CN106772315A - Multi-beam scanning apparatus and multibeam scanning method - Google Patents
Multi-beam scanning apparatus and multibeam scanning method Download PDFInfo
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- CN106772315A CN106772315A CN201611242600.4A CN201611242600A CN106772315A CN 106772315 A CN106772315 A CN 106772315A CN 201611242600 A CN201611242600 A CN 201611242600A CN 106772315 A CN106772315 A CN 106772315A
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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
Abstract
The present invention relates to Radar Technology field, and in particular to a kind of multi-beam scanning apparatus and a kind of multibeam scanning method, the device include：Signal transmitter unit 10, the first optical unit 201, the second optical unit 202, signal receiving unit 30 and distance analysis unit 40.Multi-beam scanning apparatus of the invention and method are a kind of Laser Radar Scanning mode based on diffraction, use fixed diffraction grating, change the scanning that the angle of diffraction realizes laser radar by changing optical maser wavelength, aforesaid way can accomplish no mechanical moving element, scanning angle is wide, can for example reach+/ more than 4 degree, sweep speed is fast, 10kHz can for example be exceeded, while reliability is greatly improved.
Description
Technical field
The present invention relates to Radar Technology field, and in particular to a kind of multi-beam scanning apparatus and a kind of multibeam scanning side
Method.
Background technology
Laser radar irradiates object, by the delay of object return laser light, phase or displacement using transmitting laser
To analyze distance and velocity information.This is a time-honored technology, and in recent years, as 3D printing is measured, ground mapping is auxiliary
Help and automatic Pilot, the development of the industry such as unmanned plane, the laser radar technique and the high speed development of application for also driving.
The laser radar of 2D and 3D can provide the information of solid space, and technical scheme main at present is all by list
The light path of dot laser rangefinder or multiple spot laser range finder is scanned to realize, how quick and highly reliable realization is swept
Retouch into a technical bottleneck.
Existing scanning technique includes：
I. machinery/micromechanics scanning, including：（Slowly, poor reliability）
1. turntable scanning
2. vibration mirror scanning
3. exposure subsystem scanning
4.MEMS scarnning mirrors
Ii. acousto-optic scanning（Quite scanned with the diffraction grating cycle realization of change）
Iii. LCD phased array scanning（Slowly）
Iv. waveguide phase-array scanning（It is supporting without ripe component, it is impossible to high volume applications）.
In view of scanning means of the prior art is respectively provided with mechanical moving element, scanning range and sweep speed need to be carried
Height, therefore overcome above defect of the prior art, there is provided a kind of new scanning means turns into this area technology urgently to be resolved hurrily
Problem.
The content of the invention
Drawbacks described above it is an object of the invention to be directed to prior art, there is provided a kind of multi-beam scanning apparatus and one kind are more
Beam scanning method.
The purpose of the present invention can be realized by following technical measures：
A kind of multi-beam scanning apparatus, the device includes：
The signal transmitter unit of at least one array laser pulse for being configured as transmitting different wave length；
First optical unit, for being collimated successively to the array laser pulse and diffraction is to form transmitting light beam；
Second optical unit, for carrying out diffraction and collimation successively through target scattering to be measured or the light beam of reflection to transmitting light beam,
To form Returning beam；
It is configured as the signal receiving unit of the Returning beam of reception different wave length；And
Distance analysis unit, signal analysis is carried out to Returning beam to determine target range to be measured.
Preferably, described signal transmitter unit includes successively：
It is configured to launch the tunable laser source of different wave length laser beams；
Impulse generator for laser beam to be formed laser pulse；
For the image intensifer for being amplified laser pulse；With
For laser pulse to be carried out branch to form the optical branching device of array laser pulse.
Preferably, first optical unit successively include for array laser pulse is collimated diversing lens,
With the first diffraction grating.
Preferably, second optical unit includes the second diffraction grating and the reception for being collimated to light beam successively
Lens.
Preferably, first diffraction grating and the second diffraction grating form entirety.
Preferably, the signal receiving unit is included for receiving the photodetector of Returning beam, for photodetector
Receiving signal carries out the signal amplifying and conditioning circuit of signal transacting.
Preferably, the quantity of the tunable laser source is more than or equal to two, the quantity of the photodetector more than etc.
In two, the photodetector is corresponded with the tunable laser source.
Preferably, the distance analysis unit includes that multiple ADC or multiple compare timer or phase discriminator.
Preferably, the multi-beam scanning apparatus also include a calculation control unit, for tunable laser source
Wavelength is adjusted, and is adjusted for the multiplication factor to image intensifer, for trigger generator, for according to difference
Distance corresponding to wavelength obtain target range to be measured and wavelength relation, in conjunction with wavelength and angle relationship map go out it is to be measured
The relation of target range and angle.
Present invention also offers a kind of multibeam scanning method, the method comprises the following steps：
Step a：Generate the array laser pulse of first wave length；
Step b：By diffraction grating forming transmitting light beam after being collimated successively to array laser pulse；
Step c：By target to be measured described in the transmitting beam direction, and by from the light beam of the target scattering to be measured or reflection
By being collimated to form Returning beam again after diffraction grating；
Step d：Receive the Returning beam and Returning beam is amplified and signal condition after signal is carried out to Returning beam
Analyze to determine target range to be measured；
Step e：Generate the array laser pulse of the i-th wavelength, repeat step b to step d, wherein, i=2,3 ... ..., n；
Step f：Distance according to corresponding to different wave length obtains target range to be measured and the relation of wavelength, in conjunction with wavelength and angle
The relationship map of degree goes out the relation of target range to be measured and angle to reconstruct the two-dimensional space structure of target to be measured.
Multi-beam scanning apparatus of the invention and method are a kind of Laser Radar Scanning mode based on diffraction, use fixation
Diffraction grating, the scanning that the angle of diffraction realizes laser radar is changed by changing optical maser wavelength, and aforesaid way can accomplish do not have
Mechanical moving element, scanning angle is wide, for example, can reach +/- more than 4 degree, and sweep speed is fast, for example, can exceed 10kHz,
Reliability is greatly improved simultaneously.
Brief description of the drawings
Fig. 1 is the structured flowchart of the preferred embodiment of multi-beam scanning apparatus first of the embodiment of the present invention.
Fig. 2 is the structured flowchart of the preferred embodiment of multi-beam scanning apparatus second of the embodiment of the present invention.
Fig. 3 is embodiment of the present invention multi-beam scanning apparatus schematic diagram.
Fig. 4 is embodiment of the present invention multi-beam scanning apparatus schematic diagram.
Fig. 5 is embodiment of the present invention medium wavelength and angle of diffraction variation diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with the accompanying drawings and specific implementation
Example is described in further detail to the present invention.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
Hereinafter, refer to the attached drawing is more fully understood many aspects of the invention.Part in accompanying drawing may not be according to
Ratio is drawn.Alternatively, it is preferred that emphasis is clearly demonstrate part of the invention.Additionally, in some views in the accompanying drawings, it is identical
Reference indicate corresponding part.
" exemplary " or " illustrative " expression are used as example, example or explanation as used herein, the word.Retouch herein
State as any implementation method of " exemplary " or " illustrative " is not necessarily to be construed as relative to other embodiment being preferred or having
Profit.All implementation methods described below are illustrative embodiments, there is provided these illustrative embodiments be in order that
Those skilled in the art make and using embodiment of the disclosure and expection be not intended to limit the scope of the present disclosure, the disclosure
Scope is defined by the claims.In other embodiments, well known feature and method be describe in detail so as not to obscure this
Invention.For purpose described herein, term " on ", D score, "left", "right", "front", "rear", " vertical ", " level " and its spread out
New word will be relevant with the invention that such as Fig. 1 is oriented.And, have no intent to be subject to technical field, background technology, the content of the invention above
Or any theoretical limitation expressed or imply be given in detailed description below.It should also be clear that being shown in the drawings and below
Specification described in specific device and process be the inventive concept for limiting in the following claims simple examples reality
Apply example.Therefore, the specific size related to presently disclosed embodiment and other physical features are understood not to restricted
, unless claims are separately clearly stated.
Fig. 1 shows a kind of multi-beam scanning apparatus, including：Signal transmitter unit 10, the first optical unit 201, second
Optical unit 202, signal receiving unit 30 and distance analysis unit 40.Wherein, signal transmitter unit 10 is configured as transmitting not
The array laser pulse of co-wavelength；First optical unit 201 is used to collimate and diffraction the array laser pulse successively
To form transmitting light beam；Second optical unit 202 is used to enter transmitting light beam successively through the light beam of target scattering to be measured or reflection
Row diffraction and collimation, to form Returning beam；Signal receiving unit 30 is configured as receiving the Returning beam of different wave length；Distance
Analytic unit 40 carries out signal analysis to Returning beam to determine target range to be measured.
In first preferred embodiment, signal transmitter unit 10 further includes successively：Tunable laser source
101st, impulse generator 102, image intensifer 103 and optical branching device 104, wherein, tunable laser source 101 is configured to
Transmitting different wave length laser beams；Impulse generator 102 is used to for laser beam to form laser pulse；Image intensifer 103 is used for
Laser pulse is amplified；Optical branching device 104 is used to carry out branch to form array laser pulse by laser pulse.First light
Learn unit 201 includes the diffraction grating 2012 of diversing lens 2011 and first for being used to collimate array laser pulse successively.
Second optical unit 202 includes the second diffraction grating 2021 and the receiving lens 2022 for being collimated to light beam successively.Letter
Number receiving unit 30 include for receive Returning beam photodetector 301, for receiving signal to photodetector 301 carry out letter
Number treatment signal amplifying and conditioning circuit 302.Photodetector 301 is photo-electric conversion element, can be PD, PIN, APD or photoelectricity
Multiplier tube etc..
The multi-beam scanning apparatus of the embodiment of the present invention are a kind of Laser Radar Scanning mode based on diffraction, use reflection
The diffraction element such as grating or body grating, the scanning that the angle of diffraction realizes laser radar is changed by changing optical maser wavelength；Please join
Read shown in Fig. 3 and Fig. 4, diffraction grating is also disposed in receiving light path, the light of transmitting is returned on fixed detector.This side
Formula can accomplish no mechanical moving element, while scanning angle can reach +/- more than 4 degree, sweep speed is more than 10kHz.
In second preferred embodiment, the first diffraction grating 2012 and the second diffraction grating 2021 can form whole
Body, as diffraction grating 60, refer to shown in Fig. 2, and distance analysis unit 30 includes that multiple ADC or multiple compare timer or mirror
Phase device, the multi-beam scanning apparatus also include a calculation control unit 50, enter for the wavelength to tunable laser source 101
Row regulation, is adjusted, for trigger generator 103, for according to difference for the multiplication factor to image intensifer 102
Distance corresponding to wavelength obtain target range to be measured and wavelength relation, in conjunction with wavelength and angle relationship map go out it is to be measured
The relation of target range and angle.Calculation control unit 50 is by based on ARM chips, fpga chip, dsp chip or special chip
Chip, with timing or survey phase function, and data analysis capabilities.Calculation control unit 50 is also associated with communication interface 50a.
In addition, the quantity of tunable laser source 101 is more than or equal to two, accordingly, the quantity of photodetector 301 is big
In equal to two, the photodetector 301 is corresponded with the tunable laser source 101.
That is, signal transmitter unit 10 can be the light for using one or more tunable laser sources 301 launching
Unit, or a tunable laser source for signal transmitter unit 10 101 is by way of the multichannel light beam that shunt is separated,
The laser for sending is the laser beam of collimation, or angled laser beam between multiple.In addition, in signal transmitter unit 10
The wavelength of tunable laser source 101 can be modified by communication interface or trigger signal.Diffraction grating include but not
It is limited to the diffraction optical elements such as reflecting grating, body grating, and other gratings and speculum, the assembly of lens.Diffraction grating
Can launch and receive each one group of grating, or transmitting and receive to share one group of grating.Calculation control unit 50 is sent out
Go out trigger signal, trigger Laser emission, while trigger receiving unit 30 to start to receive, or the triggering laser of calculation control unit 50
Transmitting, the triggering receiving unit 30 of transmitter unit 10 starts to receive.Data are sent into calculation control unit 50 by receiving unit 30, are calculated
The distance of target to be measured.Be attached for equipment and other equipment by wired or wireless mode by communication interface 50a.
Diffraction grating is a kind of by very important optics intensive, that equidistantly parallel groove is constituted, there is reflected light
The various forms such as grid, transmissive phase-gratings, but Physical Mechanism is basically identical, and its dispersion can all be represented with below equation：
D* (sin θ+sin φ)=m λ formulas（1）
θ is incidence angle in formula, and φ is the angle of diffraction, and λ is wavelength, and m is diffraction time.
It can be seen that, changing wavelength, the angle of diffraction will change.More intuitively to see relation between the two, can be right
Formula (1) declines point：
D λ/d φ=d*cos φ/m formulas（2）
Because d*cos φ/m is a constant, that is to say, that the angle of diffraction and wavelength are linear relation, wavelength in a small range
Change, angle of diffraction respective change.
In the case of for laser radar, the change of angle of diffraction is very big, it is impossible to use formula（2）To calculate, and should be right
Formula（1）Deformed, it is specific as follows：
(- the φ 2 of φ 1)=asin (m* (λ 1- λ 2)/d) formula（3）
With m=1, d=0.82 μm, near λ=1550nm, as a example by θ=85 degree, refer to shown in Fig. 5, transverse axis is wavelength, and the longitudinal axis is to spread out
Firing angle degree, wavelength change 100nm, angle change is close to 20 degree.
The method for carrying out multibeam scanning using the device of the present embodiment comprises the following steps：
Step a：Generate the array laser pulse of first wave length；
Step b：By diffraction grating forming transmitting light beam after being collimated successively to array laser pulse；
Step c：By target to be measured described in the transmitting beam direction, and by from the light beam of the target scattering to be measured or reflection
By being collimated to form Returning beam again after diffraction grating；
Step d：Receive the Returning beam and Returning beam is amplified and signal condition after signal is carried out to Returning beam
Analyze to determine target range to be measured；
Step e：Generate the array laser pulse of the i-th wavelength, repeat step b to step d, wherein, i=2,3 ... ..., n；
Step f：Distance according to corresponding to different wave length obtains target range to be measured and the relation of wavelength, in conjunction with wavelength and angle
The relationship map of degree goes out the relation of target range to be measured and angle to reconstruct the two-dimensional space structure of target to be measured.
Wherein, the test of repeat step b to step d, it is possible to the relation of object distance and wavelength is obtained, further according to ripple
The relationship map of long and angle goes out the relation of object distance and angle, reconstructs the space structure of two dimension；The two dimension of reconstruct is empty
Between the structure system that is sent out to need two-dimensional space structure by communication structure.
Specifically, refer to shown in Fig. 2, calculation control unit 50 sets the wavelength of tunable laser source, setting light is put
The multiple of big device, trigger generator forms laser pulse, and laser pulse is enlarged into the laser arteries and veins of range finding by fiber amplifier
Punching.Laser pulse is divided into multichannel, such as 4 tunnels, 8 tunnels, 32 tunnels etc. by optical branching device；Laser light of the multichannel light equivalent to array
Source, is launched by collimated, there is angle between multichannel light, forms multiline transmission.Light after collimation incides diffraction grating,
Angle changes during outgoing, and angle and the wavelength of incidence of outgoing have corresponding relation.Outgoing beam is run into after target, hair
Raw scattering is reflected, and is returned to, and incides the diffraction grating before receiving lens.Diffraction grating before receiving lens can make
The light of different wave length is returned with same angle and incided in receiving lens.Receiving lens will be partial to the light of different angles because of wavelength
Beam convergence on same detector, such as same PD, the photo-detector such as APD or photomultiplier；Meanwhile, multiple laser lights
Source sends the light being then back to, and can return on different detectors, receives multi-thread signal；Multi-thread signal is put by circuit
Greatly, it is suitable signal to nurse one's health, through distance analysis module 40（ADC is gathered or through comparator）Special timing is triggered more afterwards
Chip, obtains the flight time；The signal or time-of-flight signals of ADC are admitted to calculation control unit 50, by related algorithm,
Filtering algorithm etc., obtains the more accurate flight time, and is the distance that a certain wavelength measurement is arrived through time conversion.Change ripple
Long, repeating above step can obtain the corresponding object range information of multiple wavelength, be fixed because wavelength and angle of diffraction are present
Corresponding relation, it is possible to obtain multi-thread angle and distance information, here it is need 3D radar informations；This information can be with
Directly through communications interface transmission to outside；In case of need, calculation control unit 50 can also by clustering algorithm etc., by
Multi-thread 3D radar informations analyze multiple objects, object size and corresponding 3D angle informations, are passed by communication interface
It is defeated to outside.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of multi-beam scanning apparatus, it is characterised in that the device includes：
The signal transmitter unit of at least one array laser pulse for being configured as transmitting different wave length；
First optical unit, for being collimated successively to the array laser pulse and diffraction is to form transmitting light beam；
Second optical unit, for carrying out diffraction and collimation successively through target scattering to be measured or the light beam of reflection to transmitting light beam,
To form Returning beam；
It is configured as the signal receiving unit of the Returning beam of reception different wave length；And
Distance analysis unit, signal analysis is carried out to Returning beam to determine target range to be measured.
2. multi-beam scanning apparatus according to claim 1, it is characterised in that described signal transmitter unit is wrapped successively
Include：
It is configured to launch the tunable laser source of different wave length laser beams；
Impulse generator for laser beam to be formed laser pulse；
For the image intensifer for being amplified laser pulse；With
For laser pulse to be carried out branch to form the optical branching device of array laser pulse.
3. multi-beam scanning apparatus according to claim 1, it is characterised in that first optical unit includes using successively
In the diversing lens collimated to array laser pulse and the first diffraction grating.
4. multi-beam scanning apparatus according to claim 3, it is characterised in that second optical unit includes the successively
Two diffraction grating and the receiving lens for being collimated to light beam.
5. multi-beam scanning apparatus according to claim 4, it is characterised in that first diffraction grating and the second diffraction
Grating forms entirety.
6. multi-beam scanning apparatus according to claim 1 or 4, it is characterised in that the signal receiving unit includes using
It is electric in photodetector, the signal amplification conditioning for carrying out signal transacting to photodetector reception signal for receiving Returning beam
Road.
7. multi-beam scanning apparatus according to claim 6, it is characterised in that the quantity of the tunable laser source is big
In equal to two, the quantity of the photodetector is more than or equal to two, the photodetector and the tunable laser source one
One correspondence.
8. multi-beam scanning apparatus according to claim 1, it is characterised in that the distance analysis unit includes multiple
ADC or multiple compare timer or phase discriminator.
9. multi-beam scanning apparatus according to claim 2, it is characterised in that the multi-beam scanning apparatus also include
Calculation control unit, is adjusted for the wavelength to tunable laser source, is carried out for the multiplication factor to image intensifer
Regulation, for trigger generator, target range to be measured is obtained with wavelength for the distance according to corresponding to different wave length
Relation, the relationship map in conjunction with wavelength and angle go out the relation of target range to be measured and angle.
10. a kind of multibeam scanning method, it is characterised in that the method comprises the following steps：
Step a：Generate the array laser pulse of first wave length；
Step b：By diffraction grating forming transmitting light beam after being collimated successively to array laser pulse；
Step c：By target to be measured described in the transmitting beam direction, and by from the light beam of the target scattering to be measured or reflection
By being collimated to form Returning beam again after diffraction grating；
Step d：Receive the Returning beam and Returning beam is amplified and signal condition after signal is carried out to Returning beam
Analyze to determine target range to be measured；
Step e：Generate the array laser pulse of the i-th wavelength, repeat step b to step d, wherein, i=2,3 ... ..., n；
Step f：Distance according to corresponding to different wave length obtains target range to be measured and the relation of wavelength, in conjunction with wavelength and angle
The relationship map of degree goes out the relation of target range to be measured and angle to reconstruct the two-dimensional space structure of target to be measured.
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