CN209417296U - A kind of laser radar and single line laser radar - Google Patents
A kind of laser radar and single line laser radar Download PDFInfo
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- CN209417296U CN209417296U CN201822001060.1U CN201822001060U CN209417296U CN 209417296 U CN209417296 U CN 209417296U CN 201822001060 U CN201822001060 U CN 201822001060U CN 209417296 U CN209417296 U CN 209417296U
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Abstract
It includes mode-locked laser array that the utility model embodiment, which is related to a kind of laser radar and single line laser radar, the laser radar, and including being in one-dimensional multiple mode-locked lasers arranged in a straight line, for emitting laser pulse, the laser constitutes frequency comb；Photoswitch is emitted for controlling the laser pulse according to default timing；First image intensifer, for being amplified to laser beam and from the light that tested object plane returns；Optical modulator, for deflecting the laser beam of amplification in the first plane；Light emitting element is incident upon certain space angle range for being fanned out to the laser divergent shape of optically modulated device modulation, is irradiated on the dot matrix of a linear array of tested object plane；Photodiode array, including multiple photodiodes, the light for being returned received from tested object plane.The laser radar is capable of the velocity information of the tested object point of precision real time measuring, and detection range is long, and scanning speed is fast, and the covering dot density of scanning surface battle array is high.
Description
Technical field
The utility model belongs to laser radar technique field, and in particular to a kind of laser radar and single line laser radar.
Background technique
Laser radar (LADAR:Laser Detection and Ranging), i.e., it is " detection and ranging of laser ", practical
On be a kind of work in the radar of optical region, Fig. 1 is the schematic illustration of single line laser radar, and a transmitting terminal A transmitting swashs
Light, a receiving end B detects the light echo of tested object plane C, by calculating, the position of the tested object plane of acquisition, distance, velocity information,
Its advantage clearly, high resolution, strong antijamming capability, informative, can full-time employment.Laser radar is from explorer
System divide, mainly have direct detection laser radar and coherent detection laser radar, the former be mainly used for automatic Pilot, robot,
The fields such as mapping, the latter are mainly used for the fields such as surveying wind, test the speed.
Distance measuring method can be divided into laser time of flight method (Time of Fly, TOF) and trigonometry.Laser time of flight
Method has two classes, and one kind is that the modulation of intensity is carried out to laser continuous wave, and the phase ranging of range information is measured by phase difference
Technology, one kind are pulse ranging technologies.Phase ranging technology ranging speed is slow, and measurement accuracy is easy to be moved by target
Influence, therefore be not suitable for such as automatic Pilot, robot field.Pulse ranging technology ranging speed is fast, can obtain mesh
Target real-time position information is not influenced by target movement, suitable for fields such as automatic Pilot, robots, but its shortcoming is that
Resolution of ranging is lower than pulse ranging technology, and the difficulty for promoting resolution of ranging is big, and range accuracy is insufficient.
Utility model content
In order to solve the above-mentioned technical problem, the utility model embodiment proposes the first laser radar, including mode-locked laser
Device array, photoswitch, collimator lens array, one or more image intensifers, two pole of optical modulator, light emitting element and photoelectricity
Pipe array, in which:
Mode-locked laser array, including being in one-dimensional multiple mode-locked lasers arranged in a straight line, for emitting laser pulse, institute
It states laser and constitutes frequency comb；
Photoswitch is emitted for controlling the laser pulse according to default timing；
Collimator lens array, including the multiple collimation lenses being correspondingly arranged with the multiple mode-locked laser, for lock
The laser that mode laser issues is collimated；
First image intensifer, for being amplified to collimated laser beam and from the light that tested object plane returns；
Optical modulator, for deflecting the laser beam of amplification in the first plane；
Light emitting element, for making the laser divergent shape of optically modulated device modulation fan out to certain space angle range,
It is irradiated on the dot matrix of a linear array of tested object plane；
Photodiode array, including multiple photodiodes, the light for being returned received from tested object plane.
The utility model embodiment also proposes second of laser radar, including mode-locked laser array, photoswitch, collimation are thoroughly
Lens array, multiplex device, one or more image intensifers, optical modulator, grating and photodiode array, in which:
Mode-locked laser array, including being in one-dimensional multiple mode-locked lasers arranged in a straight line, for emitting laser pulse, institute
It states laser and constitutes frequency comb；
Photoswitch emits for controlling the laser pulse according to default timing；
Collimator lens array, including the multiple collimation lenses being correspondingly arranged with the multiple mode-locked laser, for lock
The laser that mode laser issues is collimated；
Multiplex device, for the laser beam for passing through collimation to be converged to the first end of same optical fiber, the laser light of convergence
Beam is emitted from the second end of the optical fiber, the first image intensifer of incoming fiber optic type；
The first image intensifer of optical-fiber type, amplifies for the laser beam to the fiber exit；
Optical modulator, for deflecting the laser beam of amplification in the first plane；
Grating is incident upon certain space angle range for being fanned out to the laser divergent shape of optically modulated device modulation, irradiates
Onto the dot matrix of a linear array of tested object plane；
Photodiode array, including multiple photodiodes, the light for being returned received from tested object plane.
It include two or more according to the first or second of laser radar, the laser radar of the utility model embodiment
A mode-locked laser array, two or more photoswitches and two be correspondingly arranged with two or more mode-locked laser arrays or
Multiple photodiode arrays；Described two or multiple mode-locked laser arrays are parallel on the scanning direction of the optical modulator
Setting；Described two or multiple photodiode arrays are arranged in parallel on the scanning direction of the optical modulator.
Further, intersect between described two or multiple mode-locked laser arrays and two or more photodiode arrays
Staggered floor setting.
The utility model embodiment also proposes the third laser radar, including mode-locked laser array, photoswitch, collimation are thoroughly
Lens array, multiplex device, one or more image intensifers, optical modulator, grating, convergent lens and photodiode array,
In:
Mode-locked laser array, including being in one-dimensional multiple mode-locked lasers arranged in a straight line, for emitting laser pulse, institute
It states laser and constitutes frequency comb；
Photoswitch is emitted for controlling the laser pulse according to default timing；
Collimator lens array, including the multiple collimation lenses being correspondingly arranged with the multiple mode-locked laser, for lock
The laser that mode laser issues is collimated；
Multiplex device, for the laser beam for passing through collimation to be converged to the first end of same optical fiber, the laser light of convergence
Beam is emitted from the second end of the optical fiber, the first image intensifer of incoming fiber optic type；
The first image intensifer of optical-fiber type, amplifies for the laser beam to the fiber exit；
Optical modulator, for deflecting the laser beam of amplification in the first plane；
Grating is incident upon certain space angle range for being fanned out to the laser divergent shape of optically modulated device modulation, irradiates
Onto the dot matrix of a linear array of tested object plane；
Convergent lens, the light for directly being returned received from tested object plane；
Photodiode array, including multiple photodiodes, for receiving that the convergent lens assembles from measured object
The light that face returns.
The utility model embodiment also proposes a kind of single line laser radar, including mode-locked laser, photoswitch, one or more
A image intensifer, the first optical modulator, the second optical modulator, light emitting element and photodiode, in which:
Mode-locked laser, for emitting laser pulse, the laser constitutes frequency comb；
Photoswitch is emitted for controlling the laser pulse according to default timing；
First image intensifer, for being amplified to laser beam and from the light that tested object plane returns；
First optical modulator, for deflecting the laser beam of amplification in the first plane；
Second optical modulator, for deflecting the laser beam of amplification in the second plane；
Light emitting element is incident upon certain space angle model for being fanned out to the laser divergent shape of optically modulated device modulation
It encloses, is irradiated on the dot matrix of a linear array of tested object plane；
Photodiode, the light for being returned received from tested object plane.
According to the first or second of the utility model embodiment or the third laser radar or single line laser radar, institute
The wavelength for stating mode-locked laser is in the C-band of 1550nm, and/or, the photodiode is avalanche-type photodiode,
And/or the mode-locked laser is based on Quantum Well technology, selection region epitaxy technology and front cavity mirror electrical modulation technology and is made.
According to the first or second of the utility model embodiment or the third laser radar or single line laser radar, institute
Stating laser radar includes the second image intensifer, and second image intensifer is partly leading of encapsulating together with mode-locked laser chip
Body image intensifer.
Further, first image intensifer is doped crystal image intensifer or raman optical amplifier；Preferably, described to mix
Stray crystal body image intensifer is er-doped crystal or er doped silica glasses or mixes thulium crystal or mix yttrium crystal image intensifer；Preferably, described
Er-doped crystal is Er-YAl3(BO3)4Or Er-Y3Al5O12。
According to the first laser radar or single line laser radar of the utility model embodiment, the smooth emitting element is column
Face lens；
Alternatively, the smooth emitting element is reflection mirror array, the reflection mirror array includes multiple reflecting mirrors, the multiple
Reflecting mirror is correspondingly arranged with multiple mode-locked lasers respectively, and the laser beam that multiple mode-locked lasers issue is in multiple reflecting mirrors
Incidence angle is different；
Alternatively, the smooth emitting element be the refracting prisms with multiple planes of refraction, the multiple plane of refraction respectively with it is more
A mode-locked laser is correspondingly arranged, after the incident refracting prisms of the laser beam that multiple mode-locked lasers issue, the refraction
Prism is fanned out to laser beam transmission the refraction of laser beam.
The utility model embodiment the utility model has the advantages that the utility model embodiment propose laser radar can accurately in real time
The velocity information of tested object point is measured, detection range is long, and scanning speed is fast, and the covering dot density of scanning surface battle array is high, is suitable for certainly
The complex technologies fields such as dynamic driving.
Detailed description of the invention
Fig. 1 is single line laser radar schematic illustration in the prior art；
Fig. 2 is the long range array laser radar arrangement forward direction schematic diagram that the utility model embodiment 1 proposes；
Fig. 3 is the long range array laser radar arrangement side schematic view that the utility model embodiment 1 proposes；
Fig. 4 is the frequency comb schematic diagram that the utility model embodiment proposes；
Fig. 5 is that the grating transmission that the utility model embodiment proposes is fanned out to schematic diagram；
Fig. 6 is that the reflecting mirror reflection that the utility model embodiment proposes is fanned out to schematic diagram；
Fig. 7 is the long range array laser radar arrangement side schematic view that the utility model embodiment 2 proposes；
Fig. 8 is that the long range array laser radar arrangement that the utility model embodiment 2 proposes laterally scans schematic diagram；
Fig. 9 is the long range array laser radar arrangement forward direction schematic diagram that the utility model embodiment 4 proposes；
Figure 10 is the long range array laser radar arrangement side schematic view that the utility model embodiment 4 proposes.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with specific embodiment, and
Referring to attached drawing, the utility model is further described.But as known to those skilled in the art, the utility model is not limited to
Attached drawing and following embodiment.
Embodiment 1
Referring to Fig. 2, Fig. 3, the present embodiment proposes a kind of long range array laser radar based on mode locking frequency comb, wraps
The first mode-locked laser array 1, the first photodiode array 2, the first photoswitch 3, collimator lens array 4, the first light is included to put
Big device 5, acousto-optic modulator 6 and cylindrical lens 7.
First mode-locked laser array 1 includes in one-dimensional multiple mode-locked lasers arranged in a straight line (λ 1, λ in Fig. 2
2 λ 7), for issuing mode-locked laser pulse, the laser of the mode-locked laser hair includes several fixed frequency intervals
Sub- frequency constitutes frequency comb.The laser pulse is fixed repetitive frequency pulsed or variable repetition frequency pulse.Each mode locking
Laser array can be also possible to more by the one-dimensional array constituted in multiple mode-locked lasers that a piece of substrate is grown and is cut
A single mode-locked laser is encapsulated into the one-dimensional array heat sink, recombinant is formed.
First photoswitch 3 is emitted for controlling laser pulse according to default timing, and the laser pulse is controlled by photoswitch 3
System is emitted according to preset timing.
Collimator lens array 4, including multiple collimation lenses, the laser for issuing to mode-locked laser collimate whole
Shape.Collimation lens is correspondingly arranged with mode-locked laser, it is preferred that the collimated lens 4 of laser that mode-locked laser issues are collimated into
The basic collimated light beam for collimating, converging partially.
First image intensifer 5 is amplified for the light to the collimated light beam and the reflection of tested object plane 8.Collimated light beam
After the amplification of the first image intensifer 5, peak power and energy are improved.
Acousto-optic modulator 6 deflects for controlling the laser beam being amplified, and acousto-optic modulator 6 can make laser light
Beam is deflected in the first plane, as shown in figure 3, deflecting laser in Y-Z plane.
Cylindrical lens 7, such as plano-concave cylindrical lens, for dissipating the laser modulated through acousto-optic modulator.Make to swash
Light divergent shape, which is fanned out to, is incident upon certain space angle range, is irradiated on the dot matrix of a linear array of tested object plane 8.
First photodiode array 2, including multiple photodiodes, the light for being returned received from tested object plane 8, if
The first optical filter 9 being placed in front of the first photodiode array 2, for filtering to the light returned from tested object plane 8.
The laser radar further includes control device, and the control device is for realizing a variety of laser radar functions: as
Step mode locking, is scanned, is tested the speed, ranging, driving laser diode, detection photodiode signal etc..The innovation of the utility model it
Place does not lie in control device, and those skilled in the art can reasonably be selected according to technology contents disclosed by the utility model or structure
Control device is made, in this disclosure, control device is not specially limited.
When the laser radar works, the mode-locked laser pulse that mode-locked laser array issues, photoswitch control is according to default
Timing pass through, the collimated light beam that collimated lens 4 are collimated into basic collimation, converge partially, collimated light beam is through the first image intensifer 5
Amplification, after improving peak power and energy, then the control through acousto-optic modulator 6 is at the first plane (Y-Z plane as shown in Figure 3)
It deflects, it is fan-shaped to be emitted to certain space angle range by the diverging of cylindrical lens 7, it is irradiated to tested object plane 8
On the dot matrix of one linear array, the echo for being tested object plane 8 and reflecting returns along paraxial direction, passes sequentially through cylindrical lens 7, acousto-optic
Modulator 6, the first image intensifer 5, collimation lens 4, using optical filter 9, by multiple light of corresponding photodiode array 2
Electric diode receives.Optical filter 9 can filter out the light in other channels, guarantee the light of the transmitting of respective channel, into corresponding light
Electric diode obtains reliable signal.The every clearance of photoswitch 3 issues a pulse, a deflection position of corresponding acousto-optic modulator 6
It sets；After echo-signal is received by photodiode array 2, acousto-optic modulator 6 deflects into next inflection point, photoswitch 3
Clearance next pulse.Control device deducts system background and fixes according to the time interval of transmitting pulse and reception echo impulse
Light path, by the aerial spread speed of the light velocity, calculate obtain the specified point of corresponding tested object plane 8 apart from laser radar away from
From.
Fig. 3 illustrates the working method of the laser radar of the present embodiment, inclined by angle of the acousto-optic modulator 6 to light beam
Folding, can obtain 3 points of a, b, c of range information.Obviously, acousto-optic modulator 6 can have more deflection angles, can obtain
More lattice informations.That is, each mode-locked laser and photodiode of laser radar, it can be the of acousto-optic modulator 6
A series of range information of specified points in a linear array is obtained in one plane (Y-Z plane as shown in Figure 3).Obviously, using more
It is (as shown in Figure 2 in the second plane as shown in Figure 2 can to obtain tested object plane 8 for a mode-locked laser and multiple photodiodes
X-Z plane) on a linear array on a series of specified points range information, tested object plane 8 as shown in connection with fig. 3 is first
The lattice information of (Y-Z plane as shown in Figure 3) in plane, can be obtained the three-dimensional information in the space multistory face of tested object plane 8.
According to the laser radar of the present embodiment, since the speed of photoswitch 3 can arrive GHz (10exp (+9) hertz) magnitude,
The response time of laser radar can reach nS (nanosecond, 10exp (- 9) second) magnitude.Exist when the stabilization time of acousto-optic modulator 6
When 1uS (microsecond, 10exp (- 6) second), the scan frequency of laser radar can reach MHz (10exp (+6) hertz) magnitude.Acousto-optic
The speed that modulator scans a point is 1 musec order, then the time for scanning 1000 points is 1000*2=2 milliseconds of 1 microsecond *
(acousto-optic modulator deflects into next stable state modulation deflection from a stable state modulation, needs at least one times of transit time).This reality
When be mounted on 120 kilometers/hour of speed per hour of automobile with novel laser radar, in 2 milliseconds of time, automobile will be moved
0.066 meter.The movement speed of opposite automobile, the scanning speed be it is safe, therefore, the laser radar of the utility model can
Suitable for automatic Pilot technical field.
Fig. 4 is the frequency comb schematic diagram of the present embodiment, each letter in each mode-locked laser 1 (λ 1,2 λ 7 of λ)
Number include 4 uniform intervals and have relevant stable phase angle relationship frequency component composition spectrum, pass through measurement transmitting letter
Number and reflection echo signal phase and frequency difference, the velocity information of tested object point can be obtained in real time.
The present embodiment central column face lens 7 can also be replaced with grating 10, and the grating 10 can be transmission grating, can also be with
It is reflecting grating.Fig. 5 indicates that laser beam is fanned out to schematic diagram through grating transmission.Grating has wavelength dependent characteristics, different wave length
Light have different angle of transmission or angle of reflection on grating, can be in the feelings for not changing hot spot collimation property using this characteristic
Under condition, realize that multiple beam (λ 1,2 λ 7 of λ) is fanned out to by certain angular relationship.
The present embodiment central column face lens 7 can also be replaced with reflection mirror array 12, and the reflection mirror array includes multiple anti-
Mirror is penetrated, the multiple reflecting mirror is correspondingly arranged with multiple mode-locked lasers respectively, the laser beam that multiple mode-locked lasers issue
It is different in the incidence angle of multiple reflecting mirrors.Fig. 6 indicates that laser beam is fanned out to schematic diagram through reflection mirror array reflection.Due to each anti-
The angle for penetrating face is variant, and the reflection direction of every Shu Guang is just different, can realize in the case where not changing hot spot collimation property
Multiple beam (λ 1,2 λ 7 of λ) is fanned out to by certain angular relationship reflection.
The present embodiment central column face lens 7 can also be replaced with the refracting prisms with multiple planes of refraction, the multiple refraction
Face is correspondingly arranged with multiple mode-locked lasers respectively, the incident refracting prisms of the laser beam that multiple mode-locked lasers issue
Afterwards, the transmission of multiple beam (λ 1,2 λ 7 of λ) is realized to the refraction action of laser beam using the refracting prisms of more planes of refraction
It is fanned out to.
Preferably, the mode-locked laser is constituted using the active modulator of laser diode chip plus signal driving, should
Embodiment can get the high peak power pulse of picosecond (pS) magnitude, and peak power can achieve 1~100 watt of magnitude.It is preferred that
, the wavelength of the mode-locked laser is in the C-band of 1550nm.Preferably, the mode-locked laser be based on Quantum Well technology,
DFB (selection region extension) technology and front cavity mirror electrical modulation technology are made.The actually available wavelength model of mode-locked laser as a result,
It encloses from 1520nm to 1565nm, the wavelength interval in each channel actually can be typical 0.8nm or 0.4nm, and guarantee has foot
Enough port numbers.
Preferably, the photoswitch 3 is electrooptical switching.In addition, photoswitch is also possible to waveguide switch, electric absorption tune
Device (EAM) processed, acoustooptic switch are directly the switches that light is realized in electrical modulation.
Preferably, the laser radar uses level-one image intensifer or multistage optical amplifier.For example, the laser radar is also
Including the second image intensifer, two-stage light amplification structure is thus constituted.
Preferably, first image intensifer is doped crystal image intensifer or raman optical amplifier；Preferably, described to mix
Stray crystal body image intensifer is er-doped crystal or er doped silica glasses or mixes thulium crystal or mix yttrium crystal image intensifer；Preferably,
The er-doped crystal is Er-YAl3(BO3)4Or Er-Y3Al5O12, in particular, using Er-YAl3(BO3)4Corresponding peak can be obtained
It is worth the bigger amplification factor of higher gain peak on wavelength, higher output peak power and energy, reflection echo, favorably
In longer distance and more reliable detection.
Preferably, second image intensifer is semiconductor optical amplifier.
For example, in one embodiment, the pulse laser that mode-locked laser issues first amplifies through the second image intensifer,
Second image intensifer is the semiconductor optical amplifier based on semiconductor chip being packaged together with laser diode chip
(SOA), then through the first image intensifer, two-stage amplification is carried out.Using the multistage light amplification mode of the utility model embodiment, with lock
For mode laser is constituted based on the active modulator that laser diode chip plus signal drives, the pulse laser of transmitting passes through
Level One semiconductor image intensifer (SOA) can obtain the other peak work of multikilowatt using the light amplification of level-one free space
Rate can satisfy the requirement of the laser radar of 0~1000 meter of range.Obviously, it will be appreciated by those skilled in the art that originally
The laser radar of utility model can also use pulse laser first through Level One semiconductor image intensifer, then through level-one optical-fiber type first
The multistage optical amplifier that the mode of image intensifer or the mode of other multistage amplifications are constituted, also, the utility model is also unlimited
Amplify in two-stage.
Preferably, the phase of light amplification crystal in corresponding first image intensifer of the wavelength for the laser that the mode-locked laser issues
Answer gain peak.
Acousto-optic modulator is the preferred optical modulator of the present embodiment, but the utility model is not limited to acousto-optic modulator, may be used also
To use electrooptic modulator, liquid crystal modulator, grating, reflecting mirror and micromechanical mirror (MEMS mirror) etc. are other can be real
Now control the optical modulator that the laser beam being amplified deflects.
Preferably, photodiode use avalanche-type photodiode, due to mode-locked laser transmitting laser beam and
The echo beam of reflection passes through the first image intensifer twice, and peak power and energy density are amplified twice, using avalanche-type
Photodiode, detection range can achieve 0~1000 meter of range.
According to above content, it will be appreciated by those skilled in the art that array of the utility model based on mode locking frequency comb
Laser radar utilizes the offset of echo frequency comb frequency, is capable of the velocity information of the tested object point of precision real time measuring, detection range
Long, scanning speed is fast, and the covering dot density of scanning surface battle array is high.
Embodiment 2
Referring to Fig. 7, Fig. 8, compared with Example 1, difference is the present embodiment, and the laser radar further includes the second mode locking
Laser array 1 ', the second photoswitch 3 ', the second photodiode array 2 ' and the second optical filter 9 '.
The scanning of the first mode-locked laser array 1 and the second mode-locked laser array 1 ' in acousto-optic modulator 6
It is arranged in parallel on direction；First photodiode array 2 is with second photodiode array 2 ' in acousto-optic modulator 6
Scanning direction on be arranged in parallel.Preferably, staggered floor is intersected between the mode-locked laser array and photodiode array to set
Set, that is, on the scanning direction of acousto-optic modulator 6, according to the first mode-locked laser array 1, the first photodiode array 2,
The sequence crossover staggered floor setting of second mode-locked laser array 1 ', the second photodiode array 2 '.
The second mode-locked laser array 1 includes in one-dimensional multiple mode-locked lasers arranged in a straight line, for issuing lock
Mould laser pulse, the laser include the sub- frequency at multiple fixed frequency intervals, constitute frequency comb.
Second photoswitch 3 ' is emitted for controlling laser pulse according to default timing, and the laser pulse is by second
The control of photoswitch 3 ' is emitted according to preset timing.
Collimator lens array 4, including multiple collimation lenses, the laser for issuing to mode-locked laser collimate whole
Shape.Collimation lens is correspondingly arranged with mode-locked laser, it is preferred that the collimated lens 4 of laser that mode-locked laser issues are collimated into
The basic collimated light beam for collimating, converging partially.
First image intensifer 5 is amplified for the light to the collimated light beam and the reflection of tested object plane 8.Collimated light beam
After the amplification of the first image intensifer 5, peak power and energy are improved.
Acousto-optic modulator 6 deflects for controlling the laser beam being amplified, and acousto-optic modulator 6 can make laser light
Beam is deflected in the first plane, as shown in figure 8, deflecting laser in Y-Z plane.
Cylindrical lens 7, such as plano-concave cylindrical lens, for dissipating the laser modulated through acousto-optic modulator 6.Make to swash
Light divergent shape, which is fanned out to, is incident upon certain space angle range, is irradiated on the dot matrix of a linear array of tested object plane 8.
Second photodiode array 2 ', including multiple photodiodes, the light for being returned received from tested object plane 8,
It is set to the first optical filter 9 ' of the second photodiode array 2 ' before, for filtering to the light returned from tested object plane 8
Light.
Remaining technical characteristic is substantially the same manner as Example 1, it is not necessary to repeat.
Compared to embodiment 1, embodiment adds the second mode-locked laser array 1 ', the second photoswitch 3 ', the second photoelectricity
Diode array 2 ' and the second optical filter 9 '.Its course of work is same as Example 1, only transmitting unit (mode-locked laser battle array
Column) and receiving unit (photodiode array) double, be tested object plane 8 on can once obtain two points of A0 and B0
Range information.Collimation lens 4, the first image intensifer 5, acousto-optic modulator 6 and cylindrical lens 7 share.
In the present embodiment, for example, it is preferable to which the size of laser diode chip is 1*20 μm, preferably photodiode chip
Having a size of 40*40 μm of micron (10exp (- 6) rice) magnitude, it is multiplexed in paraxial direction bilayer, does not change the paraxial of optical system
Condition significantly improves scanning lattice density or range in the case where increased costs are less.
Fig. 8 is that the laser radar of the present embodiment laterally scans schematic diagram, can in an inflection point of acousto-optic modulator 6
To obtain two points A0 and B0, A1 and B1, A2 and B2, in the case where the speed of acousto-optic modulator 6 is constant, the first plane is (such as
Y-Z plane shown in Fig. 8) scanning speed/efficiency double, that is, the scanning speed of acousto-optic modulator 6 is required to drop
Low one times.
Obviously, those skilled in the art are after it sufficiently can understand the utility model embodiment disclosure of that, Neng Gouli
Solution, in addition to the double-deck multiplexing structure of the present embodiment, in the scanning direction of acousto-optic modulator 6, can also be arranged according to actual needs
For multilayer multiplexing structure, that is, on the scanning direction of acousto-optic modulator 6, multiple mode-locked laser arrays and corresponding are arranged in parallel
Multiple photodiode arrays, such as three or more.Preferably, multiple mode-locked lasers of the multilayer multiplexing structure
The set-up mode of array and multiple photodiode arrays is identical as the above-mentioned double-deck multiplexing structure, is also arranged to intersect staggered floor.
By the double-deck multiplexing structure or multilayer multiplexing structure, scan frequency bottleneck caused by solving acousto-optic modulation rate slowly
Problem, improves the comprehensive speed of scanning, and also improves the scanning lattice density of 6 deflection plane of acousto-optic modulator.
Embodiment 3
The present embodiment the difference from embodiment 1 is that, the laser radar of the present embodiment is embodied as single line laser radar, that is,
The laser radar includes:
Mode-locked laser, for issuing mode-locked laser pulse, the laser includes the sub- frequency at multiple fixed frequency intervals,
Constitute frequency comb.
First sound-optic modulator and second sound-optic modulator deflect for controlling the laser beam being amplified, described
First sound-optic modulator is different with the scanning direction of second sound-optic modulator, and preferably the two scanning direction is mutually perpendicular to, the first sound
Optical modulator can be such that laser beam deflects in the first plane, and second sound-optic modulator can make laser beam inclined in the second plane
Turn.
The acousto-optic modulator of both direction realizes the planar array scanning of single line laser radar as a result,.
Remaining technical characteristic is substantially the same manner as Example 1, it is not necessary to repeat.
Embodiment 4
Referring to Fig. 9, Figure 10, compared with Example 1, difference is the present embodiment, and the laser radar includes the first mode locking
Laser array 1, the first photodiode array 2, the first photoswitch 3, collimator lens array 4, the first image intensifer of optical-fiber type
5, multiplex device 11, acousto-optic modulator 6, grating 10, convergent lens 4 ' and control device.
First mode-locked laser array 1 includes swashing in one-dimensional multiple mode-locked lasers arranged in a straight line for issuing mode locking
Light pulse, the laser include the sub- frequency at multiple fixed frequency intervals, constitute frequency comb.
First photoswitch 3 is emitted for controlling laser pulse according to default timing, and the laser pulse is controlled by photoswitch 3
System is emitted according to preset timing.
Collimator lens array 4, including multiple collimation lenses, the laser for issuing to mode-locked laser collimate whole
Shape.Collimation lens is correspondingly arranged with mode-locked laser, it is preferred that the collimated lens 4 of laser that mode-locked laser issues are collimated into
The basic collimated light beam for collimating, converging partially.
Multiplex device 11 is arranged between the collimation lens battle array 4 and first image intensifer 5, and being used for will be the multiple
The laser beam that mode-locked laser issues converges to the first end of same optical fiber, and the laser beam of the convergence is from the optical fiber
Second end outgoing, accesses first image intensifer of optical-fiber type 5.
The first image intensifer of optical-fiber type 5, amplifies for the laser beam to the fiber exit.Laser beam is through putting
After big, peak power and energy are improved.
Acousto-optic modulator 6 deflects for controlling the laser beam being amplified, and acousto-optic modulator 6 can make laser light
Beam is deflected in the first plane, as shown in figure 3, deflecting laser in Y-Z plane.
Grating 10 is fanned out to laser divergent shape and is incident upon centainly for dissipating the laser modulated through acousto-optic modulator 6
Space angle range, be irradiated on the dot matrix of a linear array of tested object plane 8.Figure 10 show transmission grating, can also adopt
Use reflecting grating.
First photodiode array 2, including multiple photodiodes, the light for being returned received from tested object plane 8, if
The first optical filter 9 being placed in front of the first photodiode array 2, for filtering to the light returned from tested object plane 8, if
The convergent lens 4 ' being placed in front of the optical filter 9, the convergent lens 4 ' are returned for directly reception from tested object plane 8
Light.
At work, after tested object plane 8 reflects, reflection echo is no longer pass through laser beam the laser radar of the present embodiment
Grating 10 does not enter back into the amplification of the first image intensifer 5 yet, but uses the direct receives echo-signal of convergent lens 4 '.
In another embodiment, the laser radar of the present embodiment include two or more sets mode-locked laser arrays and
Two or more sets corresponding photodiode arrays constitute the double-deck multiplexing structure or multilayer multiplexing structure as described in Example 2,
The bilayer multiplexing structure or two or more mode-locked laser arrays and two or more photoelectricity two in multilayer multiplexing structure
Intersect staggered floor setting between pole pipe array.
More than, the embodiments of the present invention is illustrated.But the utility model is not limited to above-mentioned implementation
Mode.Within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done, should be included in
Within the protection scope of the utility model.
Claims (10)
1. a kind of laser radar, which is characterized in that including mode-locked laser array, photoswitch, collimator lens array, one or more
A image intensifer, optical modulator, light emitting element and photodiode array, in which:
Mode-locked laser array, it is described to swash for emitting laser pulse including being in one-dimensional multiple mode-locked lasers arranged in a straight line
Light constitutes frequency comb；
Photoswitch is emitted for controlling the laser pulse according to default timing；
Collimator lens array, including the multiple collimation lenses being correspondingly arranged with the multiple mode-locked laser, for swashing to mode locking
The laser that light device issues is collimated；
First image intensifer, for being amplified to collimated laser beam and from the light that tested object plane returns；
Optical modulator, for deflecting the laser beam of amplification in the first plane；
Light emitting element is irradiated for making the laser divergent shape of optically modulated device modulation fan out to certain space angle range
Onto the dot matrix of a linear array of tested object plane；
Photodiode array, including multiple photodiodes, the light for being returned received from tested object plane.
2. a kind of laser radar, which is characterized in that including mode-locked laser array, photoswitch, collimator lens array, wave multiplexer
Part, one or more image intensifers, optical modulator, grating and photodiode array, in which:
Mode-locked laser array, it is described to swash for emitting laser pulse including being in one-dimensional multiple mode-locked lasers arranged in a straight line
Light constitutes frequency comb；
Photoswitch emits for controlling the laser pulse according to default timing；
Collimator lens array, including the multiple collimation lenses being correspondingly arranged with the multiple mode-locked laser, for swashing to mode locking
The laser that light device issues is collimated；
Multiplex device, for the laser beam for passing through collimation to be converged to the first end of same optical fiber, the laser beam of convergence is certainly
The second end of the optical fiber is emitted, the first image intensifer of incoming fiber optic type；
The first image intensifer of optical-fiber type, amplifies for the laser beam to the fiber exit；
Optical modulator, for deflecting the laser beam of amplification in the first plane；
Grating is incident upon certain space angle range for being fanned out to the laser divergent shape of optically modulated device modulation, be irradiated to by
It surveys on the dot matrix of a linear array of object plane；
Photodiode array, including multiple photodiodes, the light for being returned received from tested object plane.
3. a kind of laser radar as claimed in claim 1 or 2, which is characterized in that the laser radar includes two or more
Mode-locked laser array, two or more photoswitches and be correspondingly arranged with two or more mode-locked laser arrays two or more
A photodiode array；Described two or multiple mode-locked laser arrays are set in parallel on the scanning direction of the optical modulator
It sets；Described two or multiple photodiode arrays are arranged in parallel on the scanning direction of the optical modulator.
4. laser radar as claimed in claim 3, which is characterized in that described two or multiple mode-locked laser arrays and two
Or intersect staggered floor setting between multiple photodiode arrays.
5. a kind of laser radar, which is characterized in that including mode-locked laser array, photoswitch, collimator lens array, wave multiplexer
Part, one or more image intensifers, optical modulator, grating, convergent lens and photodiode array, in which:
Mode-locked laser array, it is described to swash for emitting laser pulse including being in one-dimensional multiple mode-locked lasers arranged in a straight line
Light constitutes frequency comb；
Photoswitch is emitted for controlling the laser pulse according to default timing；
Collimator lens array, including the multiple collimation lenses being correspondingly arranged with the multiple mode-locked laser, for swashing to mode locking
The laser that light device issues is collimated；
Multiplex device, for the laser beam for passing through collimation to be converged to the first end of same optical fiber, the laser beam of convergence is certainly
The second end of the optical fiber is emitted, the first image intensifer of incoming fiber optic type；
The first image intensifer of optical-fiber type, amplifies for the laser beam to the fiber exit；
Optical modulator, for deflecting the laser beam of amplification in the first plane；
Grating is incident upon certain space angle range for being fanned out to the laser divergent shape of optically modulated device modulation, be irradiated to by
It surveys on the dot matrix of a linear array of object plane；
Convergent lens, the light for directly being returned received from tested object plane；
Photodiode array, including multiple photodiodes are returned for receiving the certainly tested object plane that the convergent lens is assembled
The light returned.
6. a kind of single line laser radar, which is characterized in that including mode-locked laser, photoswitch, one or more image intensifer, the
One optical modulator, the second optical modulator, light emitting element and photodiode, in which:
Mode-locked laser, for emitting laser pulse, the laser constitutes frequency comb；
Photoswitch is emitted for controlling the laser pulse according to default timing；
First image intensifer, for being amplified to laser beam and from the light that tested object plane returns；
First optical modulator, for deflecting the laser beam of amplification in the first plane；
Second optical modulator, for deflecting the laser beam of amplification in the second plane；
Light emitting element is incident upon certain space angle range for being fanned out to the laser divergent shape of optically modulated device modulation, shines
It is mapped on the dot matrix of a linear array of tested object plane；
Photodiode, the light for being returned received from tested object plane.
7. the laser radar as described in claims 1 or 2 or 5 or 6, which is characterized in that the wavelength of the mode-locked laser is in
The C-band of 1550nm, and/or, the photodiode is avalanche-type photodiode.
8. the laser radar as described in claims 1 or 2 or 5 or 6, which is characterized in that the laser radar includes that the second light is put
Big device, second image intensifer are the semiconductor optical amplifier encapsulated together with mode-locked laser chip.
9. laser radar as claimed in claim 8, which is characterized in that first image intensifer is doped crystal image intensifer
Or raman optical amplifier.
10. laser radar as described in claim 1 or 6, which is characterized in that the smooth emitting element is cylindrical lens；
Alternatively, the smooth emitting element is reflection mirror array, the reflection mirror array includes multiple reflecting mirrors, the multiple reflection
Mirror is correspondingly arranged with multiple mode-locked lasers respectively, incidence of the laser beam that multiple mode-locked lasers issue in multiple reflecting mirrors
Angle is different；
Alternatively, the smooth emitting element be the refracting prisms with multiple planes of refraction, the multiple plane of refraction respectively with multiple locks
Mode laser is correspondingly arranged, after the incident refracting prisms of the laser beam that multiple mode-locked lasers issue, the refracting prisms
It is fanned out to laser beam transmission the refraction of laser beam.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110471079A (en) * | 2019-09-25 | 2019-11-19 | 浙江缔科新技术发展有限公司 | A kind of light quantum tests the speed telescope and speed-measuring method |
| CN111257896A (en) * | 2020-05-06 | 2020-06-09 | 中国电子科技集团公司信息科学研究院 | Gated array lidar receiving optical system and lidar |
| WO2021098975A1 (en) * | 2019-11-22 | 2021-05-27 | Ecole Polytechnique Federale De Lausanne (Epfl) | Optical frequency comb based parallel fm lidar |
| WO2021123016A1 (en) * | 2019-12-20 | 2021-06-24 | Thales | Lidar system comprising two diffractive components |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110471079A (en) * | 2019-09-25 | 2019-11-19 | 浙江缔科新技术发展有限公司 | A kind of light quantum tests the speed telescope and speed-measuring method |
| CN110471079B (en) * | 2019-09-25 | 2023-07-11 | 浙江缔科新技术发展有限公司 | Light quantum speed measuring telescope and speed measuring method |
| WO2021098975A1 (en) * | 2019-11-22 | 2021-05-27 | Ecole Polytechnique Federale De Lausanne (Epfl) | Optical frequency comb based parallel fm lidar |
| WO2021123016A1 (en) * | 2019-12-20 | 2021-06-24 | Thales | Lidar system comprising two diffractive components |
| FR3105439A1 (en) * | 2019-12-20 | 2021-06-25 | Thales | LIDAR SYSTEM INCLUDING TWO DIFFRACTIVE COMPONENTS |
| CN111257896A (en) * | 2020-05-06 | 2020-06-09 | 中国电子科技集团公司信息科学研究院 | Gated array lidar receiving optical system and lidar |
| CN111257896B (en) * | 2020-05-06 | 2020-08-11 | 中国电子科技集团公司信息科学研究院 | Gated array lidar receiving optical system and lidar |
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