CN109471129A - A kind of environmental perception device and method based on SWIR - Google Patents
A kind of environmental perception device and method based on SWIR Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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Abstract
The invention discloses a kind of environmental perception device and method based on SWIR.Described device includes laser emitting module, linear scan module and CMOS nanometer laser receiving module, the step of wavelength of the step of the method includes being generated and transmitted by the step of wavelength is greater than the pulse laser of 1300nm, the pulse laser by the wavelength greater than 1300nm reflexes to barrier, and the wavelength for reflecting the barrier reflection is greater than the pulse laser of 1300nm and reception and processing the barrier reflection is greater than the pulse laser of 1300nm.The present invention uses the perceptron based on specific nano material sensing layer, in target wave band, wavelength is greater than 1300nm, there can be the conversion ratio for meeting product demand, and it can directly enhance the power of light source and simplify eye-safe and consider, the problems such as eye-safe and power-balance can thoroughly be solved, further, it is also possible to simplify structure, improve safety, lower application cost.
Description
Technical field
The present invention relates to unmanned technical field more particularly to a kind of environmental perception devices and method based on SWIR.
Background technique
As ADAS (advanced driving assistance system), AD (automatic Pilot) industry continue to develop, for environment sensing demand
It is increasingly strong, but factors are constrained to, such as cost, industrial technology status etc..Laser radar is as the biography haveing excellent performance
Sensor is urgently widely applied.
Industry master optical source wavelength to be used is NIR (Near Infrared, the near-infrared within 1000nm at present
Line), typical case wavelength is 850nm and 905nm.The light source status being limited in current industry, main application are also perceptron
The application of part, the perception device is limited to atmospheric window and transformation efficiency condition under practical circumstances.
The light of different wave length as shown in figure 15 applicable cases in an atmosphere, and IR (Infrared Radiation, it is infrared
Line) No.1 absorbing material in an atmosphere is water.During emitting and receiving IR infrared light, distance, power consumption, wavelength etc. are more
A factor needs to balance, and should also take into account influence of the IR for environment and human eye in the process.Technical difficult points are how to put down
Weighing apparatus power, environment and the influence to human eye.
The NIR that wavelength is 850nm and 905nm can be absorbed by traditional Si material C MOS and be absorbed well, but due to
The NIR of 850nm and 905nm equiwavelength may cause injury to human eye, need to control power and transmitting situation.The study found that
For the transformation efficiency of existing 1000nm above wavelength IR only in units, 1100nm above wavelength IR's can not be by traditional Si material
Expect that cmos detector absorbs (wavelength as shown in figure 16-conversion ratio schematic diagram).The usual situation just needs higher operating costs
Trivalent or pentavalent material, for example realized by the detector of the materials such as InGaAs for SWIR (Short-
Wavelength infrared, short infrared) absorption.
The present invention intends to break present industry bottleneck, better environmental perception device and side are provided for intelligent automobile
Method.
Summary of the invention
It is lower less than the light source power of 1000nm and human eye can be injured human eye is made in order to solve wavelength in the prior art
At and power tell somebody what one's real intentions are the problem of, wavelength can not be absorbed by low cost S i material C MOS detector greater than the light source of 1000nm, conversion
Efficiency is lower, and if the absorption to long wavelength's light is realized with the detector of the materials such as InGaAs, and greatly improve and be applied to
This defect, the present invention provides a kind of environmental perception device and method based on SWIR.
In order to solve the above-mentioned technical problem, in a first aspect, the present invention provides a kind of environmental perception device based on SWIR,
Including laser emitting module, linear scan module and CMOS nanometer laser receiving module,
The laser emitting module, the pulse laser for being greater than 1300nm for being generated and transmitted by wavelength；
The linear scan module reflexes to barrier for the pulse laser by the wavelength greater than 1300nm, and will
The wavelength of the barrier reflection is greater than 1300nm pulse laser and reflexes to the CMOS nanometer laser receiving module；
The CMOS nanometer laser receiving module, for receiving and handling the wavelength of the linear scan module reflection
Pulse laser greater than 1300nm.
Further, the CMOS nanometer laser receiving module includes CMOS nanometer laser receiver and signal processing list
Member,
The CMOS nanometer laser receiver, the wavelength for receiving the linear scan module reflection are greater than
The pulse laser of 1300nm；
The signal processing unit, for obtain emit the pulse laser of the wavelength greater than 1300nm launch time and
The receiving time of pulse laser of the wavelength greater than 1300nm is received, and according to the launch time and the receiving time meter
It calculates and arrives the distance between described barrier at Laser emission.
Preferably, the CMOS nanometer laser receiver is photodiode array or face battle array photodetector, the line
The surface of battle array photodetector or face battle array photodetector has photosensitive layer, and the photosensitive layer includes graphene, quantum film or amount
One of son point is a variety of.
Further, stating laser emitting module includes laser generating unit and laser diffusion unit,
The laser generating unit, for generating the arteries and veins that a plurality of wavelength is greater than 1300nm by multiple light sources group timesharing
Impulse light, and the pulse laser by a plurality of wavelength greater than 1300nm is exported according to respective output angle；
The laser diffusion unit, it is described linear for diffusing to a plurality of wavelength greater than the pulse laser of 1300nm
Scanning element.
Further, the linear scan module includes slow axis scanning element and fast axle scanning element,
The slow axis scanning element passes through scanning light for the pulse laser by a plurality of wavelength greater than 1300nm respectively
Grid form a plurality of Line beam, and a plurality of Line beam are exported according to respective output angle:
The fast axle scanning element will be more for adjusting the incident angle of a plurality of Line beam by one-dimensional micro- galvanometer
Line beam described in item injects the barrier according to respective incident angle respectively, and the Line beam that the barrier is reflected is anti-
It is mapped to the laser pick-off module.
Second aspect, the present invention provides a kind of environment perception methods based on SWIR, comprising:
It is generated and transmitted by the pulse laser that wavelength is greater than 1300nm；
Pulse laser by the wavelength greater than 1300nm reflexes to barrier, and reflects the described of the barrier reflection
Wavelength is greater than the pulse laser of 1300nm；
The wavelength for receiving and handling the barrier reflection is greater than the pulse laser of 1300nm.
Further, the wavelength for receiving and handling the barrier reflection is greater than the pulse laser of 1300nm,
Include:
The pulse laser of the big 1300nm of the wavelength is received by CMOS nanometer laser receiver；
It obtains to emit launch time of the wavelength greater than the pulse laser of 1300nm and receive the wavelength and be greater than
The receiving time of the pulse laser of 1300nm, and calculated according to the launch time and the receiving time and arrive institute at Laser emission
State the distance between barrier.
Preferably, the CMOS nanometer laser receiver is photodiode array or face battle array photodetector, the line
The surface of battle array photodetector or face battle array photodetector has photosensitive layer, and the photosensitive layer includes graphene, quantum film or amount
One of son point is a variety of.
Further, the pulse laser for being generated and transmitted by wavelength and being greater than 1300nm, comprising:
The pulse laser that a plurality of wavelength is greater than 1300nm is generated by multiple light sources group timesharing, and by a plurality of wave
The long pulse laser greater than 1300nm is exported according to respective output angle；
Spread the pulse laser that a plurality of wavelength is greater than 1300nm.
Further, the pulse laser by the wavelength greater than 1300nm reflexes to barrier, and reflects the barrier
The wavelength for hindering object to reflect is greater than the pulse laser of 1300nm, comprising:
Pulse laser by a plurality of wavelength greater than 1300nm passes through raster respectively, forms a plurality of Line beam, and
The a plurality of Line beam is exported according to respective output angle；
The incident angle that a plurality of Line beam is adjusted by one-dimensional micro- galvanometer, by a plurality of Line beam respectively according to each
From incident angle inject the barrier, and reflect the Line beam of the barrier reflection.
A kind of environmental perception device and method based on SWIR provided by the invention, has the following beneficial effects:
(1) present invention is due to the perception device used, i.e. laser pick-off module, for the CMOS technology device based on nano material
Part.The laser of 1100nm above wavelength can not be absorbed by comparing traditional CMOS technology device and other sensors, cause its
The substantially invalid application status of 1100nm above wavelength.The present invention uses the perceptron based on specific nano material sensing layer,
Target wave band (wavelength is greater than 1300nm) can have the conversion ratio for meeting product demand, and conversion ratio is up to 40%-60%.
(2) since the absorption of intraocular Fluid body, the transparency of the bigger light of wavelength can become lower, substantially wavelength is greater than
The light of SWIR can not all project on retina, and therefore, laser emitter safety standard allows the high power of bigger wavelength defeated
Out, peak power is up to 100-300W.Although long wavelength laser can damage cornea, only it is higher than retinal damage in intensity
Can just it occur in the case where the several orders of magnitude of threshold value.The power of light source can directly be enhanced under this applicable cases and simplify people
Eye safety grounds, the problems such as can thoroughly solving eye-safe and power-balance.
(3) laser pick-off module of the invention use the CMOS technology device based on nano material, may be implemented for
SWIR sensor cost is greatly lowered, and cost highest can reduce thousands of times.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of composition block diagram of the environmental perception device provided in an embodiment of the present invention based on SWIR；
Fig. 2 is the composition block diagram of laser emitting module provided in an embodiment of the present invention；
Fig. 3 is the composition block diagram of linear scan module provided in an embodiment of the present invention；
Fig. 4 is the composition block diagram of CMOS nanometer laser receiving module provided in an embodiment of the present invention；
Fig. 5 is the functional block diagram of the environmental perception device provided in an embodiment of the present invention based on SWIR；
Fig. 6 is the flow chart of the environmental perception device provided in an embodiment of the present invention based on SWIR；
M- power two-dimensional coordinate diagram when Fig. 7 is pulse laser emission provided in an embodiment of the present invention；
Fig. 8 is another composition block diagram of the environmental perception device provided in an embodiment of the present invention based on SWIR；
Fig. 9 is the connection knot between the modules of the environmental perception device provided in an embodiment of the present invention based on SWIR
Structure；
Figure 10 is a kind of flow diagram of the environment perception method provided in an embodiment of the present invention based on SWIR；
Figure 11 is the process signal provided in an embodiment of the present invention for being generated and transmitted by pulse laser of the wavelength greater than 1300nm
Figure；
Figure 12 be it is provided in an embodiment of the present invention the wavelength is reflexed into barrier greater than the pulse laser of 1300nm, and
Reflect the flow diagram of pulse laser of the wavelength greater than 1300nm of the barrier reflection；
Figure 13 is to receive and handle the process of pulse laser of the wavelength greater than 1300nm of barrier reflection to show
It is intended to；
Figure 14 is another flow diagram of the environment perception method provided in an embodiment of the present invention based on SWIR；
Figure 15 is the applicable cases of the light of different wave length in an atmosphere；
Figure 16 is the structure that the conversion ratio of light of different wave length is received using the CMOS receiving device of traditional Si material
Schematic diagram；
Figure 17 is the wavelength of the environmental perception device provided in an embodiment of the present invention based on SWIR and the relational graph of conversion ratio.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
In several embodiments provided herein, described Installation practice is only schematical, such as institute
The division of module is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple moulds
Block or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, module or unit
Indirect coupling or communication connection, can be electrically or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
The present invention is to apply in unmanned technical field, for perceiving the environment around automatic driving vehicle.Existing institute
After thering is light source (wavelength is less than 1000nm) all to there are problems that eye-safe, eye-safety concerns exist, laser emitting power
Necessarily will not be too high, and lower power necessarily limits the perceived distance to ambient enviroment, and if with materials such as InGaAs
Detector substitutes the detector of traditional Si material, to absorb the laser of long wavelength, and will necessarily improve use cost.It is based on
This, the present invention has selected a new wavelength, and is one new receiver of the new Wavelength design, wherein the new receiver
For the CMOS receiving device based on nano material, which is the SWIR, SWIR (Short- that wavelength is greater than 1300nm
Wavelength infrared) according to the most frequently used it is defined as short infrared, wavelength is between 1300-3000 nanometers.
Embodiment 1
As shown in Figure 1 and Figure 5, the embodiment provides a kind of environmental perception devices based on SWIR, shown in Fig. 1
For the composition block diagram of the environmental perception device based on SWIR, Fig. 5 show the functional block diagram of the environmental perception device based on SWIR,
The environmental perception device based on SWIR includes that laser emitting module 110, linear scan module 120 and CMOS nanometer laser receive
Module 130.
The laser emitting module 110, the pulse laser for being greater than 1300nm for being generated and transmitted by wavelength；
Specifically, Fig. 2 show the composition block diagram of laser emitting module provided in this embodiment, the laser emitting module
110 include laser generating unit 1101 and laser diffusion unit 1102,
The laser generating unit 1101 is greater than for generating a plurality of wavelength by 11011 timesharing of multiple light sources group
The pulse laser of 1300nm, and the pulse laser by a plurality of wavelength greater than 1300nm is exported according to respective output angle；
Specifically: it is the work flow diagram of the environmental perception device provided in an embodiment of the present invention based on SWIR described in Fig. 6, shown in Fig. 7
For the when m- power two-dimensional coordinate diagram of pulse laser emission provided in an embodiment of the present invention, it can be seen from figures 6 and 7 that this
Laser emitting module 110 in embodiment has multiple light sources group 11011, in emission pulse laser, 1 point of group of t1 moment light source
Bright, generation wavelength is the pulse laser of λ 1, and the output angle of the pulse laser is A1, and t2 moment light source group 2 is lighted, generation wavelength
Output angle for the pulse laser of λ 2, the pulse laser is A2 ... ..., and tn moment light source group n is lighted, and generation wavelength is λ n's
Pulse laser, the output angle of the pulse laser are An, wherein λ 1, λ 2, ... ..., λ n is identical, i.e., laser generating unit is using more
A light source group, and control multiple light source group timesharing and generate laser, so that the generation of laser is formed gradient, on the one hand can shorten light
The time of source pulse, on the other hand can instantaneously generate 100-300W or more general power, considerably increase laser acquisition away from
From.
The laser diffusion unit 1102 diffuses to described for the pulse laser by a plurality of wavelength greater than 1300nm
Linear scan unit.
The linear scan module 120 reflexes to barrier for the pulse laser by the wavelength greater than 1300nm, and
The wavelength that the barrier reflects is greater than 1300nm pulse laser and reflexes to the laser pick-off module；
Specifically, a kind of composition block diagram of linear scan module 120, the linear scan module 120 are provided shown in Fig. 3
Including slow axis scanning element 1201 and fast axle scanning element 1202,
The slow axis scanning element 1201 passes through respectively for the pulse laser by a plurality of wavelength greater than 1300nm and sweeps
Grating is retouched, forms a plurality of Line beam, and a plurality of Line beam is exported according to respective output angle；Such as Fig. 5 and Fig. 6 institute
Show, the step specifically: by light source group 1 in the pulse laser that the wavelength that the t1 moment generates and occurs is λ 1, output angle is A1
By raster, harness is formed, light source group 2 is generated and occurred at the t2 moment by the Line beam that output special angle is A1
Wavelength be λ 2, pulse laser that output angle is A2 is by raster, form harness, the line that output special angle is A2
Light beam ... ..., by light source group n in the pulse laser that the wavelength that the tn moment generates and occurs is λ n, output angle is An by sweeping
Grating is retouched, harness, the Line beam that output special angle is An, that is to say, that the embodiment of the present invention plays single beam line are formed
Become into a line on to raster, adjusts the angle of incident light source to change the position of raster output light；
The fast axle scanning element 1202, for adjusting a plurality of line by one-dimensional micro- galvanometer (1D MEMs Mirror)
The a plurality of Line beam is injected the barrier according to respective incident angle respectively by the incident angle of light beam, and will be described
The Line beam of barrier reflection is reflected into the CMOS nanometer laser receiving module 130；
As shown in figure 5, the course of work of the linear scan unit in the present embodiment can be summarized as follows: handle in the present embodiment
Light is beaten outward together, is got in a raster, and the position that raster is squeezed into according to light can give birth into a line, and line is slow
Mobile, because the light source group in the present embodiment is that timesharing generates laser, the light input angle got out is to change, output
Light be equivalent to form a slow axis, after light is got out, then be put into 1D MEMs Mirror up, line become one
Face.
In addition, the fast axle scanning element 1202 in the present embodiment selects 1D MEMs Mirror, rather than it is existing common
2D MEMs Mirror, the reason is that a light source group in the present embodiment sent out is a light, if a light
Want to become a face, it is only necessary to a direction do scanning it is all right, all prior arts generally use be 2D scanning, be because
It is a point for what is launched now, brings this point out scanning, why the prior art so sits, and is for existing skill
The power that art is not desired to the single beam that this sends out is too strong, and whole control will be damaged to human eye within the scope of one, and this reality
Apply the wavelength selected in example and be greater than 1300nm, the wavelength to human eye almost without damage, so the present embodiment select light beam into
Row scanning.In addition, it should be noted that, the scanning mode in the present embodiment may be not necessarily limited to the linear scan of single beam line,
It is also possible to Surface scan, only line scanning is a kind of optimal scanning mode of the present embodiment.
The CMOS nanometer laser receiving module 130, for receiving and handling described in the linear scan module reflection
Wavelength is greater than the pulse laser of 1300nm；
Specifically, a kind of composition block diagram of CMOS nanometer laser receiving module is provided shown in Fig. 4, described CMOS nanometers is swashed
Optical receiver module 130 includes CMOS nanometer laser receiver 1301 and signal processing unit 1302,
The CMOS nanometer laser receiver 1301, for receiving a plurality of wavelength of the linear scan module reflection
Pulse laser greater than 1300nm；As shown in Figure 5 and Figure 6, step specifically: generated concurrently for light source group 1 at the t1 moment
Raw wavelength is the pulse laser of λ 1, in conjunction with its launch angle A1, selects the exposure parameter of CMOS nanometer laser receiver 1301
And expose, finally close light source group 1, for light source group 2 the wavelength that the t2 moment generates and occurs be λ 2 pulse laser, in conjunction with
Its launch angle A2 selects exposure parameter and exposes, and is adjusted according to A1 intensity histogram, finally closes light source group
2 ..., for light source group n in the pulse laser that the wavelength that the tn moment generates and occurs is λ n, its launch angle An is closed, selection exposes
Optical parameter simultaneously exposes, and is adjusted according to An-1 intensity histogram, finally closes light source group n；
Wherein, traditional CMOS receiving device (Complementary Metal Oxide Semiconductor) is mutual
Metal-oxide semiconductor (MOS) is mended, using Si as material, but traditional CMOS receiving device turns 1000nm above wavelength IR
Change efficiency only in units, and the CMOS nanometer laser receiver in the present embodiment is based on nano material
Photodetectors photoelectric detector, the photoelectric detector can be photodiode array or face battle array photodetector, example
Such as, which can be the photodetector of Ⅹ m of n, and wherein n is the point of the photosensitive unit of photosensitive layer in photodetector
Number, n's may range from but be not limited to 128-1920, be limited to technological development situation, and m is the line number of photosensitive unit, the range of m
It can be but be not limited to 1-1080, be limited to technological development situation.
The photosensitive layer on the surface of the photodetectors photoelectric detector based on nano material, such as can be graphite
Alkene, or quantum dot, or quantum film, or the combination of above-mentioned multiple material, the i.e. photosensitive layer include but
It is not limited to one of graphene, quantum dot or quantum film or a variety of.
When the surface photosensitive layer of CMOS nanometer laser receiver is graphene, following methods can be used and prepare graphene sense
Photosphere: by single-layer graphene mechanical stripping to the basic SiO2/Si substrate of nanometer, graphene photodetector is processed into
FET (field effect transistor) structure prepares two electricity of the Ti/Au of Nano grade by photoetching and transmitting technique on graphene
Machine pole.
The signal processing unit 1302, when for obtaining the transmitting for emitting pulse laser of the wavelength greater than 1300nm
Between and receive the receiving time of the pulse laser of the wavelength greater than 1300nm, and when according to the launch time and the reception
Between calculate at Laser emission the distance between to described barrier.
It is based on by the technical solution that above this specification embodiment is issued as it can be seen that being provided in one in this specification embodiment
The environmental perception device of SWIR has selected a specific wavelength (wavelength is greater than 1300nm) and can receive the certain wave
Long CMOS nanometer laser receiver (it is graphene with photosensitive layer, photosensitive layer).Compare traditional CMOS technology device and
Other sensors can not absorb the laser of 1100nm above wavelength, cause it existing in the substantially invalid application of 1100nm above wavelength
Shape.The present invention uses the perceptron based on specific nano material sensing layer, can have in target wave band (wavelength is greater than 1300nm) full
The conversion ratio of sufficient product demand, up to 40%-60%, (as shown in figure 17, the abscissa of Figure 17 is wavelength to conversion ratio, and ordinate is
Conversion ratio).Meanwhile the laser emitting module in the present embodiment generates multiple wavelength using the timesharing of multiple light sources group and is greater than 1300nm
Pulse laser, allow laser emitting module instantaneously generate 100-300W or more power.Furthermore long wavelength can letter
Change eye-safe to consider, substantially reduces the injury to human eye.In addition, the laser pick-off module in the present embodiment uses and is based on nanometer
The CMOS technology device of material, and linear scan unit is easy to 1D MEMs Mirror (one-dimensional micro- vibration of vehicle ruleization according to fast axle
Mirror) it realizes, slow axis is by group light source (being directly integrated multiple components from encapsulation) and multiple groups lenticular lenses to reduce product in vehicle
Difficulty in rule application, can simplify structure, improve safety, and may be implemented significantly to drop SWIR sensor cost
Low, highest can reduce thousands of times.
Embodiment 2
Fig. 8 show another composition block diagram of the environmental perception device provided in an embodiment of the present invention based on SWIR, should
Device include control module 100, laser emitting module 110, linear scan module 120, CMOS nanometer laser receiving module 130,
Module 140 and memory module 150 are assembled in laser pick-off.
Fig. 9 show a kind of composition block diagram of control module provided in an embodiment of the present invention, and the control module 100 is distinguished
With the laser emitting module 110, the linear scan module 120, the CMOS nanometer laser receiving module 130 and described deposit
Store up the electrical connection of 150 modules.
The laser emitting module 110, the pulse laser for being greater than 1300nm for being generated and transmitted by wavelength.
The linear scan module 120 reflexes to barrier for the pulse laser by the wavelength greater than 1300nm, and
The wavelength that the barrier reflects is greater than 1300nm pulse laser and reflexes to the laser pick-off module.
Module is assembled in the laser pick-off, and the wavelength for assembling the linear scan unit reflection is greater than 1300nm
Pulse laser, and the pulse laser by the wavelength after convergence greater than 1300nm is sent to the CMOS nanometer laser and receives
Module.
The CMOS nanometer laser receiving module 130, for receiving and handling described in the linear scan module reflection
Wavelength is greater than the pulse laser of 1300nm comprising CMOS nanometer laser receiver 1301 and signal processing unit 1302.
The memory module 150, for the launch time of storage pulse laser, the receiving time of pulse laser and transmitting
Locate to information such as the distance between the barriers.
The control module 100 is generated and transmitted by the wavelength greater than 1300nm for controlling the laser emitting module
Pulse laser, control linear scan module reflection states wavelength and assembles and receive greater than 1300nm pulse laser, control laser
The wavelength that module 140 assembles the linear scan unit reflection is received greater than the pulse laser of 1300nm, the control CMOS
Rice laser pick-off module receives and handles the laser and assembles the pulse that the wavelength that receiving module 140 is assembled is greater than 1300nm
The launch time and receiving time of laser and control 150 module storage pulse laser of the storage.
Laser emitting module 110, linear scan module 120, CMOS nanometer laser receiving module 130 in the present embodiment
Working principle and composed structure are in the same manner as in Example 1, herein not in burden.
By the technical solution of above this specification embodiment publication as it can be seen that providing another middle base in this specification embodiment
In the environmental perception device of SWIR, has selected a specific wavelength (wavelength is greater than 1300nm) and can to receive this specific
(it includes but is not limited to graphene, quantum film or quantum with photosensitive layer, the photosensitive layer to the CMOS nanometer laser receiver of wavelength
One of point is a variety of).The present embodiment in addition to high power as described in example 1 above, to human eye fanout free region and low
Outside many advantages, such as cost, also by individual control module 100 control laser emitting module 110, linear scan module 120,
CMOS nanometer laser receiving module 130 works, and guarantees that whole process accurately carries out, while receiving in CMOS nanometer laser
A laser pick-off is added before module 130 and assembles module 140, can also improve the reception of CMOS nanometer laser receiving module 130
The efficiency of pulse laser.
Embodiment 3
As shown in Figure 10, the embodiment of the invention provides a kind of environment perception methods based on SWIR, this method comprises:
S1010. it is generated and transmitted by the pulse laser that wavelength is greater than 1300nm；
As shown in figure 11, the pulse laser for being generated and transmitted by wavelength and being greater than 1300nm, specifically includes:
S1110. the pulse laser that a plurality of wavelength is greater than 1300nm is generated by multiple light sources group timesharing, and will be a plurality of
Pulse laser of the wavelength greater than 1300nm is exported according to respective output angle；
S1120. the pulse laser that a plurality of wavelength is greater than 1300nm is spread.
S1020. the pulse laser by the wavelength greater than 1300nm reflexes to barrier, and reflects the barrier reflection
The wavelength be greater than 1300nm pulse laser；
As shown in figure 12, which specifically includes:
S1210. the pulse laser by a plurality of wavelength greater than 1300nm passes through raster respectively, forms a plurality of linear light
Beam, and a plurality of Line beam is exported according to respective output angle；
S1220. the incident angle that a plurality of Line beam is adjusted by one-dimensional micro- galvanometer distinguishes a plurality of Line beam
The barrier is injected according to respective incident angle, and reflects the Line beam of the barrier reflection.
S1030. the wavelength for receiving and handling the barrier reflection is greater than the pulse laser of 1300nm；
As shown in figure 13, which specifically includes:
S1310. the pulse laser of the big 1300nm of the wavelength is received by CMOS nanometer laser receiver；
S1320. it obtains the launch time for emitting the wavelength greater than the pulse laser of 1300nm and the reception wavelength is big
In the receiving time of the pulse laser of 1300nm, and is calculated according to the launch time and the receiving time and arrived at Laser emission
The distance between described barrier；
Wherein, the CMOS nanometer laser receiver is photodiode array or face battle array photodetector, the linear array
The surface of photodetector or face battle array photodetector has photosensitive layer, and the photosensitive layer includes graphene, quantum film or quantum
One of point is a variety of.
It should be noted that the device in the method for the present embodiment and embodiment 1 is based on same inventive concept, herein no longer
It is burdensome one by one.
Embodiment 4
As shown in figure 14, another environment perception method based on SWIR is present embodiments provided, this method comprises:
S1410. laser emitting module, linear scan module and CMOS nanometer laser are initialized and receives mould；
Wherein, step specifically: timing control starting initializes vibration, the group light source switching cycle of one-dimensional micro- galvanometer
With the exposure cycle of CMOS nanometer laser receiver.
S1420. it is generated and transmitted by the pulse laser that wavelength is greater than 1300nm；
S1430. the pulse laser by the wavelength greater than 1300nm reflexes to barrier, and reflects the barrier reflection
The wavelength be greater than 1300nm pulse laser；
Wherein, step S1420 to S1430 can refer to step S1010-S1020, no longer burdensome herein.
S1440. the pulse laser that the wavelength is greater than 1300nm is assembled；
S1450. receive and handle the pulse laser that the wavelength after assembling is greater than 1300nm；
Wherein, this step specifically includes: the wavelength after being assembled by the reception of CMOS nanometer laser receiver is big
The pulse laser of 1300nm；It obtains and emits launch time of the wavelength greater than the pulse laser of 1300nm and the reception wavelength
The receiving time of pulse laser greater than 1300nm, and calculated at Laser emission according to the launch time and the receiving time
The distance between to the barrier；
Wherein, the CMOS nanometer laser receiver is photodiode array or face battle array photodetector, the linear array
The surface of photodetector or face battle array photodetector has photosensitive layer, and the photosensitive layer includes graphene, quantum film or quantum
One of point is a variety of.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments.
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device
Speech, since it is substantially similar to the method embodiment, so being described relatively simple, referring to the part of embodiment of the method in place of correlation
Explanation.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of environmental perception device based on SWIR, which is characterized in that including laser emitting module, linear scan module and
CMOS nanometer laser receiving module,
The laser emitting module, the pulse laser for being greater than 1300nm for being generated and transmitted by wavelength；
The linear scan module reflexes to barrier for the pulse laser by the wavelength greater than 1300nm, and will be described
The wavelength of barrier reflection is greater than 1300nm pulse laser and reflexes to the laser pick-off module；
The CMOS nanometer laser receiving module, the wavelength for receiving and handling the linear scan module reflection are greater than
The pulse laser of 1300nm.
2. the environmental perception device according to claim 1 based on SWIR, which is characterized in that the CMOS nanometer laser connects
Receiving module includes CMOS nanometer laser receiver and signal processing unit,
The CMOS nanometer laser receiver, for receiving the wavelength of the linear scan module reflection greater than 1300nm's
Pulse laser；
The signal processing unit, for obtaining the launch time and the reception that emit pulse laser of the wavelength greater than 1300nm
The receiving time of pulse laser of the wavelength greater than 1300nm, and calculated and swashed according to the launch time and the receiving time
The distance between described barrier is arrived at light emitting.
3. the environmental perception device according to claim 2 based on SWIR, which is characterized in that the CMOS nanometer laser connects
Receiving device is photodiode array or face battle array photodetector, the surface of the photodiode array or face battle array photodetector
With photosensitive layer, the photosensitive layer includes one of graphene, quantum film or quantum dot or a variety of.
4. the environmental perception device according to claim 1 based on SWIR, which is characterized in that the laser emitting module packet
Laser generating unit and laser diffusion unit are included,
The laser generating unit swashs for generating pulse of a plurality of wavelength greater than 1300nm by multiple light sources group timesharing
Light, and the pulse laser by a plurality of wavelength greater than 1300nm is exported according to respective output angle；
The laser diffusion unit diffuses to the linear scan for the pulse laser by a plurality of wavelength greater than 1300nm
Unit.
5. the environmental perception device according to claim 4 based on SWIR, which is characterized in that the linear scan module packet
Slow axis scanning element and fast axle scanning element are included,
The slow axis scanning element passes through raster for the pulse laser by a plurality of wavelength greater than 1300nm respectively,
A plurality of Line beam is formed, and a plurality of Line beam is exported according to respective output angle；
The fast axle scanning element, for adjusting the incident angle of a plurality of Line beam by one-dimensional micro- galvanometer, by a plurality of institute
It states Line beam and injects the barrier according to respective incident angle respectively, and the Line beam that the barrier reflects is reflected into
The CMOS nanometer laser receiving module.
6. a kind of environment perception method based on SWIR characterized by comprising
It is generated and transmitted by the pulse laser that wavelength is greater than 1300nm；
Pulse laser by the wavelength greater than 1300nm reflexes to barrier, and reflects the wavelength of the barrier reflection
Pulse laser greater than 1300nm；
The wavelength for receiving and handling the barrier reflection is greater than the pulse laser of 1300nm.
7. the environment perception method according to claim 6 based on SWIR, which is characterized in that described in the reception and processing
The wavelength of barrier reflection is greater than the pulse laser of 1300nm, comprising:
The pulse laser of the big 1300nm of the wavelength is received by CMOS nanometer laser receiver；
It obtains and emits launch time of the wavelength greater than the pulse laser of 1300nm and receive the wavelength greater than 1300nm's
The receiving time of pulse laser, and calculated according to the launch time and the receiving time and arrive the barrier at Laser emission
The distance between.
8. the environment perception method according to claim 7 based on SWIR, which is characterized in that the CMOS nanometer laser connects
Receiving device is photodiode array or face battle array photodetector, the surface of the photodiode array or face battle array photodetector
With photosensitive layer, the photosensitive layer includes one of graphene, quantum film or quantum dot or a variety of.
9. the environment perception method according to claim 6 based on SWIR, which is characterized in that described to be generated and transmitted by wavelength
Pulse laser greater than 1300nm, comprising:
The pulse laser that a plurality of wavelength is greater than 1300nm is generated by multiple light sources group timesharing, and a plurality of wavelength is big
It is exported in the pulse laser of 1300nm according to respective output angle；
Spread the pulse laser that a plurality of wavelength is greater than 1300nm.
10. the environment perception method according to claim 9 based on SWIR, which is characterized in that described that the wavelength is big
The wavelength for reflexing to barrier in the pulse laser of 1300nm, and reflecting the barrier reflection is greater than the pulse of 1300nm
Laser, comprising:
Pulse laser by a plurality of wavelength greater than 1300nm passes through raster respectively, forms a plurality of Line beam, and will be more
Line beam described in item is exported according to respective output angle；
The incident angle that a plurality of Line beam is adjusted by one-dimensional micro- galvanometer, by a plurality of Line beam respectively according to respective
Incident angle injects the barrier, and reflects the Line beam of the barrier reflection.
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