CN115877361A - Laser radar with surface dirt rapid detection function and implementation method thereof - Google Patents
Laser radar with surface dirt rapid detection function and implementation method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of laser radars, and provides a laser radar with surface dirt rapid detection function and an implementation method thereof. The multi-core optical fiber array 4 is inclined at a preset spatial angle, so that laser radar signals emitted from all fiber cores can integrally complete a space area to be covered by a laser radar; the filter 5 is arranged between the off-axis parabolic reflector 3 and the multi-core optical fiber array 4, and has the functions of transmitting laser radar signals from the off-axis parabolic reflector 3 to the multi-core optical fiber array 4 and reflecting the laser radar reflected signals from the multi-core optical fiber array 4 to the off-axis parabolic reflector 3. The invention integrally collects the laser radar reflection signals through the multi-core optical fiber array, and realizes the dirt detection of the fiber core order of magnitude resolution by matching with the detectors with the same number of fiber cores.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar with surface dirt rapid detection function and an implementation method thereof.
Background
For a vehicle-mounted laser radar, the common problem faced by the vehicle-mounted laser radar is the influence of an external environment on dirt on the surface of the laser radar, and the influence of the corresponding dirt not only causes the change of an original effective detection distance, but also seriously causes that corresponding data cannot be effectively analyzed in one detection cycle, and even brings wrong judgment results.
In order to improve the detection accuracy of the vehicle-mounted radar, the vehicle-mounted laser radar is mostly arranged on a vehicle body shell, namely, the vehicle-mounted laser radar is exposed to the external environment, so that no matter probabilistic dirt influence is brought under a specific environment, or deposition type dirt influence is not generated due to cleaning for a long time, the prior art is lack of an accurate identification and transition improvement means.
In view of the above, overcoming the drawbacks of the prior art is an urgent problem in the art.
Disclosure of Invention
The invention aims to solve the technical problem that in order to improve the detection accuracy of a vehicle-mounted radar, most of vehicle-mounted laser radars are arranged on a vehicle body shell, namely are exposed in an external environment, so that no matter probabilistic dirt influence is brought under a specific environment, or deposition type dirt influence is generated due to no cleaning for a long time, the prior art is lack of an accurate identification and transition improvement means.
The invention adopts the following technical scheme:
in a first aspect, the present invention provides a laser radar with a function of fast detecting surface contaminants, including a laser 1, an MEMS chip 2, an off-axis parabolic mirror 3, a multi-core fiber array 4, a filter 5, and a detector array 6 adapted to the number of multiple cores, specifically:
the MEMS chip 2 comprises a rotatable reflector, the reflector is mechanically rotated, laser radar signals from the laser 1 are changed through rotation, and the laser radar signals are reflected to a specified point of the off-axis parabolic reflector 3;
the off-axis parabolic reflector 3 comprises a paraboloid and is used for collimating the divergent light beams reflected by the MEMS chip 2 into optical fibers at corresponding positions in the multi-core optical fiber array 4;
the multi-core optical fiber array 4 is inclined at a preset space angle, so that laser radar signals emitted from each fiber core can integrally complete a space area to be covered by a laser radar;
the filter 5 is arranged between the off-axis parabolic reflector 3 and the multi-core fiber array 4, and has the functions of transmitting laser radar signals from the off-axis parabolic reflector 3 to the multi-core fiber array 4 and reflecting the laser radar reflection signals from the multi-core fiber array 4 to the off-axis parabolic reflector 3;
the detector array 6 is arranged on a laser radar reflected signal light path transmitted by the filter 5.
Preferably, an imaging lens 7 is further disposed between the laser 1 and the MEMS chip 2, and is configured to focus a laser radar signal emitted by the laser 1 onto a reflecting mirror surface of the MEMS chip 2; the focus of the off-axis parabolic reflector 3 coincides with the central point of the reflector of the MEMS chip 2, so as to convert the laser radar signal received from the MEMS chip 2 into parallel light and transmit the parallel light to the multi-core fiber array 4.
Preferably, a lens array 8 is arranged on the light incoming side of the laser radar signal of each optical fiber in the multi-core optical fiber array 4, and the lens array 8 is used for focusing the parallel light reflected by the off-axis parabolic reflector 3 onto the light incoming surface of the corresponding optical fiber in the multi-core optical fiber array 4.
Preferably, a lens 41 is formed on a laser radar signal light-emitting surface of each optical fiber in the multi-core optical fiber array 4, and is used for emitting the laser radar signal transmitted by the optical fiber at a preset divergence angle.
Preferably, the multicore fiber array 4 is a structure including 9 cores and arranged in a 3-3-3 array.
In a second aspect, the present invention further provides a method for implementing a laser radar with rapid surface contamination detection, where the laser radar with rapid surface contamination detection described in the first aspect is used, and the method includes:
through controlling the emission mirror surface on the MEMS chip 2, the laser radar signal from the laser 1 is emitted out through the specified fiber core in the multi-core fiber array 4 in sequence, and the corresponding laser radar reflected signal is received to complete the laser radar detection process;
wherein, the laser radar reflected signal is captured by each fiber core in the multi-core fiber array 4 and transmitted to the detector array 6 which is matched with each fiber core; and determining the position of the current surface where the dirt interference exists by analyzing the signal intensity difference detected by each detector, wherein the position where the dirt interference exists is determined by the end surface mapping position of the corresponding fiber core on the laser radar.
Preferably, after determining the position of the core disturbed by the contamination, the method further comprises:
if the number of the corresponding affected fiber cores occupying the total fiber cores of the multi-core fiber array 4 is smaller than a preset threshold value, controlling an emission mirror surface on the MEMS chip 2 in a subsequent laser radar detection period to enable the emission mirror surface to skip the corresponding affected fiber cores;
and labeling the detector in the detector array 6 adapted to the affected fiber core, wherein in the subsequent analysis process, the corresponding labeled detector enters a self-defined analysis period, and when the corresponding analysis period is reached, the light intensity difference detected by the corresponding labeled detector and the peripheral detectors is smaller than a preset parameter value by comparing, it is determined that the corresponding fiber core mapping on the end face of the laser radar is cleaned, and the normal light emitting of the laser radar signal of the corresponding fiber core and the normal work of the detector matched with the fiber core are recovered; and outside the analysis period, not performing data analysis operation on the corresponding labeled detector.
Preferably, if the total number of the fiber cores occupied by the corresponding affected fiber cores in the multi-core fiber array 4 is greater than or equal to a preset threshold value, or the number of the adjacent fiber cores exceeds a second preset value, a forced cleaning alarm is sent out.
Preferably, the affected core specifically comprises:
and performing signal intensity matching on the detection results of all the detectors in the detector array 6, and if the signal intensities detected by at least two corresponding detectors are kept close and the signal intensities detected by other detectors are obviously reduced, determining the fiber cores associated with one or more detectors with obviously reduced detection signal intensities as the affected fiber cores.
Preferably, the method further comprises:
recording the historical detection signal intensity change floating interval of each detector, and if the continuous signal intensity detected by all the detectors is lower than the floating interval, sending out a forced cleaning alarm.
In a third aspect, the present invention further provides an apparatus with a surface contamination quick detection function, for implementing the laser radar implementation method with a surface contamination quick detection function in the second aspect, where the apparatus includes:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor for performing the lidar implementation with fast detection of surface contaminants of the second aspect.
In a fourth aspect, the present invention further provides a non-transitory computer storage medium storing computer-executable instructions for performing the lidar-implemented method with fast detection of surface contaminants described in the second aspect, when the computer-executable instructions are executed by one or more processors.
The invention provides a laser radar device, which can meet the detection coverage range of a corresponding laser radar, can select a multi-core optical fiber under the control of an MEMS chip to transmit a laser radar signal, integrally collects laser radar reflection signals through a multi-core optical fiber array, and is matched with detectors with the same number of fiber cores, so that the dirt detection of the fiber core order of magnitude resolution is realized.
In a preferred implementation of the invention, also based on the result of detecting the dirt, an improvement of the compromise detection process before the necessary cleaning is carried out is achieved, i.e. unnecessary energy consumption is reduced, and the detection accuracy and effectiveness are also improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic structural diagram of a laser radar apparatus with rapid detection of surface contamination according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a multi-core fiber array in a laser radar apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an improved lidar apparatus with fast surface contaminant detection according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an improved lidar apparatus with fast surface contamination detection according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an improved multi-core fiber array in a laser radar apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an end face of a multi-core fiber array according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an implementation method of a lidar having a fast surface contamination detection according to an embodiment of the present invention;
FIG. 8 is a schematic flowchart of a method for implementing a laser radar with fast detection of surface contamination after determining a position of a fiber core interfered by the contamination according to an embodiment of the present invention;
FIG. 9 is a flowchart illustrating another method for determining logic branches in a lidar with fast surface contamination detection according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a lidar implementing apparatus with surface contamination rapid detection according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are for convenience only to describe the present invention without requiring the present invention to be necessarily constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1:
embodiment 1 of the present invention provides a laser radar with a function of rapidly detecting surface contaminants, as shown in fig. 1, including a laser 1, an MEMS chip 2, an off-axis parabolic mirror 3, a multi-core fiber array 4, a filter 5, and a detector array 6 adapted to the number of multiple cores, specifically:
the MEMS chip 2 includes a rotatable mirror surface, which is mechanically rotated to change the laser radar signal from the laser 1 by rotation and reflect the laser radar signal to a designated point of the off-axis parabolic mirror 3.
The off-axis parabolic reflector 3 comprises a paraboloid for collimating the divergent light beams reflected by the MEMS chip 2 into the optical fibers at the corresponding positions in the multi-core optical fiber array 4.
The multicore optical fiber array 4 is tilted at a predetermined spatial angle (for example, 5 to 10 °), so that the laser radar signals emitted from the respective cores can entirely complete the spatial region to be covered by the laser radar. Referring to the schematic diagram of FIG. 2, as understood in association with corresponding numbering in FIG. 1, where cores 4-1 and 4-2 are Z-axially extending fibers and are positively biased toward the Y-axis; the fiber core 4-3 is an optical fiber extending in the Z-axis direction, and is suitable for a space right in front of the laser radar signal detection without deflection in other directions; the fiber cores 4-4 and 4-5 are fibers extending in the Z-axis direction and are negatively inclined toward the Y-axis direction, and if the multicore fiber array 4 is laid out on the roof with the current XOZ plane as a horizontal plane and the end surface shown in fig. 2 is directed beyond the vehicle head direction, the fiber cores 4-4 and 4-5 in the figure are more suitable for generating a road surface condition in the range of an adjacent vehicle.
It should be added that, in the embodiment of the present invention, the essential function of the corresponding multi-core fiber array 4 includes transmitting a laser radar signal and emitting it; the other function is used for capturing laser radar emission signals reflected from a detected object, therefore, the implementation scheme of the invention can not be applied by using the conventional fiber core size thought. Therefore, fig. 2 is only a schematic diagram showing the corresponding skew angle relationship in an adaptive manner, and should not be taken as a physical diagram of the direct product structure.
The filter 5 is arranged between the off-axis parabolic reflector 3 and the multi-core optical fiber array 4, and has the functions of transmitting laser radar signals from the off-axis parabolic reflector 3 to the multi-core optical fiber array 4 and reflecting the laser radar reflected signals from the multi-core optical fiber array 4 to the off-axis parabolic reflector 3.
The detector array 6 is arranged on a laser radar reflected signal light path transmitted by the filter 5.
The embodiment of the invention provides a laser radar device, which can meet the detection coverage range of a corresponding laser radar, can select a multi-core optical fiber under the control of an MEMS chip to transmit a laser radar signal, integrally collects laser radar reflection signals through a multi-core optical fiber array, and is matched with detectors with the same number of fiber cores, so that the dirt detection of the fiber core order of magnitude resolution is realized.
As shown in fig. 3, as one of the preferred implementation solutions of the embodiment of the present invention, in consideration that the signal emitted by the laser 1 is more in a divergent state (of course, in an alternative implementation solution of the embodiment of the present invention, a solution that the laser itself is integrated with a collimating lens is not excluded), an imaging lens 7 is further disposed between the laser 1 and the MEMS chip 2, and is used for focusing the lidar signal emitted by the laser 1 onto the reflecting mirror surface of the MEMS chip 2; the focus of the off-axis parabolic reflector 3 coincides with the central point of the reflector of the MEMS chip 2, so as to convert the laser radar signal received from the MEMS chip 2 into parallel light and transmit the parallel light to the multi-core fiber array 4.
In this preferred embodiment, most of the imaging lenses 7 are asymmetric lenses, and as shown in fig. 3, the focal point of the left lens surface of the imaging lens 7 is the light outlet of the laser 1, and the focal point of the right lens surface of the corresponding imaging lens 7 is at the center of the emission mirror surface of the MEMS chip 2. This has the advantage that the effect of the laser 1 impinging on its emitting mirror remains strongly consistent regardless of how the emitting mirror of the MEMS chip 2 rotates about its center.
As shown in fig. 4, the embodiment of the present invention further provides an improvement to improve the stability of the optical path and avoid the loss caused by the dispersion of the optical signal. The laser radar signal light-incoming side of each optical fiber in the multi-core optical fiber array 4 is provided with a lens array 8, and the lens array 8 is used for focusing parallel light reflected by the off-axis parabolic reflector 3 to the light-incoming surface of the corresponding fiber core in the multi-core optical fiber array 4. The improvement scheme shown in fig. 4 can be implemented on the basis of the technical scheme shown in fig. 3, or can be implemented by singly combining the structural scheme shown in fig. 1, and a combined drawing is not attached to this, and a scheme that can be obtained by performing relevance combination according to reasonable operation by those skilled in the art shall fall within the protection scope of the technical scheme of the present invention.
Fig. 5 is another improvement point proposed in the embodiment of the present invention, and the corresponding improvement technical points may be respectively combined with the technical solutions already proposed above, where the combined structure diagrams are not presented one by one, but are shown by the common multi-core optical fiber 4 schematic diagrams in fig. 1, fig. 3, and fig. 4. As shown in fig. 5, a lens 41 is manufactured on a laser radar signal light emitting surface of each optical fiber in the multi-core optical fiber array 4, and is used for emitting the laser radar signal transmitted by the optical fiber at a preset divergence angle.
As shown in fig. 6, an alternative solution provided by the embodiment of the present invention is that the multicore fiber array 4 is specifically a structure including 9 cores and arranged in a 3-3-3 array. In the specific implementation process, similarly, 2-2 arrays, 4-4-4-4 arrays or 1-center 5-surrounding array patterns and the like can be selected, and 3-3-3 explained herein is obtained by taking the detection efficiency of the laser radar and the coverage surface of the radar detection into consideration, considering the requirement of the dirt identification precision and the available robustness after partial dirt blocking.
Example 2:
a method for implementing lidar with fast surface contamination detection, which uses the lidar with fast surface contamination detection as described in embodiment 1, as shown in fig. 7, the method comprising:
in step 201, by controlling the emitting mirror surface on the MEMS chip 2, the lidar signals from the laser 1 are emitted sequentially through the designated fiber core in the multi-core fiber array 4, and the corresponding lidar reflected signals are received to complete the lidar detection process.
In step 202, the lidar reflected signals are captured by each core in the multicore fiber array 4 and transmitted to the respective matched detector in the detector array 6.
In step 203, the position of the current surface where the dirt interference exists is determined by analyzing the signal intensity difference detected by each detector, and the position where the dirt interference exists is determined by the end surface mapping position of the corresponding fiber core on the laser radar.
The embodiment of the invention provides a laser radar device, which can meet the detection coverage range of a corresponding laser radar, can select a multi-core optical fiber under the control of an MEMS chip to transmit a laser radar signal, integrally collects laser radar reflection signals through a multi-core optical fiber array, and is matched with detectors with the same number of fiber cores, so that the dirt detection of the fiber core order of magnitude resolution is realized.
In combination with the embodiment of the invention, the improvement of the compromise detection process before necessary cleaning is realized based on the result of detecting the dirt, namely, unnecessary energy loss is reduced, and the detection precision and effectiveness are also improved. Thus, after determining the location of the core disturbed by the contamination, as shown in FIG. 8, the method further comprises:
in step 301, if the total number of the cores occupied by the corresponding affected cores in the multicore fiber array 4 is less than the preset threshold, the emission mirror surface on the MEMS chip 2 is controlled to skip the corresponding affected cores in the subsequent laser radar detection period.
The preset threshold value is changed according to different set fiber core numbers and different layout modes, and the parameter value is set by considering that once the fiber core end face affected by the pollutants reaches the preset threshold value, the laser radar signals emitted by the residual fiber cores cannot effectively cover the detection range which is responsible for the laser radar signals. It should be noted here that, the larger the number of cores in the multicore fiber array 4, the different and dynamically changing conditions of the affected core positions may be presented by the corresponding preset values, because the more dispersed the affected core distribution may be on the same number of affected cores, the less affected the normal detection of the lidar than the concentration of the affected core distribution. This is also because once the affected cores are relatively dispersed, appropriate detection compensation can be made by its neighboring cores.
In step 302, the detectors in the detector array 6 that are adapted to the affected fiber cores are labeled.
In step 303, in the subsequent analysis process, the corresponding labeled detector enters a self-defined analysis period, and when the corresponding analysis period is reached, the light intensity difference detected by the corresponding labeled detector and the peripheral detector is smaller than a preset parameter value by comparing, it is determined that the corresponding fiber core mapping has been cleaned at the laser radar end face, and the normal light emission of the laser radar signal of the corresponding fiber core and the normal operation of the detector matched with the fiber core are recovered.
The preset parameter values are set in the actual test process, namely, the preset parameter values are comprehensively generated through a non-pollutant condition test and a test carried out after different pollutant objects are brought in. This process is actually to take the boundary values in the two testing processes, and the two boundary values can be obtained through calculation by experience of a person skilled in the art, so far, the embodiments of the present invention are not described in detail.
And outside the analysis period, not performing data analysis operation on the corresponding labeled detector. For example, taking the layout of fig. 6 as an example, once it is determined through comparison that the energy data detected by the fiber core 4-1 with the associated detector is greater than or equal to the preset parameter value than the signal intensity difference detected by the associated detectors of the other fiber cores (e.g., 4-2 and 4-3), when the MEMS chip 2 subsequently controls the laser radar signal transmission, the transmission process of the corresponding fiber core 4-1 is skipped, and as a preferred scheme, the output power of the laser during the transmission process of the two adjacent fiber cores (4-2 and 4-4) can be further increased, so that the influence on the laser radar operation when the fiber core 4-1 is missing is compensated to a certain extent by the detection period of the two adjacent fiber cores.
In the implementation process of step 301, there is another branch of determining logic, as shown in fig. 9, the method further includes:
in step 304, if the total number of the fiber cores occupied by the corresponding affected fiber cores in the multi-core fiber array 4 is greater than or equal to a preset threshold value, or the number of adjacent fiber cores exceeds a second preset value, a forced cleaning alarm is sent out.
The affected core comprises in particular: and performing signal intensity matching on the detection results of all the detectors in the detector array 6, and if the signal intensities detected by at least two corresponding detectors are kept close and the signal intensities detected by other detectors are obviously reduced, determining the fiber cores associated with one or more detectors with obviously reduced detection signal intensities as the affected fiber cores.
And recording a historical detection signal intensity change floating interval of each detector, and if the continuous detection signal intensities of all the detectors are lower than the floating interval, sending a forced cleaning alarm.
Example 3:
fig. 10 is a schematic diagram of an architecture of a lidar apparatus with a fast surface contamination detection according to an embodiment of the present invention. The lidar implementing apparatus with fast surface contamination detection of the present embodiment includes one or more processors 21 and a memory 22. In fig. 10, one processor 21 is taken as an example.
The processor 21 and the memory 22 may be connected by a bus or other means, and the bus connection is exemplified in fig. 10.
The memory 22 is a non-volatile computer readable storage medium, and can be used to store a non-volatile software program and a non-volatile computer executable program, such as the laser radar implementation method with surface contamination rapid detection in embodiment 1. Processor 21 implements a lidar implemented method having fast detection of surface contamination by executing non-volatile software programs and instructions stored in memory 22.
The memory 22 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 22 may optionally include memory located remotely from the processor 21, and these remote memories may be connected to the processor 21 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 22 and, when executed by the one or more processors 21, perform the lidar implementation with fast surface contamination detection of embodiment 1 described above, e.g., perform the steps shown in fig. 7-9 described above.
It should be noted that, for the information interaction, execution process and other contents between the modules and units in the apparatus and system, the specific contents may refer to the description in the embodiment of the method of the present invention because the same concept is used as the embodiment of the processing method of the present invention, and are not described herein again.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the embodiments may be implemented by associated hardware as instructed by a program, which may be stored on a computer-readable storage medium, which may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a lidar with surface filth short-term test which characterized in that, includes laser instrument (1), MEMS chip (2), off-axis parabolic mirror (3), multicore fiber array (4), filter (5) to and with detector array (6) of multicore quantity looks adaptation, specific:
the MEMS chip (2) comprises a rotatable reflecting mirror surface, the reflecting mirror surface is mechanically rotated, laser radar signals from the laser (1) are changed through rotation, and the laser radar signals are reflected to a specified point of the off-axis parabolic reflecting mirror (3);
the off-axis parabolic reflector (3) comprises a paraboloid and is used for collimating the divergent light beams reflected by the MEMS chip (2) into optical fibers at corresponding positions in the multi-core optical fiber array (4);
the multi-core optical fiber array (4) is inclined at a preset space angle, so that laser radar signals emitted from each fiber core can integrally complete a space area to be covered by a laser radar;
the filter sheet (5) is arranged between the off-axis parabolic reflector (3) and the multi-core optical fiber array (4), and has the functions of transmitting laser radar signals from the off-axis parabolic reflector (3) to the multi-core optical fiber array (4) and reflecting the laser radar reflected signals from the multi-core optical fiber array (4) to the off-axis parabolic reflector (3);
the detector array (6) is arranged on a laser radar reflected signal light path emitted by the filter sheet (5).
2. The lidar with surface contamination rapid detection according to claim 1, wherein an imaging lens (7) is further disposed between the laser (1) and the MEMS chip (2) for focusing a lidar signal emitted by the laser (1) onto a mirror surface of the MEMS chip (2); the focal point of the off-axis parabolic reflector (3) is coincided with the central point of the reflector surface of the MEMS chip (2), so that the laser radar signal received from the MEMS chip (2) is converted into parallel light to be transmitted to the multi-core optical fiber array (4).
3. The lidar for rapid detection of surface contaminants of claim 2, wherein the lidar signal light entering side of each fiber of the multicore fiber array (4) is provided with a lens array (8), and the lens array (8) is configured to focus parallel light reflected by the off-axis parabolic mirror (3) onto the light entering surface of the corresponding fiber core of the multicore fiber array (4).
4. The lidar for rapid detection of surface contaminants as claimed in claim 1, wherein the lidar signal exit surface of each fiber in the multi-core fiber array (4) is fabricated with a lens (41) for emitting the lidar signal transmitted by the fiber at a predetermined divergence angle.
5. Lidar for rapid detection of surface contaminants according to any of claims 1 to 4, wherein said array of multicore fibers (4) is in particular a structure comprising 9 cores and arranged in an array of 3-3-3.
6. A method for implementing lidar with fast surface contaminant detection, wherein the method comprises the steps of:
through controlling an emission mirror surface on the MEMS chip (2), sequentially passing through a specified fiber core in the multi-core fiber array (4), emitting laser radar signals from the laser (1), and receiving corresponding laser radar reflected signals to complete a laser radar detection process;
the laser radar reflected signals are captured by all fiber cores in the multi-core fiber array (4) and transmitted to detectors matched with the fiber cores in the detector array (6); and determining the position of the current surface where the dirt interference exists by analyzing the signal intensity difference detected by each detector, wherein the position of the current surface where the dirt interference exists is determined by the end surface mapping position of the corresponding fiber core on the laser radar.
7. The lidar implemented method for rapid detection of surface contaminants of claim 6, wherein after determining the location of the core disturbed by the contaminant, the method further comprises:
if the number of the corresponding affected fiber cores occupying the total fiber cores of the multi-core fiber array (4) is smaller than a preset threshold value, controlling an emission mirror surface on the MEMS chip (2) in a subsequent laser radar detection period to enable the emission mirror surface to skip the corresponding affected fiber cores;
and labeling the detector matched with the affected fiber core in the detector array (6), wherein in the subsequent analysis process, the corresponding labeled detector enters a self-defined analysis period, and when the corresponding analysis period is reached, the light intensity difference detected by the corresponding labeled detector and the peripheral detectors is smaller than a preset parameter value by comparing, the fact that the corresponding fiber core is mapped on the end face of the laser radar and is cleaned is determined, the normal light emitting of the laser radar signal of the corresponding fiber core and the normal work of the detector matched with the fiber core are recovered; and outside the analysis period, not performing data analysis operation on the corresponding labeled detector.
8. The lidar implementation method with fast detection of surface contaminants of claim 6, wherein a forced cleaning alarm is issued if the number of the corresponding affected fiber cores in the total fiber cores of the multicore fiber array (4) is greater than or equal to a preset threshold value, or the number of adjacent fiber cores exceeds a second preset value.
9. The lidar implementation method with fast detection of surface contaminants according to claim 7 or 8, wherein the affected fiber core comprises:
and carrying out signal intensity matching on detection results of all the detectors in the detector array (6), and if the signal intensities detected by at least two corresponding detectors are kept close and the signal intensities detected by other detectors are obviously reduced, determining the fiber cores associated with one or more detectors with the obviously reduced detection signal intensities as the affected fiber cores.
10. The lidar implementation method with fast detection of surface contaminants according to claim 7 or 8, further comprising:
recording the historical detection signal intensity change floating interval of each detector, and if the continuous signal intensity detected by all the detectors is lower than the floating interval, sending out a forced cleaning alarm.
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