CN105403877A - Large dynamic range optical sub-field detection laser radar - Google Patents
Large dynamic range optical sub-field detection laser radar Download PDFInfo
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
The invention relates to a large dynamic range optical sub-field detection laser radar, which consists of a laser, a beam expander, a turning mirror, a receiving main lens, a sub-field mirror, a small field conversion lens group, a large field conversion lens group, a small field detector and a large field detector.
Description
Technical field
The present invention relates to laser radar, particularly a kind of great dynamic range optics divides field detection laser radar, and this laser radar system has higher detection dynamic range, is more applicable to the target detection in the strong scattering medium such as water, mist.
Background technology
Laser radar carries out target detection in the strong scattering medium such as water, mist, due to the overdamp that strong scattering medium causes, the range attenuation of target echo signal is much more serious than the decay in normal atmospheric, therefore, can propose higher requirement to the detection dynamic range of laser radar.The mode that improving laser radar conventional at present detects dynamic range in strong scattering medium mainly contains fixed proportion subchannel technology, logarithmic amplification technology, polarization technology, gate and synchronous variable-gain technology.
Fixed proportion subchannel technology is on receiving light path, install the light splitting piece of fixed proportion, the passage that light splitting is few is used for closely strong echoed signal and measures, realize the optical attenuation to closely strong echoed signal, the many passage of light splitting is used for remote weak echo signal measurement, ensures the light transmission rate to remote weak echo signal.This technology is simple, ripe, although can the dynamic range of expanded laser light radar, but the many passage of light splitting still can receive closely strong echoed signal and cause saturated, affects this channel detector to a certain extent to the detection sensitivity of remote weak echo signal and stability.
Logarithmic amplification technology is on detection circuit, use logarithmic amplifier to realize the dynamic range compression of electric signal, this technology can the dynamic range of effective expanded laser light radar system rear end Acquisition Circuit, but, the detector saturation problem that closely strong echoed signal causes cannot be solved.
Polarization technology is that the dynamic range adopting optical polarization method of reseptance to suppress the echo interference of strong scattering medium to cause increases, and can not improve laser radar dynamic range to hard goal detection in strong scattering medium.
Gating technology can make laser radar only carry out corresponding to the echoed signal of a certain segment distance in certain one-shot measurement by optics or electrical method, is then repeatedly detected different distance respectively by adjustment parameter, realizes the expansion to detection dynamic range.But this technology needs laser radar repeatedly to detect to meet the time continuity of echoed signal, be not suitable for having the quick detection of requirement to apply to detection time.
Synchronous variable-gain technology is by detector gain and laser emission time opening relationships, using Laser emission as initial time, along with passage of time improves the gain of detector fast, realizes the change of sensitivity to different distance sounding.This technology has been widely used in range finding and atmospheric exploration laser radar, but in strong scattering medium, within rise time of variable-gain curve often foreshortened to for hundred nanoseconds, change in gain so at a high speed can bring higher noise to detector and circuit, affect the stability of signal output.
Therefore, for the current laser radar used in strong scattering medium, detection dynamic range remains a key issue needing to solve and optimize.
Summary of the invention
The object of the invention is to solve the not enough problem of the detection dynamic range faced when laser radar detects the strong scattering medium such as water, mist, a kind of great dynamic range optics is provided to divide field detection laser radar, this device had both had larger detection dynamic range, ensure again integrality on time and intensity of two channel signals and stability, improve the detection dynamic range of laser radar system to the strong scattering medium such as water, mist.
Principle of work of the present invention:
Laser is propagated in strong scattering medium, and its hot spot can increase rapidly with propagation distance, according to this feature, and small field of view and edge Large visual angle centered by the receiving light path of laser radar is divided.In-plant laser light scattering is less, the laser lighting hot spot formed is less, prominent echo energy now can be coupled in the small field of view of center, therefore, small field of view detection channels corresponding to center small field of view can receive major part closely return laser beam, realize the detection to closely strong echoed signal, and Large visual angle detection channels corresponding to edge Large visual angle can only receive less closely return laser beam, realize the suppression to closely echoed signal, avoid closely strong signal on the impact of Large visual angle detector.Along with distance increases, scattering effect is more and more stronger, and the illumination spot that laser is formed is comparatively large, and now, main backward energy can be coupled to edge Large visual angle, ensures that edge Large visual angle is to the receive optical efficiency of remote weak signal.By the method for optics point visual field, in-plant light laser echo and remote weak laser echo are assigned to respectively the detection channels of different responsiveness, extend the detection dynamic range of laser radar system.
This device takes full advantage of the feature that laser is propagated in strong scattering medium, optics point visual field is adopted to receive the separation carrying out strong and weak laser echo signal, namely the expansion to laser radar system detection dynamic range is achieved, ensure again integrality on time and intensity of two different sensitivity channel signals and stability, effectively can improve the detection dynamic range of laser radar system in the strong scattering medium such as water, mist.
Technical solution of the present invention is as follows:
A kind of great dynamic range optics divides field detection laser radar, its feature is: this laser radar comprises laser instrument, beam expanding lens, mirror of turning back, receive main lens, point visual field mirror, small field of view transform lens group, Large visual angle transform lens group, small field of view detector and Large visual angle detector, the annexation of above-mentioned component is as follows:
Described laser instrument produces pulse laser through described beam expanding lens, before the reception main lens of turning back described in arriving after mirror, and launch along the optical axis direction of this reception main lens, the echo of described pulse laser in strong scattering medium converges to described point visual field mirror by described reception main lens, this point of visual field mirror is 45 ° of catoptrons with central through hole, through central through hole through echo light be input to small field of view transform lens group, described small field of view transform lens group is collimation lens along light beam working direction successively, optical filter and condenser lens, respectively optical alignment is realized to echo light, filtering, assemble, detected by small field of view detector, echo light through described point visual field mirror edge reflections is input to described Large visual angle transform lens group, this Large visual angle transform lens group is Large visual angle collimation lens along light beam working direction successively, Large visual angle optical filter and Large visual angle condenser lens, respectively optical alignment is realized to the echo light of described point visual field mirror edge reflections, filtering, assemble, detected by described Large visual angle detector.
Described laser instrument is the solid state laser of wavelength 526nm ~ 532nm.
The numerical aperture of described reception main lens is 0.4.
Described small field of view transform lens group and Large visual angle transform lens group are 1nm at the optical bandwidth of the optical filter of small field of view passage.
Described small field of view detector is photoelectricity avalanche diode, and Large visual angle detector is photomultiplier.
Above-mentioned great dynamic range optics divides the step of the detection of field detection laser radar as follows:
1. before the reception main lens described in described laser instrument generation pulse laser arrives after described beam expanding lens, mirror of turning back, and launch along the optical axis direction of this reception main lens, the echo of described pulse laser in strong scattering medium converges to described point visual field mirror by described reception main lens, by point visual field mirror, laser echo signal is assigned to two field of view of receivers, the corresponding in-plant small field of view detection of small field of view, the detection of Large visual angle corresponding Large visual angle at a distance;
2. described small field of view detector and Large visual angle detector sensitivity are individually arranged by the high input voltage of detector, two detectors synchronously complete the opto-electronic conversion of corresponding visual field inner laser echoed signal, all can export complete time series electric echo signal;
3. for the scattering medium of different scattering strength, can pass through described small field of view detector and Large visual angle detector sensitivity on-line control, adjust the Duplication of two channel detection response regions, the distribution of detection dynamic range is conformed parameter better.
4. described laser instrument is launched and described reception main lens adopts coaxial manner, and namely Laser emission optical axis and reception optical axis coincidence, realize the visual field coupling of transmitting and receiving.
The invention has the advantages that:
1, the feature utilizing laser to transmit in strong scattering medium, adopts an optics point visual field method to carry out signal distribution, the detection dynamic range of effective raising system when free of losses signal;
2, the present invention divides visual field method by optics, effectively reduce the efficiency of Large visual angle passage for closely sounding, overcome the Large visual angle channel signal saturation problem that closely echo causes, ensure that the integrality of Large visual angle channel detection signal on time and intensity and signal stabilization;
3, for the scattering medium of different scattering strength, can by carrying out on-line control to detector sensitivity, the Duplication of adjustment two channel detection response regions, makes the distribution of detection dynamic range conform better parameter.
Accompanying drawing explanation
Fig. 1 is the structured flowchart that great dynamic range optics of the present invention divides field detection laser radar;
In figure: 1---laser instrument, 2---beam expanding lens, 3---turning mirror, 4---receive main lens, 5---point visual field mirror, 6---small field of view transform lens group, 6-1---collimation lens, 6-2---optical filter, 6-3---condenser lens, 7---Large visual angle transform lens group, 7-1---collimation lens, 7-2---optical filter, 7-3---condenser lens, 8---small field of view detector, 9---Large visual angle detector.
Embodiment
Below in conjunction with example and accompanying drawing, the invention will be further described, but should not limit the scope of the invention with this.
First refer to Fig. 1, Fig. 1 is the structured flowchart that great dynamic range optics of the present invention divides field detection laser radar, as seen from the figure, great dynamic range optics of the present invention divides field detection laser radar, comprise laser instrument 1, beam expanding lens 2, mirror 3 of turning back, receive main lens 4, point visual field mirror 5, small field of view transform lens group 6, Large visual angle transform lens group 7, small field of view detector 8 and Large visual angle detector 9, the annexation of above-mentioned component is as follows:
Described laser instrument 1 produces pulse laser through described beam expanding lens 2, before reception main lens 4 described in the rear arrival of mirror 3 of turning back, and launch along the optical axis direction of this reception main lens, the echo of described pulse laser in strong scattering medium converges to described point visual field mirror 5 by described reception main lens 4, this point of visual field mirror 5 is 45 ° of catoptrons with central through hole, through central through hole through echo light be input to small field of view transform lens group 6, described small field of view transform lens group 6 is collimation lens 6-1 along light beam working direction successively, optical filter 6-2 and condenser lens 6-3, respectively optical alignment is realized to echo light, filtering, assemble, detected by small field of view detector 8, echo light through described point visual field mirror 5 edge reflections is input to described Large visual angle transform lens group 7, this Large visual angle transform lens group 7 is Large visual angle collimation lens 7-1 along light beam working direction successively, Large visual angle optical filter 7-2 and Large visual angle condenser lens 7-3, respectively optical alignment is realized to the echo light of described point visual field mirror 5 edge reflections, filtering, assemble, detected by described Large visual angle detector 9.
Here is the parameter of the main devices that an embodiment adopts:
Described laser instrument 1 is the solid state laser of wavelength 526.5nm, output pulse width 2ns;
Input laser spot diameter is expanded 3 times by described beam expanding lens 2, and laser beam divergence is compressed to original 1/3;
Before the reception main lens 4 that input laser is turned back described by described mirror 3 of turning back, laser is launched along the optical axis direction receiving main lens, launches optical axis and receive light shaft coaxle;
Described reception main lens 4 is non-spherical lens, clear aperture 200mm, numerical aperture 0.4, and the transmitance of wavelength 526.5nm is 99.9%, receives the echo of laser in strong scattering medium;
Described point visual field mirror 5, can direct printing opacity for having 45 ° of catoptrons of central through hole, the diameter 3mm of central through hole, the catoptron of flange outside diameter 30mm by light along the 45 ° of directions reflections of minute surface normal;
The described small field of view transform lens group 6 at small field of view passage, comprises collimation lens 6-1, optical filter 6-2 and condenser lens 6-3 tri-elements, and three elements realize collimation to light, filtering and converging action respectively, and the optical bandwidth of optical filter 6-2 is 1nm;
The described Large visual angle transform lens group 7 at Large visual angle passage, comprise Large visual angle collimation lens 7-1, Large visual angle optical filter 7-2 and Large visual angle condenser lens 7-3, three elements realize collimation to light, filtering and converging action respectively, and the optical bandwidth of Large visual angle optical filter 7-2 is 1nm;
Described small field of view detector 8 is avalanche diode, response spectrum scope 400nm ~ 1000nm;
Described Large visual angle detector 9 is photomultiplier, response spectrum scope 400nm ~ 700nm.
Utilize above-mentioned great dynamic range optics to divide field detection laser radar to carry out the method detected, comprise following process:
1. before the reception main lens described in described laser instrument generation pulse laser arrives after described beam expanding lens, mirror of turning back, and launch along the optical axis direction of this reception main lens, the echo of described pulse laser in strong scattering medium converges to described point visual field mirror by described reception main lens, by point visual field mirror 5, laser echo signal is assigned to two field of view of receivers, the corresponding in-plant small field of view detection of small field of view, the detection of Large visual angle corresponding Large visual angle at a distance;
2. described detector 8 comprises small field of view detector 8 and Large visual angle detector 9, two detector sensitivities can be changed by the high pressure arranging detector, synchronously complete the opto-electronic conversion of corresponding visual field inner laser echoed signal, all can export complete time series electric echo signal;
3. for the scattering medium of different scattering strength, by carrying out on-line control to detector sensitivity, the Duplication of two channel detection response regions can be adjusted, the distribution of detection dynamic range is conformed parameter better;
4. described Laser emission and described main lens 4 receive and adopt coaxial manner, and namely Laser emission optical axis and reception optical axis coincidence, realize the visual field coupling of transmitting and receiving.
Claims (5)
1. a great dynamic range optics divides field detection laser radar, it is characterized in that: this laser radar comprises laser instrument (1), beam expanding lens (2), mirror of turning back (3), receives main lens (4), point visual field mirror (5), small field of view transform lens group (6), Large visual angle transform lens group (7), small field of view detector (8) and Large visual angle detector (9), and the annexation of above-mentioned component is as follows:
Described laser instrument (1) produces pulse laser through described beam expanding lens (2), before reception main lens (4) described in mirror (3) of turning back arrives afterwards, and launch along the optical axis direction of this reception main lens, the echo of described pulse laser in strong scattering medium converges to described point visual field mirror (5) by described reception main lens (4), this point of visual field mirror (5) is 45 ° of catoptrons with central through hole, through central through hole through echo light be input to small field of view transform lens group (6), described small field of view transform lens group (6) is collimation lens (6-1) along light beam working direction successively, optical filter (6-2) and condenser lens (6-3), respectively optical alignment is realized to echo light, filtering, assemble, detected by small field of view detector (8), echo light through described point visual field mirror (5) edge reflections is input to described Large visual angle transform lens group (7), this Large visual angle transform lens group (7) is Large visual angle collimation lens (7-1) along light beam working direction successively, Large visual angle optical filter (7-2) and Large visual angle condenser lens (7-3), respectively optical alignment is realized to the echo light of described point visual field mirror (5) edge reflections, filtering, assemble, detected by described Large visual angle detector (9).
2. great dynamic range optics according to claim 1 divides field detection laser radar, it is characterized in that the solid state laser that described laser instrument (1) is wavelength 526nm ~ 532nm.
3. great dynamic range optics according to claim 1 divides field detection laser radar, it is characterized in that the numerical aperture of described reception main lens (4) is 0.4.
4. great dynamic range optics according to claim 1 divides field detection laser radar, it is characterized in that described small field of view transform lens group (6) and Large visual angle transform lens group (7) are 1nm at the optical bandwidth of the optical filter of small field of view passage.
5. great dynamic range optics according to claim 1 divides field detection laser radar, and it is characterized in that described small field of view detector (8) is photoelectricity avalanche diode, Large visual angle detector (9) is photomultiplier.
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| CN107037444A (en) * | 2017-06-07 | 2017-08-11 | 深圳大学 | Optical system and laser radar |
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