camera lens and focus on reception camera lens to be synchronized with the movement.
Described laser radar multiple beam collimated emission and receiving system comprise multiple collimated emission camera lens and multiple focusing and receive the array that camera lens forms, and diversing lens array and receiver lens array " back-to-back " are separated by dividing plate.Described D type launching and receiving lens arra is for cut round lens from edge, and thickness is 0.25D, forms D type lens arra.
Described multiple collimated emission camera lens is arranged on arc-shaped curved surface, the radius of arc-shaped curved surface is 109mm, multiple focusing receives camera lens and is arranged on arc-shaped curved surface, the radius of arc-shaped curved surface is 88mm, the arc that collimated emission camera lens is formed with focus on that to receive the center of circle of the arc that camera lens is formed identical, and collimated emission camera lens can be arranged arbitrarily and focus on reception camera lens in scope within 40 °, central angle.
A kind of collimated emission camera lens comprise arrange in turn in the bracket lens barrel 1, receive the first lens 2, receive camera lens spacer ring 3, receive the second lens 4, receive the 3rd lens 5, and be arranged on support outer and with the optical filter 14 of reception the 3rd lens 5 in same light path.
Described reception first lens 2 are lenticular lens, and it comprises radius-of-curvature and arranges different first surfaces and the second curved surface.Receive the second lens 4 and receive the 3rd lens 5 and be respectively concave-concave and biconvex lens, receive the second lens 4 to comprise radius-of-curvature and arrange different 3rd curved surface and the 4th curved surface, receive the 3rd lens 5 to comprise radius-of-curvature and arrange the 5th different curved surfaces and the 6th curved surface, receive the second lens 4 and receive the 3rd lens 5 and form gummed mirror, the 4th curved surface and the 5th curved surface are cemented surface.
The material of described reception first lens 2 is the radius of curvature R 1=46.3mm of SF1, first surface, the radius of curvature R 2=-329.6mm of the second curved surface, the interval, face of first surface and the second curved surface and the center thickness d1=5mm of first surface.First surface, the second curved surface plating anti-reflection film, reflectivity <5%, the material receiving the second lens 4 is SF1, the radius of curvature R 3=-45.08mm of the 3rd curved surface, the radius of curvature R 4=32.5mm of the 4th curved surface, the interval, face of the 3rd curved surface and the 4th curved surface and the center thickness d1=3mm of first surface.3rd curved surface plating anti-reflection film, reflectivity <5%, the material receiving the 3rd lens 5 is BK7, the radius of curvature R 5=32.5mm of the 5th curved surface, the radius of curvature R 6=-32.4mm of the 6th curved surface, the interval, face of the 5th curved surface and the 6th curved surface and the center thickness d1=8mm of first surface.5th curved surface, the 6th curved surface plating anti-reflection film, reflectivity <5%.
A kind of focus on receive camera lens comprise arrange in turn in the bracket lens barrel 1, launch the first lens 7, launch camera lens spacer ring 8, launch the second lens 9, launch the 3rd lens 10.
Described transmitting first lens 7 are lenticular lens, and it comprises radius-of-curvature and arranges different first surfaces and the second curved surface.Launch the second lens 9 and launch the 3rd lens 10 and be respectively concave-concave and biconvex lens, launch the second lens 9 to comprise radius-of-curvature and arrange different 3rd curved surface and the 4th curved surface, launch the 3rd lens 10 to comprise radius-of-curvature and arrange the 5th different curved surfaces and the 6th curved surface, launch the second lens 9 and launch the 3rd lens 10 and form gummed mirror, the 4th curved surface and the 5th curved surface are cemented surface.
The material of described transmitting first lens 7 is the radius of curvature R 1=46.3mm of SF1, first surface, the radius of curvature R 2=-329.6mm of the second curved surface, the interval, face of first surface and the second curved surface and the center thickness d1=5mm of first surface.First surface, the second curved surface plating anti-reflection film, reflectivity <5%, the material launching the second lens 9 is SF1, the radius of curvature R 3=-45.08mm of the 3rd curved surface, the radius of curvature R 4=32.5mm of the 4th curved surface, the interval, face of the 3rd curved surface and the 4th curved surface and the center thickness d1=3mm of first surface.3rd curved surface plating anti-reflection film, reflectivity <5%, the material launching the 3rd lens 10 is BK7, the radius of curvature R 5=32.5mm of the 5th curved surface, the radius of curvature R 6=-32.4mm of the 6th curved surface, the interval, face of the 5th curved surface and the 6th curved surface and the center thickness d1=8mm of first surface.5th curved surface, the 6th curved surface plating anti-reflection film, reflectivity <5%.
Use lens parameter as shown in the table in the application
Launching and receiving camera lens of the present invention is mainly used in the transmitted beam collimation of laser radar and the focusing of target reflection echo signal, the different laser of multi beam angle is sent by the laser instrument of multiple wavelength 903nm, object 13 is irradiated to after launching camera lens collimation, reflected light is after mating plate 14 filters veiling glare and bias light after filtration, after receiving lens focus, respectively receive by the detector of corresponding angle, realize laser radar camera lens collimation and the function focused on, filter center wavelength 905nm in the application, bandwidth 20nm, detector and laser instrument one_to_one corresponding, do not interfere with each other, detector receives only the echoed signal that laser that corresponding laser instrument sends is reflected by target.
Claims (8)
1. a collimated emission camera lens, it is characterized in that: comprise arrange in turn in the bracket lens barrel (1), receive the first lens (2), receive camera lens spacer ring (3), receive the second lens (4), receive the 3rd lens (5), and be arranged on support outer and with reception the 3rd lens (5) optical filter in same light path (14).
2. a kind of collimated emission camera lens as claimed in claim 1, it is characterized in that: described reception first lens (2) are lenticular lens, it comprises radius-of-curvature and arranges different first surfaces and the second curved surface, receive the second lens (4) and receive the 3rd lens (5) and be respectively concave-concave and biconvex lens, receive the second lens (4) to comprise radius-of-curvature and arrange different 3rd curved surface and the 4th curved surface, receive the 3rd lens (5) to comprise radius-of-curvature and arrange the 5th different curved surfaces and the 6th curved surface, receive the second lens (4) and receive the 3rd lens (5) and form gummed mirror, 4th curved surface and the 5th curved surface are cemented surface.
3. a kind of collimated emission camera lens as claimed in claim 2, it is characterized in that: the material of described reception first lens (2) is SF1, the radius of curvature R 1=46.3mm of first surface, the radius of curvature R 2=-329.6mm of the second curved surface, the interval, face of first surface and the second curved surface and the center thickness d1=5mm of first surface, first surface, second curved surface plating anti-reflection film, reflectivity <5%, the material receiving the second lens (4) is SF1, the radius of curvature R 3=-45.08mm of the 3rd curved surface, the radius of curvature R 4=32.5mm of the 4th curved surface, the interval, face of the 3rd curved surface and the 4th curved surface and the center thickness d1=3mm of first surface, 3rd curved surface plating anti-reflection film, reflectivity <5%, the material receiving the 3rd lens (5) is BK7, the radius of curvature R 5=32.5mm of the 5th curved surface, the radius of curvature R 6=-32.4mm of the 6th curved surface, the interval, face of the 5th curved surface and the 6th curved surface and the center thickness d1=8mm of first surface, 5th curved surface, 6th curved surface plating anti-reflection film, reflectivity <5%.
4. focus on and receive a camera lens, it is characterized in that: comprise arrange in turn in the bracket lens barrel (1), launch the first lens (7), launch camera lens spacer ring 8, launch the second lens (9), launch the 3rd lens (10).
5. as Suo Shi claim 4, a kind of focusing receives camera lens, it is characterized in that: described transmitting first lens (7) are lenticular lens, it comprises radius-of-curvature and arranges different first surfaces and the second curved surface, launch the second lens (9) and launch the 3rd lens (10) and be respectively concave-concave and biconvex lens, launch the second lens (9) to comprise radius-of-curvature and arrange different 3rd curved surface and the 4th curved surface, launch the 3rd lens (10) to comprise radius-of-curvature and arrange the 5th different curved surfaces and the 6th curved surface, launch the second lens (9) and launch the 3rd lens (10) and form gummed mirror, 4th curved surface and the 5th curved surface are cemented surface.
6. a kind of focusing receives camera lens as stated in claim 5, it is characterized in that: the material of described transmitting first lens (7) is SF1, the radius of curvature R 1=46.3mm of first surface, the radius of curvature R 2=-329.6mm of the second curved surface, the interval, face of first surface and the second curved surface and the center thickness d1=5mm of first surface, first surface, second curved surface plating anti-reflection film, reflectivity <5%, the material launching the second lens (9) is SF1, the radius of curvature R 3=-45.08mm of the 3rd curved surface, the radius of curvature R 4=32.5mm of the 4th curved surface, the interval, face of the 3rd curved surface and the 4th curved surface and the center thickness d1=3mm of first surface, 3rd curved surface plating anti-reflection film, reflectivity <5%, the material launching the 3rd lens (10) is BK7, the radius of curvature R 5=32.5mm of the 5th curved surface, the radius of curvature R 6=-32.4mm of the 6th curved surface, the interval, face of the 5th curved surface and the 6th curved surface and the center thickness d1=8mm of first surface, 5th curved surface, 6th curved surface plating anti-reflection film, reflectivity <5%.
7. a laser radar multiple beam collimated emission and receiving system, it is characterized in that: the focusing reception camera lens comprising collimated emission camera lens and match with it, collimated emission camera lens and focusing receive camera lens and arrange in the bracket, laser instrument (12) is set in collimated emission lens barrel side, detector (11) this support is set in focusing reception lens barrel side and can ensures collimated emission camera lens and focus on reception camera lens to be synchronized with the movement.
8. a kind of laser radar multiple beam collimated emission as claimed in claim 7 and receiving system, it is characterized in that: described laser radar multiple beam collimated emission and receiving system comprise multiple collimated emission camera lens and multiple focusing and receive the array that camera lens forms, described multiple collimated emission camera lens is arranged on arc-shaped curved surface, the radius of arc-shaped curved surface is 109mm, multiple focusing receives camera lens and is arranged on arc-shaped curved surface, the radius of arc-shaped curved surface is 88mm, the arc that collimated emission camera lens is formed is identical with focusing on the center of circle receiving the arc that camera lens is formed, and collimated emission camera lens can be arranged arbitrarily in scope within 40 °, central angle and focus on and receive camera lens.
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| CN201410347171.1A CN105277931B (en) | 2014-07-21 | 2014-07-21 | A kind of the laser radar transmitting of multiple beam collimation and the system of reception and its camera lens |
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| CN107505621A (en) * | 2017-10-10 | 2017-12-22 | 北京佳光科技有限公司 | A kind of Laser Detecting Set and laser radar system |
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| CN108490633A (en) * | 2018-03-12 | 2018-09-04 | 广东欧珀移动通信有限公司 | Structured light projector, depth camera and electronic equipment |
| CN109001747A (en) * | 2018-06-20 | 2018-12-14 | 合肥菲涅尔光电科技有限公司 | A kind of non-blind area laser radar system |
| CN109597181A (en) * | 2017-09-30 | 2019-04-09 | 宁波舜宇车载光学技术有限公司 | Double focusing laser radar lens assemblies and its camera lens carrier |
| CN109839355A (en) * | 2017-11-25 | 2019-06-04 | 广州市合熠电子科技有限公司 | A kind of RGB integrated optical system |
| CN111563310A (en) * | 2019-12-30 | 2020-08-21 | 中国气象局气象探测中心 | Laser radar system simulation method |
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| CN112505713A (en) * | 2020-11-27 | 2021-03-16 | Oppo（重庆）智能科技有限公司 | Distance measuring device and method, computer readable medium, and electronic apparatus |
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| CN111563310A (en) * | 2019-12-30 | 2020-08-21 | 中国气象局气象探测中心 | Laser radar system simulation method |
| CN112505713A (en) * | 2020-11-27 | 2021-03-16 | Oppo（重庆）智能科技有限公司 | Distance measuring device and method, computer readable medium, and electronic apparatus |
| CN115629432A (en) * | 2022-12-23 | 2023-01-20 | 珠海正和微芯科技有限公司 | Integrated lens with integrated optical function, manufacturing method and laser radar |
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