CN106443634A - Solid-state laser radar system - Google Patents
Solid-state laser radar system Download PDFInfo
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- CN106443634A CN106443634A CN201610929386.3A CN201610929386A CN106443634A CN 106443634 A CN106443634 A CN 106443634A CN 201610929386 A CN201610929386 A CN 201610929386A CN 106443634 A CN106443634 A CN 106443634A
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- Prior art keywords
- laser
- galvanometer
- optical fiber
- fiber array
- fiber
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Classifications
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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
-
- 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
-
- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a solid-state laser radar system, which comprises a laser, a detector, an emitting optical system, a receiving optical system and a control processing unit. The emitting optical system comprises a first optical switch, a first fiber array, a collimating lens and an emission laser galvanometer. The receiving optical system comprises a second optical switch, a second fiber array, a convergence lens and a receiving laser galvanometer. By utilizing functions of optical path selection and time division multiplexing of the optical switches, multi-line measurement can be realized through one laser and one detector; through cooperation of the first fiber array and the collimating lens as well as cooperation of the second fiber array and the convergence lens, scanning of a first dimension of a space is realized; and through deflection functions of the emission laser galvanometer and the receiving laser galvanometer on the laser, scanning of a second dimension vertical to the first dimension of the space is realized. The system is low in cost and small in size; and the laser radar system can be driven to rotate without a mechanical scanning mechanism.
Description
Technical field
The invention belongs to laser radar field is and in particular to a kind of solid-state laser radar system.
Background technology
Laser radar technique is in the field such as navigation, ground mapping, satellite fix extensive application.Unmanned in automobile
In field, laser radar plays ground mapping and the pivotal role of scene positioning.
Laser radar can be divided into common laser radar and solid-state laser radar.Common laser radar generally requires machinery rotation
Mechanism, carries out Space Rotating scanning by rotarily driving laser radar system；Solid-state laser radar does not need mechanical rotating mechanism,
Directly change the direction of the launch of output laser using optical mode, reach the purpose that space is scanned.
The mechanical rotating mechanism of existing common laser radar, general volume ratio is larger it has not been convenient to install and steady for a long time
Qualitative difference.Simultaneously as being scanned by mechanical rotating mechanism, for reaching high spatial resolution, obtain high point cloud number
According to generally requiring multi-thread measurement, simultaneously using multiple laser instrument and detector, cost is higher.
Existing solid-state laser Radar Technology, is typically scanned to space using optical phased array row technology, this skill
The requirement to optics for the art is higher, at present in the application scheme that civilian aspect do not had such as automobile is unmanned.
Content of the invention
It is an object of the invention to solving the problems referred to above of prior art presence and at least one aspect of defect.
It is an object of the present invention to provide a kind of solid-state laser radar system, by using optical lasers galvanometer Lai partially
Turn the transmission direction of laser, reach measuring targets and be scanned the purpose measuring it is not necessary to mechanical rotating mechanism is sharp to drive
Optical detection and ranging system is scanned.
Further object is that providing a kind of solid-state laser radar system, by light path is carried out using photoswitch
Select and time division multiplex, realize only with a pair of laser instrument and detector, you can realize the multi-thread measurement of measuring targets, obtain
High resolution and cloud data.
For achieving the above object, the present invention provides a kind of solid-state laser radar system, including：
Laser instrument, launches laser；Detector, receives reflection laser；Optical transmitting system, the laser that laser instrument is launched with
Different angles is launched to object under test；Receiving optics, by the reflection laser pick-off on object under test surface and be transferred to spy
Survey in device；Control process unit, controls the working condition of laser instrument, optical transmitting system and receiving optics, according to laser
Laser launched by device and detector receives the distance to calculate object under test for the time difference reflecting laser, according to optical transmitting system
Working condition launches the angle of the laser directional information to obtain object under test, obtains comprising distance and side according to multiple measurement
Can get the space three-dimensional information of object under test to the cloud data of information.
Wherein, optical transmitting system also include the first photoswitch, the first fiber array, collimating lens and transmitting laser shake
Mirror, carries out alternate conduction between the different optical fiber in the first fiber array of the laser that laser instrument is launched by the first photoswitch, leads
After the collimated collimated of logical laser, it is launched laser galvanometer and launches to object under test at different angles；
Receiving optics also include the second photoswitch, the second fiber array, plus lens and receive laser galvanometer, are treating
Survey the laser that body surface reflects, after received laser galvanometer yawing moment, be accumulated Lens Coupling and enter the second optical fiber array
In optical fiber in row, this root optical fiber being coupled with the laser reflecting is turned on by the second photoswitch with detector.
Laser galvanometer is typically integrated with angular transducer, and control process unit can be inclined according to the angle of angular transducer measurement
Transfering the letter ceases and to calculate the yawing moment of the laser being radiated on laser galvanometer.Control process unit can also be according to laser galvanometer
The line style relation of the deflection angle of the bias voltage of drive signal circuit and laser galvanometer and bias voltage to measure and to be radiated at
The yawing moment of the laser on laser galvanometer.
According to the embodiment of an example of the present invention, the work side of described transmitting laser galvanometer and reception laser galvanometer
Formula is the periodically continued rotation of minute surface.
The embodiment of another exemplary according to the present invention, the transmitting laser galvanometer adopting in the present invention and reception laser
Galvanometer is one-dimensional laser galvanometer, and the central shaft of minute surface rotation is vertical with the primary optical axis of collimating lens, the focal plane with collimating lens
Parallel.
The embodiment of another exemplary according to the present invention, described reception laser galvanometer is one-dimensional laser galvanometer, minute surface
The central shaft of rotation is vertical with the primary optical axis of plus lens, parallel with the focal plane of plus lens.
The embodiment of another exemplary according to the present invention, described transmitting laser galvanometer and reception laser galvanometer are same
Plant the laser galvanometer of specification and model, and at any one time, be in identical working condition.
The embodiment of another exemplary according to the present invention, the light in described first fiber array and the second fiber array
Fibre is one-to-one, while certain the root optical fiber in laser instrument and the first fiber array is turned on by the first photoswitch, the second light
Switch will be turned on optical fiber that root optical fiber corresponding of conducting in the first fiber array and detector in the second fiber array.
The embodiment of another exemplary according to the present invention, the fiber exit end face in described first fiber array is in standard
On first focal plane of straight lens.
The embodiment of another exemplary according to the present invention, the optical fiber in described first fiber array becomes in outgoing end face
Linear array.
The embodiment of another exemplary according to the present invention, the incident end face of the optical fiber in described second fiber array exists
On second focal plane of plus lens.
The embodiment of another exemplary according to the present invention, the optical fiber in described second fiber array becomes in incident end face
Linear array.
The embodiment of another exemplary according to the present invention, in described first fiber array, optical fiber becomes line in outgoing end face
The be linked to be straight line of type arrangement is vertical with the primary optical axis of collimating lens.
The embodiment of another exemplary according to the present invention, the optical fiber in described second fiber array becomes in incident end face
The straight line that linear array is linked to be is vertical with the primary optical axis of plus lens.
The present invention is to carry out range measurement based on pulse detection method, and the laser of laser instrument transmitting is pulse laser.
Difference with the prior art of the present invention is：
The present invention realizes the two of measuring targets surface by the way of photoswitch time division multiplex and laser galvanometer combine
Dimension scanning.It is in collimating lens first focal plane using fiber exit end face in the first fiber array of the first photoswitch conducting
Diverse location, in corresponding second fiber array, the incident end face of optical fiber is in the diverse location of plus lens second focal plane,
A dimension realizing measuring targets surface is scanned；Using the deflecting action to laser for the one-dimensional laser galvanometer, it is right to realize
Another dimension on object under test surface is scanned.
By the description made for the present invention of below with reference to accompanying drawing, other objects of the present invention and advantage will be aobvious and easy
See, and can help that complete understanding of the invention will be obtained.
Brief description
Fig. 1 shows the general structure schematic diagram of the present invention.
Fig. 2 shows the fundamental diagram that the first fiber array in the present invention is matched with collimating lens.
Fig. 3 shows the fundamental diagram that the second fiber array in the present invention is matched with plus lens.
The first fiber array in Fig. 4 display present invention and the front view of the second fiber array.
Fig. 5 shows the right view of fiber array in Fig. 4.
Fig. 6 shows the sectional view of fiber array in Fig. 5.
Fig. 7 shows transmitting laser galvanometer and the fundamental diagram receiving laser galvanometer in the present invention.
Fig. 8 shows the collimating lens structures figure in the present invention as a kind of preferred version.
As a kind of structure chart of the plus lens of preferred version in Fig. 9 display present invention.
In Figure 10 display present invention, the laser that the point source on its first focal plane sends is carried out collimating simultaneously by collimating lens
The schematic diagram of yawing moment.
In Figure 11 display present invention, incident directional light is converged to the signal of any on its second focal plane by plus lens
Figure.
Specific embodiment
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.In explanation
In book, same or analogous drawing reference numeral indicates same or analogous part.Following referring to the drawings to embodiment of the present invention
Illustrate to be intended to the present general inventive concept of the present invention is explained, and be not construed as one kind restriction to the present invention.
In addition, in the following detailed description, for ease of explaining, elaborate many concrete details to provide to present disclosure
Embodiment comprehensive understanding.It will become apparent, however, that one or more embodiments can also be by the case of not having detail
Implement.In other cases, known construction and device diagrammatically embodies to simplify accompanying drawing.
Fig. 1 is shown that the general structure schematic diagram of the present invention, including：
Laser instrument 102, launches laser；Detector 114, receives reflection laser；Optical transmitting system 115, by laser instrument 102
The laser of transmitting is launched to object under test 108 at different angles；Receiving optics 116, object under test 108 surface is anti-
Penetrate laser 109 to receive and be transferred in detector 114；Control process unit 101, controls laser instrument 102, optical transmitting system
115 and the working condition of receiving optics 116, laser is launched according to laser instrument 102 and detector 114 receives reflection laser
Calculating the distance of object under test 108, the working condition according to optical transmitting system 115 launches laser 107 to 109 time difference
The directional information to obtain object under test 108 for the angle, obtain comprising the point cloud number of distance and directional information according to multiple measurement
According to the space three-dimensional information that can get object under test 108.
Wherein, optical transmitting system 115 also includes the first photoswitch 103, the first fiber array 104, collimating lens 105 and
Transmitting laser galvanometer 106, the different light in the first fiber array 104 of the laser that laser instrument 102 is launched by the first photoswitch 103
Carry out alternate conduction between fibre, after the collimated lens of laser 105 collimation of conducting, be launched laser galvanometer 106 with different angles
Spend and launch to object under test, transmitting laser galvanometer 106 is by the deflection angle information transmission of now minute surface to control process unit
101.
Receiving optics 116 also include the second photoswitch 113, the second fiber array 112, plus lens 111 and receive
Laser galvanometer 110, the reflection laser 109 reflecting on object under test 108 surface, received laser galvanometer 110 yawing moment
Afterwards, it is accumulated lens 111 to be coupled in the optical fiber in the second fiber array 112, the second photoswitch 113 will be coupled with reflection laser
109 this root optical fiber is turned on detector 114, and detector 114 sends the signal detecting to control process unit 101.
First fiber array 104 and collimating lens 105 collective effect in Fig. 2 display present invention, change the first fiber array
The transmission direction schematic diagram of fiber exit laser in 104.In in figure the first fiber array 104, the outgoing end face 202 of optical fiber is in
On first focal plane of collimating lens 105, because optical fiber volume is small, taking general single mode fiber as a example, the having of its outgoing end face
Effect light-emitting area diameter is less than 10 microns, can be considered point source.From basic physical opticses knowledge, it is in collimating lens first burnt
The light that point source in plane sends, after collimating lens, can become directional light, the transmission direction of directional light and collimating lens
Focal length and point source relevant in the position of the first focal plane.As shown in Figure 10, on the first focal plane of collimating lens 105
The laser that point source 301 sends dissipates, and after collimating lens 105, becomes directional light, due to by collimating lens
The laser of 105 photocentres still transmits along former direction, the transmission direction of the directional light after the laser alignment that therefore point source 301 sends,
Parallel with by the line of point source 301 and collimating lens 105 photocentre.Make point source 301 and the primary optical axis of collimating lens 105
Distance is d1, the focal length of collimating lens 105 is f1, then point source 301 sends the laser directional light after collimating lens, its
Angle 302 with collimating lens 105 primary optical axis is
In the embodiment of an example of the present invention, as shown in Figure 4, Figure 5 and Figure 6, the first fiber array 104 and
Optical fiber in two fiber arrays 112 is in one-dimensional linear arrangement.Be illustrated in figure 4 the front view of fiber array, fiber array by
Optical fiber 205 and adnexa 206 form.Adnexa 206 is a kind of common structure part, each optical fiber is arranged on the diverse location of fiber array
Fixing, can be formed by mold injection or machining.Have, in general adnexa 206, the aperture installing optical fiber 205, optical fiber 205 is inserted
After entering aperture, fixed with glue.Optical fiber 205 is conventional single-mode fiber in communication or multimode fibre, comprises peripheral protective layer 207
With internal fibre core 208, laser signal transmits in fibre core 208.Fig. 5 is the right view of fiber array, and Fig. 6 is A-A side in Fig. 5
To sectional view.
Because the optical fiber in the first fiber array 104 is all linear array, as a kind of preferred version, linear array
Direction is vertical with the primary optical axis of collimating lens 105, because the position of optical fiber in the first fiber array 104 is different, each fiber exit
Laser after collimating lens 105 direction of the launch also different.
Because the optical fiber in the second fiber array 112 is all linear array, as a kind of preferred version, linear array
Direction is vertical with the primary optical axis of plus lens 111, and the reflection laser 109 of different directions converges direction after plus lens 111
Also different, enter in the different optical fiber of the second fiber array 112.
Fig. 3 shows the second fiber array 112 and plus lens 111 collective effect in the present invention, by object under test 108 table
The reflection laser 109 that face reflects converges the schematic diagram into the optical fiber in the second fiber array 112.In figure second fiber array
In 112, the incident end face 203 of optical fiber is on the second focal plane of plus lens 111, and basic physical opticses knowledge understands, to remittance
The directional light of poly- lens entrance, after plus lens, can converge at a bit on plus lens second focal plane, the position of this point
Put relevant with the incident direction of incident directional light.As shown in figure 11, the directional light 109 to plus lens 111 incidence, will converge
On the second focal plane 203 being in plus lens 111 1: 303, the line of convergent point 303 and plus lens 111, and enter
The incident direction of the directional light 109 penetrated is identical, if incident parallel light 109 is α with the angle 304 of the primary optical axis of plus lens 111,
Then convergent point 303 in plus lens 111 primary optical axis apart from d2For d2=f2× tan α, wherein f2Jiao for plus lens 111
Away from.
Because the optical fiber in the first fiber array 104 is after collimating lens 105, become the directional light of the different direction of the launch
Launch to object under test 108, the reflection laser 109 reflecting on object under test 108 surface is radiated on plus lens 111
Angle is also different, and reflection laser 109, after plus lens 111, is coupled into the on plus lens 111 second focal plane
In the different optical fiber of two fiber arrays 112.
Laser galvanometer is also called high-velocity scanning galvanometer, is conventional a kind of scanning device in Laser industry, is such as applied to swash
Scanheadss on light marking machine.The basic functional principle of laser galvanometer is that the drive signal circuit offer of laser galvanometer is positive and negative
Bias voltage, you can drive the minute surface of laser galvanometer to deflect, the angle of deflection is directly proportional to the size of bias voltage.If right
Laser galvanometer provides periodic drive signal, then the minute surface of laser galvanometer can generating period deflect, and drives and is incident on minute surface
Laser generating period deflects.
In the embodiment of an example of the present invention, laser galvanometer is one-dimensional laser galvanometer.
Fig. 7 shows the fundamental diagram of one-dimensional laser galvanometer, and in original state, beam of laser 401 is radiated at laser and shakes
On the minute surface 406 of mirror, according to the reflection law of light, laser 401 is reflected, and reflection light is 403；Intervals
Afterwards, the second bundle laser 404 is radiated on the minute surface 406 of laser galvanometer, and the incident direction of laser 404 is identical with laser 401, but this
The minute surface 406 of Shi Jiguang galvanometer and original state are than deflectionAngle, then the second bundle laser 404 is anti-after laser galvanometer
The angle penetrating light 405 and beam of laser 401 reflection light 403 after laser galvanometer is β, and that is, laser galvanometer is due to certainly
The deflection of body minute surface has driven the deflection of the reflection direction of the laser being radiated on laser galvanometer.
Laser galvanometer is typically integrated with angular transducer, and control process unit 101 can be according to the angle of angular transducer measurement
Spend deflection information to calculate the yawing moment of the laser being radiated on laser galvanometer.Control process unit 101 can also be according to sharp
The line style relation of the deflection angle of the bias voltage of the drive signal circuit of light galvanometer and laser galvanometer and bias voltage to be surveyed
Amount is radiated at the yawing moment of the laser on laser galvanometer.
As it was previously stated, the outgoing end face 202 of the optical fiber in the first fiber array 104, it is in first Jiao of collimating lens 105
In plane.As a kind of embodiment of exemplary, convenient for statement, the key light direction of principal axis making collimating lens 105 is Z axis, and z-axis
In the horizontal plane, the plane residing for fiber exit end face 202 in the first fiber array 104 and and horizontal plane.Due to
The line of optical fiber in one fiber array 104 and primary optical axis Z axis and horizontal plane, then can make in the first fiber array 104
Optical fiber arranges along X-axis.From Fig. 2 and Figure 10, the laser of different optical fiber outputs in the first fiber array 104, through collimation
After lens 105, can comprise X-axis and from the plane of horizontal plane to launch with the horizontal different angles, that is,
With the first photoswitch 103 in the not conducting to the different optical fiber in the first fiber array 104 in the same time, it is right that system can be realized
Scanning in the X-direction of object under test 108.The deflection mirror surface direction of transmitting laser galvanometer 106 is arranged around X-axis rotation
Turn, then the laser of self-focus lenses 105 outgoing, after transmitting laser galvanometer 106, exit direction can rotate around X-axis.With
When, due in the presence of the first photoswitch 103 and the first fiber array 104, the laser of collimating lens 105 outgoing, also have
The ability scanning in the X-axis direction, then the transmitting laser 107 after collimating lens 105 and transmitting laser galvanometer 106, has
The ability of two-dimensional scan is carried out on X, Y both direction.
Optical fiber in first fiber array 104 and the second fiber array 112 is one-to-one, opens in certain moment first light
Close certain the root optical fiber conducting in 103 laser and the first fiber array 104 that laser instrument 102 is launched, the fiber exit of conducting
Laser after collimating lens 105 and transmitting laser galvanometer 106 transmitting, in the reflection laser 109 of object under test 108 surface reflection
Received laser galvanometer 110 and plus lens 111, are coupled into corresponding with the optical fiber now turning in the first fiber array 104
The second fiber array 112 in that root optical fiber.Meanwhile, the second photoswitch 113 swashs being coupled with reflection in the second fiber array
That root optical fiber and the detector 114 of light 109 turn on, and reflection laser 109 is admitted to control after being converted to the signal of telecommunication in detector 114
Processing unit 101 processed, control process unit 101 calculates object under test according to the time difference of transmitting laser and reception reflection laser
Distance, object under test direction in the X direction is calculated according to the position of the optical fiber now turning in the first fiber array 104
Angle, calculates object under test deflection in the Y direction according to the deflection information of transmitting laser galvanometer 106 now minute surface, according to
Deflection in distance and X, Y-direction, you can draw the three-dimensional space position of object under test 108.
For ease of those of ordinary skill in the art the present invention is had one deeper into understanding, below in the present invention
The specific works mode of solid-state laser radar system does a more specific description, in explanation, for ease of stating and understanding, phase
Close part and employ specific parameter.It should be appreciated that the design parameter being adopted is a kind of exemplary illustration, and should not become this
A kind of restriction of inventive embodiments.
In t0Moment, control process unit 101 control laser instrument 102 transmitting laser, simultaneously by the first photoswitch 103 with
The port conducting that first optical fiber in first fiber array 104 is connected is so that the laser of laser instrument 102 transmitting passes through the first light
First optical fiber in fibre array 104 is launched to collimating lens 105, and collimating lens 105, according to the position of first optical fiber, will be sent out
The laser penetrated is transmitted to transmitting laser galvanometer 106 with fixing deflection angle in the X-axis direction.
While control process unit 101 controls laser instrument 102 transmitting laser, control process unit 101 drives transmitting
Laser galvanometer 106 works, and the yawing moment of transmitting laser galvanometer 106 minute surface is around X-axis rotation.As a kind of preferred version,
The drive signal of transmitting laser galvanometer 106 is periodically continued signal, and that is, the minute surface of transmitting laser galvanometer 106 is to be connected with periodicity
Continuous mode rotates around X-axis.
The laser of laser instrument 102 transmitting is pulse laser, and laser radar is to the certainty of measurement of space length and pulse width
Relevant, in general, pulse width is wider, and certainty of measurement is lower.Simultaneously as the measurement distance of laser radar and pulse width
Also there is relation, because pulse width is wider, laser energy is bigger, then measurement distance is bigger.Therefore, general pulse width is comprehensive
Consider.As a kind of exemplary illustration, the pulse width making pulse laser was 10 nanoseconds.Those of ordinary skill in the art should
Know, pulse width is not become a kind of restriction of the present embodiment 10 nanoseconds.
Laser instrument 102 is periodic transmission pulse laser, and its cycle is according to the measurement of object under test or laser radar
Distance determines, the cycle should propagate a time required back and forth more than laser in measurement distance.Exemplary as one kind
Explanation, when the distance of object under test 108 is 150 meters, launch laser from laser instrument 102, laser reaches object under test 108
Behind surface, the time that reflection laser 109 is received by detector 114 is about 1 microsecond, the then week of laser instrument 102 emission pulse laser
It is delicate that phase is greater than 1.As a kind of exemplary illustration, the cycle that can select laser instrument 102 emission pulse laser is 2 microseconds, that is,
Every 2 microseconds launch the laser that pulsatile once width was 10 nanoseconds.Those of ordinary skill in the art should be understood that laser instrument 102
Cycle be a kind of exemplary illustration for 2 microseconds, should not become a kind of restriction of the present embodiment.
By knowledge, currently more than 50 °, rate of scanning is more than 5kHz to the sweep limitss of one-dimensional laser galvanometer.For ease of
Statement, it is 50 ° that the present invention selects sweep limitss, and rate of scanning is the transmitting laser galvanometer 106 of 5KHz and receives laser galvanometer 110
Come illustrative, that is, the time of the specular working a cycle of the laser galvanometer in the present embodiment is 200 microseconds.Ability
The those of ordinary skill in domain should be understood that the one-dimensional laser galvanometer with other sweep limitss and rate of scanning also apply be applicable to this
Embodiment.
There are the high-speed optical switch matured product in nanosecond or even psec for the passage switch speed, same time in the market
The port number of switch up to hundreds of, the first photoswitch 103 in the present embodiment and the output port number choosing of the second photoswitch 113
Be selected as 16 come illustrative, the switching time between every adjacent port is spaced apart 100 microseconds.The ordinary skill of this area
Personnel should be understood that the photoswitch with other port numbers and switching time interval also apply be applicable to the present embodiment.
In t0In the moment, first optical fiber in laser instrument 102 and the first fiber array 104 is turned on by the first photoswitch 103,
ON time is 100 microseconds.Working cycle due to laser instrument 102 is 2 microseconds, therefore in 100 microseconds, will have 50 pulses
Laser beam through collimating lens 105, with the position in X-direction and first optical fiber of the first fiber array 104 determined inclined
Gyration transmits to transmitting laser galvanometer 106.In t0In the moment, transmitting laser galvanometer 106 starts to enter with time 200 microsecond for the cycle
Row work, and in t0When, -25 ° of the yawing moment of the minute surface of transmitting laser galvanometer 106, then after 100 microseconds, launch laser galvanometer
The yawing moment of 106 minute surface is 25 °, then pass through first in the first fiber array 104 in the laser that laser instrument 102 sends
In 100 microseconds of fibre optical transmission, 50 pulsed laser signals are had to deflect by collimating lens 105 emitted laser galvanometer 106
Launch, that is, the solid-state laser radar system of the present invention there occurs 50 measurements.In this 50 times measurements, in the X direction
The angle of departure is fixing, and in angle value and the first fiber array 104, first optical fiber is on the first focal plane of collimating lens 105
Position is relevant, and the distance for this root optical fiber and the primary optical axis of collimating lens 105 and the ratio of the focal length of collimating lens 105 are anyway
Cut, convenient for statement, it is designated as θ1.In this 50 times measurements, the angle of departure in the Y direction is by the deflection of transmitting laser galvanometer 106
Determine, that is, from -25 ° to 24 °, every 1 ° of measurement once.Thus can obtain, in t0In 100 microseconds after moment, in the present invention
Solid-state laser radar system with fixed angle measuring targets 108 in the X direction carried out 50 times scanning, this 50 times scanning
Define the straight line in Y-direction, and 50 scanning angle in the Y direction is evenly distributed to 24 ° from -25 °, 0 ° is water
Key light direction of principal axis in plane.
In control process unit 101, first optical fiber conducting in laser instrument 102 and the first fiber array 104 is same
When, by first optical fiber conducting in detector 114 and the second fiber array 112, therefore reflection laser 109 passes through the second optical fiber
First optical fiber in array 112 and photoswitch 113 enter detector 114, and reflection laser is carried out photoelectricity and turns by detector 114
After changing, transfer signals to control process unit 101.
From the foregoing, it will be observed that in t0Moment, first optical fiber conducting in laser instrument 102 and the first fiber array 104, detector
114 and second first optical fiber conducting in fiber array 112, and the ON time of two photoswitches continues 100 microseconds.Swash
Laser launched by light device 102, after laser passes through collimating lens 105 and transmitting laser galvanometer 106, with the X direction with the horizontal
Angle is θ1Angle, become with collimating lens 105 primary optical axis in the Y direction -25 ° of angles to object under test launch, reflect
Laser detected by detector 114, control process unit 101 records moment t now1.Note t1Moment and t0The time difference in moment
For Δ T1, according to the measuring principle of pulse detection method, certain point and laser instrument 102 on the object under test 108 recording in this measurement
Apart from L beWherein C is the aerial transmission speed of laser.Object under test is recorded in this measurement
On 108, the deflection of certain point is to be θ with the horizontal angle in the X direction1Angle, main with collimating lens 105 in the Y direction
Optical axis becomes -25 ° of angles.
It should be appreciated that in the present embodiment, the distance of object under test is less than 150 meters, then Δ T1Should be less than 1 microsecond.
The working cycle of laser instrument 102 is 2 microseconds, in t0In+2 microsecond moment, laser launched by laser instrument 102, and laser passes through
After collimating lens 105 and transmitting laser galvanometer 106, with the X direction with the horizontal angle as θ1Angle, in the Y direction
- 24 ° of angles are become to launch to object under test with collimating lens 105 primary optical axis, the laser reflecting is detected by detector 114, control
Processing unit 101 processed records moment t now2.Note t2Moment and t0The time difference in+2 moment is Δ T2, according to pulse detection method
Measuring principle, on the object under test 108 that records in this measurement, certain point and laser instrument 102 apart from L isWherein C is the aerial transmission speed of laser.Certain point on object under test 108 is recorded in this measurement
Deflection is to be θ with the horizontal angle in the X direction1Angle, become -24 ° with collimating lens 105 primary optical axis in the Y direction
Angle.
As described above, in 100 microseconds of first optical fiber conducting in laser instrument 102 and the first fiber array 104, this
The solid-state laser radar system of invention, with 2 microseconds as a cycle, is θ with the horizontal angle in the X direction1Angle, in Y
Become between -25 ° to 24 ° with the angle of collimating lens 105 primary optical axis on direction, every 1 ° of measurement once, measure 50 times.
In t0During+100 microsecond, the first photoswitch 103 is by second optical fiber in the first fiber array 104 and laser instrument
102 conductings, now first optical fiber is closed with laser instrument 102；Second photoswitch 113 is by second in the second fiber array 112
Root optical fiber is turned on laser instrument 114, and now second optical fiber is closed with detector 114；Now transmitting laser galvanometer 106 is in Y side
It is 25 ° with the deflection angle of the primary optical axis of collimating lens 105 upwards.Remember second fibre optical transmission in the first fiber array 104
Laser pass through collimating lens 105 and transmitting laser galvanometer 106 after, be θ with the angle of horizontal plane in the X direction2, then from t0+
100 microseconds are to t0In+200 microsecond moment, the solid-state laser radar system of the present invention with 2 microseconds as a cycle, in the X direction
It is θ with the horizontal angle2Angle, become between 25 ° to -24 ° with the angle of collimating lens 105 primary optical axis in the Y direction, often
Every 1 ° of measurement once, 50 times are measured.
Solid-state laser radar system in the present embodiment, with 100 microseconds as cycle, the laser of laser instrument 102 transmitting, the
Switched conductive between 16 optical fiber in one fiber array 104, the specific embodiment of the 3rd optical fiber to the 16th optical fiber, with
First optical fiber is identical.
Therefore, from t0To t0In+1600 microseconds, solid-state laser radar system in the present embodiment, in the X direction with
Horizontal plane becomes 16 different angles, is measured respectively；Each angle in 16 angles in X-direction, divides in the Y direction
Do not measure 50 times, the angle in Y-direction, between -25 ° to 25 ° of the key light axle offset of collimating lens 105, measures every 1 °
Once.Therefore, from t0To t0In+1600 microseconds, solid-state laser radar system in the present embodiment, measure 800 times, obtain
800 three dimensional point clouds on object under test 108 surface.
In t0In+1600 microsecond moment, system is reset by control process unit 101, returns to t0When state, system is again
With 1600 microseconds as a cycle, measure.
It should be noted that for ease of the understanding of persons skilled in the art, to used in the specific embodiment of the invention
To the parameter of part made exemplary restriction.One of ordinary skill in the art is it should be appreciated that this restriction is intended merely to more
Clearly illustrate the general technical design of the present invention, and should not be used as a kind of restriction in technical solution of the present invention.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this area
Those of ordinary skill can make improvements, and the structure described in various embodiments is in terms of not recurring structure or principle
Conflict in the case of can carry out independent assortment.
Although describing the present invention in conjunction with accompanying drawing, the embodiment disclosed in accompanying drawing is intended to the reality to the present invention
Apply that mode is illustrative, and it is not intended that one kind restriction to the present invention.
Although illustrating that some embodiments of the design of the present invention have been shown and have illustrated, those of ordinary skill in the art will
Understand, in the case of the principle without departing substantially from present inventive concept and spirit, these embodiments can be made a change, the model of the present invention
Enclose and limited with claim and their equivalent.
Claims (10)
1. a kind of solid-state laser radar system, including：
Laser instrument, launches laser；Detector, receives reflection laser；Optical transmitting system；Receiving optics；Control process list
Unit；
It is characterized in that：
Optical transmitting system also includes the first photoswitch, the first fiber array, collimating lens and transmitting laser galvanometer, and the first light is opened
Close and carry out alternate conduction between the different optical fiber in the first fiber array of the laser that laser instrument is launched, the laser of conducting is through standard
After straight collimated, it is launched laser galvanometer and launches to object under test at different angles；
Receiving optics also include the second photoswitch, the second fiber array, plus lens and receive laser galvanometer, in determinand
The laser that body surface face reflects, after received laser galvanometer yawing moment, is accumulated Lens Coupling and enters in the second fiber array
Optical fiber in, the second photoswitch will be coupled with this root optical fiber of the laser reflecting and turn on detector.
2. solid-state laser radar system according to claim 1 is it is characterised in that described transmitting laser galvanometer and reception swash
The working method of light galvanometer is the periodically continued rotation of minute surface.
3. solid-state laser radar system according to claim 2 is it is characterised in that described transmitting laser galvanometer is one-dimensional sharp
Light galvanometer, the central shaft of minute surface rotation is vertical with the primary optical axis of collimating lens, parallel with the focal plane of collimating lens.
4. solid-state laser radar system according to claim 2 is it is characterised in that described reception laser galvanometer is one-dimensional sharp
Light galvanometer, the central shaft of rotation is vertical with the primary optical axis of plus lens, parallel with the focal plane of plus lens.
5. the solid-state laser radar system according to claim 3 or 4 is it is characterised in that described transmitting laser galvanometer and connecing
Receive the laser galvanometer that laser galvanometer is same specification and model.
6. solid-state laser radar system according to claim 1 is it is characterised in that described first fiber array and the second light
Optical fiber in fibre array is one-to-one, and certain the root optical fiber in laser instrument and the first fiber array is turned on by the first photoswitch
When, the second photoswitch by the second fiber array with the first fiber array conducting optical fiber that root optical fiber corresponding and detector
Conducting.
7. solid-state laser radar system according to claim 6 is it is characterised in that optical fiber in described first fiber array
Outgoing end face is on the first focal plane of collimating lens, and optical fiber becomes linear array in outgoing end face.
8. solid-state laser radar system according to claim 6 is it is characterised in that optical fiber in described second fiber array
Incident end face on the second focal plane of plus lens, and optical fiber becomes linear array in incident end face.
9. solid-state laser radar system according to claim 7 it is characterised in that in described first fiber array optical fiber exist
Outgoing end face becomes the straight line that linear array is linked to be vertical with the primary optical axis of collimating lens.
10. solid-state laser radar system according to claim 8 is it is characterised in that light in described second fiber array
Fibre becomes the straight line that linear array is linked to be vertical with the primary optical axis of plus lens in incident end face.
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| CN201610929386.3A CN106443634A (en) | 2016-10-31 | 2016-10-31 | Solid-state laser radar system |
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|---|---|---|---|
| CN201610929386.3A CN106443634A (en) | 2016-10-31 | 2016-10-31 | Solid-state laser radar system |
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Application publication date: 20170222 |