CN108132471B - Method, medium and laser radar system for transmitting and receiving laser pulse - Google Patents
Method, medium and laser radar system for transmitting and receiving laser pulse Download PDFInfo
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- CN108132471B CN108132471B CN201711303227.3A CN201711303227A CN108132471B CN 108132471 B CN108132471 B CN 108132471B CN 201711303227 A CN201711303227 A CN 201711303227A CN 108132471 B CN108132471 B CN 108132471B
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- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- 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
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- 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
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A method, medium and lidar system for transmitting and receiving laser pulses, the lidar system comprising: the transmitting module is suitable for generating and transmitting one or more laser pulses with preset wavelengths, and comprises: the generation submodule, the wavelength division multiplexing submodule and the output submodule; the detection module is adapted to receive and process the reflected signal of the laser pulse with the preset wavelength to acquire the distance information of the obstacle, and includes: a filtering sub-module and a detection sub-module coupled thereto. By applying the system, different preset wavelengths are set for different laser radar systems, each laser radar system only transmits the corresponding laser pulse with the preset wavelength and receives the corresponding reflection signal of the laser pulse with the preset wavelength, and the interference among different laser radar systems can be effectively avoided at lower cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of environment perception, in particular to a method, a medium and a laser radar system for transmitting and receiving laser pulses.
Background
Since it is possible to detect whether an obstacle exists in front of a vehicle and provide distance information of the obstacle, the laser radar system is widely used in the field of automatic driving. In practical applications, lidar is based on the direct time-of-flight method, where the distance measurement is performed by emitting laser pulses of very narrow width but high peak power, and then measuring the time of flight of the light back and forth between the pulse and the obstacle. When multiple laser radar systems work simultaneously, pulses emitted by one laser radar or pulse signals reflected by a target obstacle may cause misjudgment of another laser radar signal, resulting in an erroneous distance measurement result. For example, when a plurality of laser radars operate simultaneously and emit pulses with the same frequency, an echo signal of a laser pulse detected by one of the laser radars may not be emitted by itself but emitted by the other laser radars, and distance information calculated by the laser radar according to pulse signals emitted by the other laser radars may generate an error, which causes erroneous judgment of an automatic driving system, thereby affecting application of the laser radars in the field of automatic driving.
In order to solve the interference problem among a plurality of laser radar systems and avoid the situation that pulse signals sent by other radars are received to cause measurement errors, the laser pulses sent by the laser radar systems can be coded and modulated, namely the laser pulses are coded by an optical encoder, and echo signals with coded information are received by a receiving end through demodulation.
Although the interference between the laser radar systems can be reduced through code modulation in the existing laser radar system, the adopted laser pulse width, sampling interval and emission peak power are limited to a certain extent, so that the laser radar system puts harsh requirements on a laser and a receiving system, is not beneficial to engineering realization in the actual process and has high cost.
Disclosure of Invention
The technical problem solved by the embodiment of the invention is how to avoid interference between laser radar systems at low cost.
To solve the above technical problem, an embodiment of the present invention provides a laser radar system, where the laser radar system includes: emission module and detection module, wherein: the transmitting module is suitable for generating and transmitting one or more laser pulses with preset wavelengths, and comprises: a generation sub-module, a wavelength division multiplexing sub-module, and an output sub-module, wherein: the generation submodule is coupled with the wavelength division multiplexing submodule and is suitable for generating laser pulses with preset wavelengths; the wavelength division multiplexing submodule is coupled with the output submodule and is suitable for coupling the laser pulses with different wavelengths generated by the generation submodule together; an output sub-module adapted to transmit laser pulses coupled by the wavelength division multiplexing sub-module; the detection module is adapted to receive and process the reflected signal of the laser pulse with the preset wavelength to acquire the distance information of the obstacle, and includes: a filtering submodule and a detection submodule coupled thereto, wherein: the filtering submodule is suitable for filtering out reflection signals of other light beams except the laser pulse with the preset wavelength; and the detection submodule is suitable for receiving and processing the reflected signal of the laser pulse with the preset wavelength.
Optionally, the transmitting module further comprises: and the amplification submodule is respectively coupled with the wavelength division multiplexing submodule and the wavelength division multiplexing submodule, is suitable for amplifying the laser pulse coupled by the wavelength division multiplexing submodule and outputs the laser pulse to the output submodule.
Optionally, the amplifying sub-module is a pre-amplifier and a main control amplifier coupled to each other.
Optionally, the filtering submodule is a wavelength tunable filter or a narrow band filter.
Optionally, the lidar system further comprises: control module, collimation module, convergence module, beam split module and scanning module, wherein: the control module is coupled with the transmitting module, the detecting module and the scanning module and is suitable for controlling the transmitting module to generate and transmit laser pulses, the scanning module to swing and the detecting module to receive reflected signals of processing laser pulses; the collimation module, the emission module, the light splitting module and the scanning module are positioned on the same axis and are suitable for adjusting the laser pulse with the preset wavelength emitted by the emission module into parallel laser pulses; the light splitting module is suitable for semi-transmitting the parallel laser pulse adjusted by the collimation module and semi-reflecting a reflection signal of the laser pulse reflected by the scanning module; the scanning module is suitable for reflecting the parallel laser pulses transmitted by the light splitting module to a two-dimensional space through swinging under the control of the control module, and reflecting the reflection signals of the laser pulses reflected by the obstacles in the two-dimensional space to the light splitting module; the convergence module is suitable for converging a reflection signal of the laser pulse with the preset wavelength reflected by the light splitting module so as to be received by the detection module.
Optionally, the scanning module is a two-dimensional galvanometer.
Optionally, the collimating module or the converging module is a lens.
The embodiment of the invention provides a method for transmitting laser pulses, which adopts any laser radar system to transmit laser pulses with preset wavelengths.
The embodiment of the invention provides a method for receiving laser pulses, which adopts any laser radar system to receive and process reflected signals of laser pulses with preset wavelengths so as to obtain distance information of obstacles.
Embodiments of the present invention provide a computer readable storage medium having stored thereon computer instructions which, when executed, perform the steps of the method of emitting laser pulses.
Embodiments of the present invention provide a computer readable storage medium having stored thereon computer instructions which, when executed, perform the steps of the method of receiving laser pulses.
The embodiment of the invention provides a laser radar system, which comprises a memory and a processor, wherein the memory is stored with computer instructions capable of running on the processor, and the processor executes the steps of the method for transmitting laser pulses when running the computer instructions.
An embodiment of the present invention provides a laser radar system, which includes a memory and a processor, where the memory stores computer instructions executable on the processor, and the processor executes the steps of the method for receiving laser pulses when executing the computer instructions.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
an embodiment of the present invention provides a laser radar system, including: the laser radar system comprises a transmitting module and a detecting module, wherein the transmitting module can generate and transmit laser pulses with preset wavelengths, the detecting module can receive and process reflection signals of the laser pulses with the preset wavelengths, different preset wavelengths are set aiming at different laser radar systems, each laser radar system only transmits the laser pulses with the corresponding preset wavelengths, and receives the reflection signals of the laser pulses with the corresponding preset wavelengths, so that the interference between different laser radar systems can be effectively avoided at lower cost.
Furthermore, the transmitting module, the collimating module, the light splitting module and the scanning module are arranged on the same axis, so that the problem of leveling of a transmitting light path and a receiving light path of a non-coaxial laser radar system can be effectively solved, the transmitting light path and the receiving light path are ensured to be coaxial or parallel all the time, and the accuracy of obtaining the distance information of the obstacle is improved.
Drawings
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another lidar system according to an embodiment of the present invention;
FIG. 3 is a detailed flow chart of a method of emitting laser pulses provided by an embodiment of the present invention;
fig. 4 is a detailed flowchart of a method for receiving laser pulses according to an embodiment of the present invention.
Detailed Description
Although the interference between the laser radar systems can be reduced through code modulation in the existing laser radar system, the adopted laser pulse width, sampling interval and emission peak power are limited to a certain extent, so that the laser radar system puts harsh requirements on a laser and a receiving system, is not beneficial to engineering realization in the actual process and has high cost.
An embodiment of the present invention provides a laser radar system, including: the laser radar system comprises a transmitting module and a detecting module, wherein the transmitting module can generate and transmit laser pulses with preset wavelengths, the detecting module can receive and process reflection signals of the laser pulses with the preset wavelengths, different preset wavelengths are set aiming at different laser radar systems, each laser radar system only transmits the laser pulses with the corresponding preset wavelengths, and receives the reflection signals of the laser pulses with the corresponding preset wavelengths, so that the interference between different laser radar systems can be effectively avoided at lower cost.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 1, an embodiment of the present invention provides a laser radar system 10, including: a transmitting module 11 and a detecting module 12, wherein:
the emitting module 11 is adapted to generate and emit one or more laser pulses with preset wavelengths, and includes: a generation sub-module 111, a wavelength division multiplexing sub-module 112 and an output sub-module 113, wherein:
the generating sub-module 111 is coupled to the wavelength division multiplexing sub-module and adapted to generate laser pulses with a predetermined wavelength.
In a specific implementation, the generating sub-module 111 may generate one laser pulse with a predetermined wavelength, or may generate a plurality of laser pulses with two or more predetermined wavelengths.
In a specific implementation, the generation sub-module 111 may generate laser pulses of a preset wavelength by modulating a seed source wavelength or multiple wavelength seed sources.
The wavelength division multiplexing submodule 112, coupled to the output submodule, is adapted to couple laser pulses of different wavelengths generated by the generation submodule together.
In a specific implementation, the wavelength division multiplexing submodule 112 may be a wavelength division multiplexer.
The output sub-module 113 is adapted to transmit the laser pulses coupled by the wavelength division multiplexing sub-module.
It is understood that the laser pulse may also be referred to as a laser beam, a laser, or other names, which are intended to be equivalent, and fall within the scope of the embodiments of the present invention.
In specific implementation, when a plurality of laser radars transmit laser pulses with the same frequency, namely, the same wavelength, mutual interference exists, and a certain laser radar may calculate distance information according to the laser pulses transmitted by other laser radars or reflected signals thereof, so that the distance calculation error of an obstacle is caused, and therefore, the interference among different laser radar systems can be avoided by setting different laser radars to transmit the laser pulses with different wavelengths.
In a specific implementation, in order to increase the signal strength of the laser pulse, the laser pulse coupled by the wavelength division multiplexing sub-module 112 may also be amplified.
In an embodiment of the present invention, the transmitting module 11 further includes: and the amplifying submodule 114 is coupled with the wavelength division multiplexing submodule and the wavelength division multiplexing submodule respectively, is suitable for amplifying the laser pulse coupled by the wavelength division multiplexing submodule and outputs the laser pulse to the output submodule.
In a specific implementation, the amplifying sub-module 114 may be a pre-amplifier and a main-control amplifier coupled to each other.
In a specific implementation, the transmitting module 11 may be a fiber laser, a Distributed Feedback Semiconductor laser (DFB-LD), or another type of laser, which is not limited in the embodiment of the present invention.
Since the fiber laser and the wavelength division multiplexer are mature and commercially available devices, the implementation cost of the transmitting module 11 is low.
In a specific implementation, in order to avoid mutual interference between the plurality of laser radars, the transmitting module 11 only transmits the laser pulse with the preset wavelength, so the detecting module 12 needs to receive the reflected signal of the laser pulse with the preset wavelength.
The detection module 12 is adapted to receive and process the reflected signal of the laser pulse with the preset wavelength to obtain the distance information of the obstacle, and includes: a filtering submodule 121 and a detection submodule 122 coupled thereto, wherein:
the filtering submodule 121 is adapted to filter out reflection signals of other light beams than the laser pulse with the preset wavelength.
In a specific implementation, the filtering submodule 121 may be a wavelength tunable filter, and may also be a narrow band pass filter
The detection sub-module 122 is adapted to receive and process the reflected signal of the laser pulse with the preset wavelength.
In a specific implementation, the detection sub-module 122 may be an Avalanche Photodiode (APD) photosensor, or may be other types of photosensors, which is not limited in the embodiment of the present invention.
In specific implementation, in order to avoid the leveling problem of the transmitting light path and the receiving light path of the non-coaxial laser radar system, the coaxial laser radar system can be adopted to ensure that the transmitting light path and the receiving light path are always coaxial or parallel, so that the accuracy of obtaining the distance information of the obstacle is improved.
In an embodiment of the present invention, the lidar system 10 further includes: a control module (not shown), a collimation module (not shown), a convergence module (not shown), a beam splitting module (not shown), and a scanning module (not shown), wherein:
the control module, coupled to the emitting module 11, the detecting module 12 and the scanning module, is adapted to control the emitting module 11 to generate and emit laser pulses, the scanning module to swing, and the detecting module 12 to receive reflected signals of processed laser pulses.
The collimation module, the emission module 11, the light splitting module and the scanning module are located on the same axis and are suitable for adjusting the laser pulse with the preset wavelength emitted by the emission module 11 into parallel laser pulses.
In a specific implementation, the collimating module may be a lens, i.e. consisting of one or more, i.e. two or more, lenses.
The light splitting module is suitable for semi-transmitting the parallel laser pulse adjusted by the collimation module and semi-reflecting the reflection signal of the laser pulse reflected by the scanning module.
In a specific implementation, the light splitting module may be any one of an open-aperture emission mirror, a semi-transparent semi-reflective mirror, a polarization light splitting mirror, and a light splitting mirror adopting a coating method, and the embodiment of the present invention is not limited.
The scanning module is suitable for reflecting the parallel laser pulses transmitted by the light splitting module to a two-dimensional space through swinging under the control of the control module, and reflecting the reflection signals of the laser pulses reflected by the obstacles in the two-dimensional space to the light splitting module.
In implementations, the scanning module can scan a mirror.
In an embodiment of the present invention, the scanning module is a two-dimensional galvanometer, and the two-dimensional galvanometer can freely swing in a two-dimensional space under the control of the control module.
The converging module is adapted to converge the reflected signal of the laser pulse with the preset wavelength reflected by the light splitting module, so as to be received by the detecting module 12.
In a specific implementation, the converging means may be a lens, i.e. consist of one or more, i.e. two or more lenses.
Use above-mentioned laser radar system, the emission module can produce and launch the laser pulse of predetermineeing the wavelength, the reflected signal of the laser pulse of predetermineeing the wavelength can be received and handled to the detection module, through setting up different predetermined wavelengths to different laser radar systems, every laser radar system only transmits the laser pulse of its corresponding predetermined wavelength, and receive the reflected signal of the laser pulse of its corresponding predetermined wavelength, can effectively avoid the interference between the different laser radar systems with lower cost.
To enable those skilled in the art to better understand and implement the present invention, another schematic diagram of a lidar system is provided according to an embodiment of the present invention, as shown in fig. 2.
Referring to fig. 2, the lidar system includes: the system comprises a fiber laser 21, a collimating lens 24, a splitting lens 25, a galvanometer 26, a detection module 22, a control module 23 and a converging lens 27 which are positioned on the same axis.
The specific functions and positional relationships of the fiber laser 21, the collimating lens 24, the splitting lens 25, the galvanometer 26, the detection module 22, the control module 23, and the converging lens 27 are consistent with those of the corresponding modules in the laser radar system shown in fig. 1, and are not described herein again.
In the detailed descriptionThe optical fiber laser 21 generates and emits a preset wavelength lambda under the control of the control module 231The laser pulse 28 passes through the collimating lens 24 and then is adjusted into a parallel laser pulse 28, and then the parallel laser pulse 28 passes through the beam splitting lens 25 and reaches the vibrating mirror 26, and the vibrating mirror 26 reflects the laser pulse 28 to a two-dimensional space by swinging under the control of the control module 23. When a target obstacle 30 exists in the two-dimensional space, the target obstacle 30 reflects a reflection signal 29 of the laser pulse 28 to the galvanometer 26, the galvanometer 26 reflects the reflection signal 29 to the beam splitter lens 25, the beam splitter lens 25 reflects the reflection signal 29 to the condenser lens 27 for convergence, and the detection module 22 receives and processes the reflection signal 29 converged by the condenser lens 27 under the control of the control module 23. Since the preset wavelength of the laser pulse 28 emitted by the fiber laser 21 is λ1Therefore, the detection module 22 filters the signal through the wavelength modulation filter or the plurality of narrow-band filter lasers, and only the reserved wavelength is λ1Filtering out other wavelengths, e.g. lambda2、λ3Is then based on the reflected signal of wavelength lambda1The reflected signal of (2) calculates the distance information of the target obstacle 30, so that the interference of other laser radars can be effectively inhibited, and the distance information of the target obstacle 30 can be accurately acquired.
For better understanding and implementation of the present invention by those skilled in the art, the present invention also provides a method for emitting laser pulses, which uses any of the above-mentioned laser radar systems to emit laser pulses with a predetermined wavelength.
Referring to fig. 3, an embodiment of the present invention provides a detailed flowchart of a method of emitting laser pulses, which may include the following steps:
step S301, determining the preset wavelength of the laser pulse to be emitted.
In specific implementation, different preset wavelengths can be set for different laser radar systems to avoid interference between the different laser radar systems.
Step S302, a laser pulse with a preset wavelength is generated.
In an implementation, one laser pulse with a predetermined wavelength may be generated, or a plurality of laser pulses with predetermined wavelengths may be generated. When a plurality of laser pulses with preset wavelengths are generated, wavelength division multiplexers are needed to couple the laser pulses with different preset wavelengths.
In a specific implementation, in order to increase the signal intensity of the laser pulse, the generated laser pulse with the preset wavelength can be amplified.
Step S303, emitting a laser pulse with a preset wavelength.
The embodiment of the present invention provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, and has stored thereon computer instructions, where the computer instructions, when executed, perform the steps of the above method for emitting laser pulses.
The embodiment of the invention provides a laser radar system, which comprises a memory and a processor, wherein the memory is stored with computer instructions capable of running on the processor, and the processor executes the steps of the method for transmitting laser pulses when running the computer instructions.
In order to make those skilled in the art better understand and implement the present invention, embodiments of the present invention further provide a method for receiving laser pulses, wherein a laser radar system as described in any of the above embodiments is used to receive and process reflected signals of laser pulses with preset wavelengths to obtain distance information of an obstacle.
Referring to fig. 4, an embodiment of the present invention provides a detailed flowchart of a method for receiving laser pulses, which may include the following steps:
step S401, acquiring a preset wavelength of the emitted laser pulse.
In a specific implementation, the preset wavelength of the emitted laser pulse may be obtained by the emission module, the preset wavelength of the emitted laser pulse may also be obtained by the control module, and the preset wavelength of the emitted laser pulse may also be preset, which is not limited in the embodiment of the present invention.
Step S402, receiving a reflection signal of a laser pulse with a preset wavelength.
In specific implementation, in order to avoid interference between laser radar systems, at the transmitting end, a laser pulse only transmitting a preset wavelength can be set, so that at the receiving end, reflected signals of other light beams except the preset wavelength can be filtered out through the filtering submodule, and only the reflected signals of the laser pulse with the preset wavelength are reserved for detection and reception.
In specific implementation, the filtering sub-module may be a wavelength tunable filter or a narrow band pass filter, and mainly functions to filter out reflected signals of other light beams except for the laser pulse with the preset wavelength and only retain the reflected signals of the laser pulse with the preset wavelength.
Step S403, processing a reflection signal of a laser pulse with a preset wavelength to obtain distance information of the obstacle.
In the implementation, since the delay time of the reflected signal of the laser pulse can be used to calculate the distance information of the obstacle, the distance information of the obstacle can be obtained by processing the reflected signal of the laser pulse with the preset wavelength.
The embodiment of the present invention provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, and has stored thereon computer instructions, where the computer instructions, when executed, perform the steps of the above method for receiving laser pulses.
The embodiment of the invention provides a laser radar system, which comprises a memory and a processor, wherein the memory is stored with computer instructions capable of running on the processor, and the processor executes the steps of the method for receiving laser pulses when running the computer instructions.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A lidar system, comprising: emission module and detection module, wherein:
the transmitting module is suitable for generating and transmitting a plurality of laser pulses with preset wavelengths, and distinguishing the laser pulses with the preset wavelengths from pulses with a plurality of wavelength combinations emitted by other laser radar systems by setting a combination of the preset wavelengths,
the transmitting module further comprises: a generation sub-module, a wavelength division multiplexing sub-module, and an output sub-module, wherein:
the generation submodule is coupled with the wavelength division multiplexing submodule and is suitable for generating laser pulses with preset wavelengths;
the wavelength division multiplexing submodule is coupled with the output submodule and is suitable for coupling the laser pulses with different wavelengths generated by the generation submodule together;
the output sub-module is suitable for transmitting the laser pulse coupled by the wavelength division multiplexing sub-module;
the detection module is suitable for receiving and processing the reflection signals of the laser pulses with the preset wavelengths to acquire the distance information of the obstacles,
the detection module further comprises: a filtering submodule and a detection submodule coupled thereto, wherein: the filtering submodule is suitable for filtering out reflection signals of other light beams except the laser pulse with the preset wavelength;
and the detection submodule is suitable for receiving and processing the reflected signal of the laser pulse with the preset wavelength.
2. The lidar system of claim 1, wherein the transmit module further comprises: and the amplification submodule is respectively coupled with the wavelength division multiplexing submodule and the wavelength division multiplexing submodule, is suitable for amplifying the laser pulse coupled by the wavelength division multiplexing submodule and outputs the laser pulse to the output submodule.
3. The lidar system of claim 2, wherein the amplification sub-module is a pre-amplifier and a main control amplifier coupled to each other.
4. The lidar system of claim 1, wherein the filtering sub-module is a wavelength tunable filter or a narrowband filter.
5. The lidar system according to any of claims 1 to 4, further comprising:
control module, collimation module, convergence module, beam split module and scanning module, wherein:
the control module is coupled with the transmitting module, the detecting module and the scanning module and is suitable for controlling the transmitting module to generate and transmit laser pulses, the scanning module to swing and the detecting module to receive reflected signals of processing laser pulses;
the collimation module, the emission module, the light splitting module and the scanning module are positioned on the same axis and are suitable for adjusting the laser pulse with the preset wavelength emitted by the emission module into parallel laser pulses;
the light splitting module is suitable for semi-transmitting the parallel laser pulse adjusted by the collimation module and semi-reflecting a reflection signal of the laser pulse reflected by the scanning module;
the scanning module is suitable for reflecting the parallel laser pulses transmitted by the light splitting module to a two-dimensional space through swinging under the control of the control module, and reflecting the reflection signals of the laser pulses reflected by the obstacles in the two-dimensional space to the light splitting module;
the convergence module is suitable for converging a reflection signal of the laser pulse with the preset wavelength reflected by the light splitting module so as to be received by the detection module.
6. The lidar system of claim 5, wherein the scanning module is a two-dimensional galvanometer.
7. The lidar system of claim 5, wherein the collimating module or the converging module is a lens.
8. A method of emitting laser pulses, characterized in that laser pulses of a predetermined wavelength are emitted using a lidar system according to any of claims 1 to 7.
9. A method for receiving laser pulses, characterized in that a laser radar system according to any one of claims 1 to 7 is used to receive and process reflected signals of laser pulses of a predetermined wavelength in order to obtain distance information of an obstacle.
10. A computer readable storage medium having computer instructions stored thereon, wherein the computer instructions when executed perform the steps of the method of claim 8 or 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711303227.3A CN108132471B (en) | 2017-12-08 | 2017-12-08 | Method, medium and laser radar system for transmitting and receiving laser pulse |
| PCT/CN2018/120044 WO2019110022A1 (en) | 2017-12-08 | 2018-12-10 | Method and medium for emitting and receiving laser pulse, and laser radar system |
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| CN201711303227.3A CN108132471B (en) | 2017-12-08 | 2017-12-08 | Method, medium and laser radar system for transmitting and receiving laser pulse |
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| CN108132471A CN108132471A (en) | 2018-06-08 |
| CN108132471B true CN108132471B (en) | 2021-03-30 |
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| WO2021223183A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳市速腾聚创科技有限公司 | Laser transceiving assembly, laser radar, and automatic driving device |
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| CN114019483B (en) * | 2021-10-22 | 2024-07-23 | 复旦大学 | A laser radar detection system capable of suppressing interference |
| CN113985421A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Inclined 45-degree mirror optical scanning device for laser radar |
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