CN106154248A - A kind of laser radar optical receiver assembly and laser radar range method - Google Patents
A kind of laser radar optical receiver assembly and laser radar range method Download PDFInfo
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- CN106154248A CN106154248A CN201610821346.7A CN201610821346A CN106154248A CN 106154248 A CN106154248 A CN 106154248A CN 201610821346 A CN201610821346 A CN 201610821346A CN 106154248 A CN106154248 A CN 106154248A
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of laser radar optical receiver assembly and laser radar range method, this device includes: when being used for carrying out laser acquisition, receives the telescope of the echo-signal launching laser；For limiting the field stop of field range；For diverging incident light being collected as the collimating lens of exiting parallel light；For being realized the variable optical attenuator of control real-time to signal by fading transmission luminous power；For bias light being carried out the narrow band pass filter of bandpass filter；For the condenser lens that optical signal is focused；For exporting the photodetector of the signal of telecommunication of correspondence according to the light intensity of optical signal.The optical signal of telescope outgoing passes sequentially through field stop, collimating lens, variable optical attenuator, narrow band pass filter, condenser lens, photodetector from left to right.This optical receiver assembly uses variable optical attenuator to control the attenuation of optical signal, self adaptation closely and at a distance can detect demand, prevents photodetector to be operated in saturation region or detector loss.
Description
Technical field
The present invention relates to laser radar technique field, particularly relate to a kind of laser radar optical receiver assembly and laser radar
Distance-finding method.
Background technology
Laser radar is the radar system launching the characteristic quantities such as detecting laser beam target location.Laser radar is distant at the earth
Sense aspect is widely used, and needs the laser echo signal of receiving range about 10km-40km when detecting, but 10km-
40km laser echo signal light intensity has the scope of 6 magnitudes.Low latitude when, often rise 3km echo-signal light intensity about
Reduce an order of magnitude；But when high-altitude, often rise 10km echo-signal light intensity and can reduce an order of magnitude.In order to improve spy
The height surveyed, generally increases the transmitting power of laser instrument or improves detector sensitivity.But increase the transmitting merit of laser instrument
After rate, the in-plant echo-signal in low latitude is very strong, easily causes reception system saturated, even causes highly sensitive detector to damage
Lose.
The general method using channel structure design and timesharing to seek is found range, to prevent photodetector to be operated in
Saturation region.Prior art uses the laser radar optical receiver assembly of channel structure design, wherein, will be connect by spectroscope
Receive light path and be divided near field and two, far field passage, so by light splitting, the power of the echo-signal of each passage is shunted, make
The echo signal power that must detect near field and far field can be within the saturation range of photoelectric detector.
This optical receiver assembly has used spectroscope, after this device has assembled, and the splitting ratio of this optical receiver assembly
Fixing, so can not meet self adaptation closely with remote detection demand.
In view of this, prior art haves much room for improvement and improves.
Summary of the invention
In view of the deficiencies in the prior art, present invention aim at providing a kind of laser radar optical receiver assembly and laser thunder
Reach distance-finding method, thus solve laser radar optical receiver assembly in prior art and can not meet self adaptation closely and long distance
From the technical problem of detection demand, simplify channel structure design in prior art, have employed a condenser lens and
Individual photodetector so that this device has the characteristic that light path is simple, volume is little.
Technical scheme is as follows:
A kind of laser radar optical receiver assembly, wherein, including being sequentially connected with setting:
During for carrying out laser acquisition, receive the telescope of the echo-signal of laser；For the collimation that optical signal is collimated
Lens；For bias light being carried out the narrow band pass filter of bandpass filter；For being realized optical signal by fading transmission luminous power
The variable optical attenuator of control；For the condenser lens that optical signal is focused；Come for the light intensity according to optical signal
The photodetector of the signal of telecommunication that output is corresponding；
The diverging light of described telescope outgoing is collected as exiting parallel light by after described collimating lens；Exiting parallel light leads to
Only by launching the optical signal of the narrow-band scope of laser after crossing described narrow band pass filter；Optical signal is by described variable optical attenuation
After device, optical signal is exiting parallel light, and the optical power attenuation of optical signal is the function that variable optical attenuator adds magnitude of voltage；Light is believed
Number by after described condenser lens, optical signals parallel input light is collected as focusing on emergent light；Described photodetector receives poly-
Burnt optical signal, and the signal of telecommunication corresponding for optical signal is shown.
Described laser radar optical receiver assembly, wherein, also includes using between described telescope and described collimating lens
In the field stop limiting field range.
Described laser radar optical receiver assembly, wherein, described variable optical attenuator is by the decay of Control of Voltage optical signal
Amount.
Described laser radar optical receiver assembly, wherein, described field stop is positioned at described telescopical focal position.
Described laser radar optical receiver assembly, wherein, the pore size of described field stop defines that optical signal receives
Visual field size.
Described laser radar optical receiver assembly, wherein, described photodetector is positioned at the focus position of described condenser lens
Put.
Described laser radar optical receiver assembly, wherein, described variable optical attenuator is magneto-optic VOA or liquid crystal VOA.
A kind of laser radar range method, it is characterised in that the method includes:
A, laser radar emitter are to objective emission laser signal；
B, on the variable optical attenuator of laser radar optical receiver assembly add voltage V, determine and pass through variable optical attenuation
The attenuation of device optical signal；
C, with described laser radar optical receiver assembly receive laser echo signal；
D, according to receive the light intensity of laser signal, emitter launch the light intensity of laser signal, target range and
He affects the parameter of the light intensity of laser signal, calculates target to the distance between optical receiver.
Described laser radar range method, wherein, step B also includes:
The voltage V added on variable optical attenuator is adjusted by the distance according to detection echo-signal.
Described laser radar range method, wherein, described variable optical attenuator is by the attenuation of Control of Voltage optical signal.
Beneficial effect: the present invention proposes a kind of laser radar optical receiver assembly and laser radar range method, this dress
Put and have employed a condenser lens and a photodetector, simplify the laser radar of channel structure design in prior art
Optical receiver assembly uses two condenser lenses and the structure of two photodetectors so that this device have light path simple,
The characteristic that volume is little；Controlled the attenuation of optical signal by variable optical attenuator, can self adaptation closely and at a distance detect
Demand, prevents photodetector to be operated in saturation region or detector loss；Magnitude of voltage in variable optical attenuator is continuously may be used
Adjusting, therefore splitting ratio is also continuously adjustable, and light splitting precision significantly improves.
Accompanying drawing explanation
Fig. 1 is the light channel structure schematic diagram of laser radar optical receiver assembly in the present invention.
Fig. 2 is the flow chart of laser radar range method in the present invention.
Fig. 3 is the schematic diagram of the light channel structure specific embodiment that laser radar range receives device in the present invention.
Fig. 1 symbol description: 21 telescopes；22 field stops；23 collimating lens；24 narrow band pass filters；25 variable optical attenuation
Device；26 condenser lenses；27 photodetectors.
Detailed description of the invention
The invention provides a kind of laser radar optical receiver assembly and laser radar range method, for making the mesh of the present invention
, technical scheme and effect clearer, clear and definite, the present invention is described in more detail below.Should be appreciated that described herein
Specific embodiment only in order to explain the present invention, be not intended to limit the present invention.
When carrying out laser radar range application, the laser beam of laser transmitter projects is directed at the target carrying out detecting,
Detecting laser beam reflects to when having barrier, and the optical receiver assembly in laser radar receives this echo-signal and draws back
Ripple signal light intensity, obtains according to the relation of echo distance with echo-signal light intensity, transmitting laser intensity and other relevant parameter
Go out the distance of barrier, such that achieve the range finding of laser radar.
By the embodiment of laser radar range, the application to the laser radar optical receiver assembly of the present invention is carried out in detail
Explanation.
As it is shown in figure 1, be a kind of laser radar optical receiver assembly of the present invention, this device includes: be successively set on same
Telescope 21 in one light path, field stop 22, collimating lens 23, narrow band pass filter 24, variable optical attenuator 25, condenser lens
26 and photodetector 27.The optical signal of telescope 21 outgoing passes sequentially through field stop 22, collimating lens 23, narrow from left to right
Band optical filter 24, variable optical attenuator 25, condenser lens 26, photodetector 27.
Receive the telescope 21 of the echo-signal of laser during for carrying out laser acquisition, be by two concave mirrors and
The reflecting telescope that individual convex reflecting mirror is constituted, optical signal is irradiated on concave mirror when entering this telescope, through concave surface
Reflecting mirror and two secondary reflections of convex reflecting mirror, optical signal converges at telescopical focal point.
As it is shown in figure 1, the emergent light data side at telescope 21 places a field stop 22, this field stop 22 is positioned at
Telescope 21 focal position, for limiting the field range of optical signal.The pore size of described field stop 22 defines that light is believed
Number field of view of receiver size.The optical signal of outgoing is focused on, through field stop, only in field stop aperture by telescope
In the range of optical signal just can pass through, and the optical signal exceeding field stop aperture edge is blocked, reality be i.e. stop big
The optical signal at visual angle enters this optical receiver assembly.The directional good feature of laser, after Laser emission, the angle of divergence is the least, swashs
Light injection 20km spot diameter only has 20-30cm, and therefore, the spot diameter of the echo-signal of laser is the least, is receiving this time
Only need little optical signal field of view of receiver during ripple signal, control optical signal by the field stop adding certain pore size size and receive
The size of visual field, thus it also avoid substantial amounts of bias light and received.
As it is shown in figure 1, go out one collimating lens 23 of placement on the right side of light in field stop, field stop 22 is positioned at collimating lens
The focal point of 23, by after this collimating lens 23 collimating optical signal, will be collected as exiting parallel light by diverging incident light.Collimation
Lens 23 are common convex lens.
As it is shown in figure 1, the optical signal after Zhun Zhi incides on narrow band pass filter 24, bias light is entered by this narrow band pass filter 24
Row bandpass filter.The echo-signal that laser radar receives in addition to launching the echo-signal of laser wavelength, also include extraneous other
Optical signal, need to remove the bias light outside detectable signal wave band.Narrow band pass filter allows the optical signal of specific band to pass through, and deviates
Optical signal beyond this wave band is prevented from.It is thereby possible to select launch the narrow band pass filter of the narrow-band scope of laser, light is believed
Number by can be only by launching the optical signal of narrow-band scope of laser after this narrow band pass filter, it is possible to receive dress at this optics
Put the middle bias light removing interference.Optical filter usually plastics or sheet glass add particular dye and form.
As it is shown in figure 1, place a variable optical attenuator 25 on the right side of narrow band pass filter 24.Variable optical attenuator 25 passes through
Fading transmission luminous power realizes the control to optical signal, can be by the attenuation of Control of Voltage optical signal.Optical signal is by described
After variable optical attenuator, optical signal is exiting parallel light.Luminous power=light intensity * receives the scope (angle) of optical signal.At this dress
The angular range putting middle variable optical attenuator reception optical signal is constant, therefore, it can directly by the light intensity of fading transmission
Realize the control to optical signal.Variable optical attenuator (Variable optical attenuator) can be magneto-optic VOA, liquid crystal
VOA, high photoelectric coefficient material VOA etc..
When range finding, if being I by the light intensity of the optical signal after narrow band pass filter 240, when on variable optical attenuator
Making alive V, the optical power attenuation of optical signal is the function that variable optical attenuator adds magnitude of voltage, and the light intensity of emergent light signal is
The function of voltage V, the light intensity of this emergent light signal is I '=I0(V)。
When target is near field, the echo-signal light intensity of optical signal is very strong, is likely to result in photodetector 27 work
Make to lose in saturation region or detector, receive therefore, it is necessary to reduce photodetector 27 by this variable optical attenuator 25
The echo-signal light intensity arrived.When finding range near field, it is I by the light intensity of the optical signal after narrow band pass filter 240 near field, variable
After adding voltage V in optical attenuator 25, the light intensity of optical signal is I'Near field=I0 near field, and meet I' (V)Near field＜ I0 near field, can basis
Need to regulate decay amount, different magnitudes of voltage can be added as required.As it is shown on figure 3, I0 near fieldRepresent that the target of range finding is nearer
Time, it is I by the light intensity of the optical signal after narrow band pass filter 240 near field, I0 near field(V) represent the effect by attenuator, be voltage
Function；The light intensity of I ' should be less than detector allow auxiliary enter largest light intensity, more than the threshold value light intensity of detector, guarantee
Can normally work.
When target is in far field, the echo-signal light intensity of optical signal is more weak, is not required to decay light intensity, now declines
Decrement is adjustable as 0.When finding range in far field, it is I by the light intensity of the optical signal after narrow band pass filter 240 far field, variable light decay
The attenuation subtracting device 25 is 0, and the light intensity of optical signal is I 'Far field=I0 far field。
Distance is very big on the impact of echo-signal light intensity, I0 far field＜ ＜ I0 near fieldIf not increasing variable optical attenuator 25 can
Photodetector 27 can be caused malfunctioning, after increasing variable optical attenuator 27, I' can be madeFar field、I'Near fieldValue close, Dou Nengluo
Within entering the investigative range of photodetector.
The splitting ratio γ of laser radar optical receiver assembly with the relation of the voltage of addition on variable optical attenuator 25 is:
In formula 1, the splitting ratio γ of laser radar optical receiver assembly is the letter of the voltage V added on variable optical attenuator 25
Number, the voltage of addition is continuously adjustable, and therefore, splitting ratio is also continuously adjustable, and light splitting precision significantly improves.
When echo-signal is after variable optical attenuator 25, by the condenser lens 26 optical signal can being focused, will
Optical signal focuses on photodetector 27, and described photodetector 27 is positioned at the focal position of condenser lens 26.Optical signal leads to
After crossing described condenser lens, optical signals parallel input light is collected as focusing on emergent light.This condenser lens is common convex lens
Mirror.
The optical signal of photodetector 27 collectiong focusing, and the signal of telecommunication corresponding for optical signal is shown.This light electrical resistivity survey
Survey device 27 and be used for exporting according to the light intensity of optical signal the signal of telecommunication of correspondence, for subsequent conditioning circuit.Photodetector 27
Focal position in described condenser lens 26.Convert electrical signals to the light intensity of the optical signal of equity, according to the light of this detection
The light intensity of the laser signal that the light intensity of signal is launched with emitter and target range and the light intensity of other influences optical signal
The relation of parameter, target can be calculated to the distance between optical receiver.These parameters include: laser beam characteristic, optics
System effectiveness, the decay amount etc. of optical signal.
Based on described above be a kind of laser radar optical receiver assembly, it is provided that a kind of swash based on described in above-mentioned truth example
The laser radar range method of optical radar optical receiver assembly, the embodiment of the present invention additionally provides a kind of laser radar range side
Method, further explains, as in figure 2 it is shown, be the flow chart of the laser radar range method of the present invention, and the method bag
Include following steps:
S100, laser radar emitter are to objective emission laser signal.
Laser radar range reflects after really encountering barrier by laser, according to the light intensity of laser signal
Loss determines the distance of target.Therefore, when finding range, it should laser radar emitter to quasi goal and is launched laser letter
Number.
S200, on the variable optical attenuator of laser radar optical receiver assembly add voltage V, determine by variable light decay
Subtract the attenuation of device optical signal.
If the transmitting power of emitter is very big, when target is low latitude object, then cause echo-signal very strong, light electrical resistivity survey
Survey device and easily reach the saturated loss even causing highly sensitive detector.Variable optical attenuator is by Control of Voltage optical signal
Attenuation.When adding voltage on the variable optical attenuator in optical receiver assembly, the echo optical signal of reception of can decaying
Luminous power so that the luminous power of reception is in the investigative range of photodetector；When target is in high-altitude object, echo light
The meeting decay of signal, now need not be to adding voltage, the light of the echo optical signal that photodetector receives on variable optical attenuator
Power is actual luminous power so that the luminous power of the echo optical signal of reception is still within the investigative range of photodetector
In.The voltage V added on variable optical attenuator can be adjusted according to the distance of detection echo-signal.
S300, with described laser radar optical receiver assembly receive laser echo signal.
Laser radar optical receiver assembly is used for being received back to wave optical signal, and by the optics in optical receiver assembly
Optical signal is optimized and exports.The structure of this laser radar optical receiver assembly, as detailed above.
S400, according to receive the light intensity of laser signal, emitter launch the light intensity of laser signal, target range and
The parameter of the light intensity of other influences laser signal, calculates target to the distance between optical receiver.
Target is not only relevant to the light intensity of laser signal to the calculating of the distance between optical receiver, also special with laser beam
Property, the decay amount etc. of optical system efficiency, optical signal.There is the relation determined, when parameters is true between distance and these parameters
Regularly, the distance between the target of position and optical receiver can be calculated.
In sum, a kind of laser radar optical receiver assembly disclosed by the invention and laser radar range method, this dress
Put and have that light path is simple, the feature of good stability；And this optical receiver assembly uses variable optical attenuator to control declining of optical signal
Decrement, self adaptation closely and at a distance can detect demand, prevents photodetector to be operated in saturation region or detector damages
Lose；Magnitude of voltage in variable optical attenuator is continuously adjustable, and therefore splitting ratio is also continuously adjustable, and light splitting precision substantially carries
High.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved according to the above description or to convert, all these modifications and variations all should belong to the guarantor of claims of the present invention
Protect scope.
Claims (10)
1. a laser radar optical receiver assembly, it is characterised in that be included in and set gradually in same light path:
During for carrying out laser acquisition, receive the telescope of the echo-signal of laser；
For the collimating lens that optical signal is collimated；
For bias light being carried out the narrow band pass filter of bandpass filter；
For being realized the variable optical attenuator of the control to optical signal by fading transmission luminous power；
For the condenser lens that optical signal is focused；
For exporting the photodetector of the signal of telecommunication of correspondence according to the light intensity of optical signal；
The diverging light of described telescope outgoing is collected as exiting parallel light by after described collimating lens；Exiting parallel light passes through institute
Only by launching the optical signal of the narrow-band scope of laser after stating narrow band pass filter；Optical signal is by after described variable optical attenuator
Optical signal is exiting parallel light, and the optical power attenuation of optical signal is the function that variable optical attenuator adds magnitude of voltage；Optical signal leads to
After crossing described condenser lens, optical signals parallel input light is collected as focusing on emergent light；Described photodetector collectiong focusing
Optical signal, and the signal of telecommunication corresponding for optical signal is shown.
Laser radar optical receiver assembly the most according to claim 1, it is characterised in that
The field stop for limiting field range is also included between telescope and collimating lens.
Laser radar optical receiver assembly the most according to claim 1, it is characterised in that
Described variable optical attenuator is by the attenuation of Control of Voltage optical signal.
Laser radar optical receiver assembly the most according to claim 2, it is characterised in that
Described field stop is positioned at telescopical focal position.
Laser radar optical receiver assembly the most according to claim 2, it is characterised in that
The pore size of described field stop defines optical signal field of view of receiver size.
Laser radar optical receiver assembly the most according to claim 1, it is characterised in that
Described photodetector is positioned at the focal position of condenser lens.
Laser radar optical receiver assembly the most according to claim 1, it is characterised in that
Described variable optical attenuator is magneto-optic VOA or liquid crystal VOA.
8. a laser radar range method, it is characterised in that the method includes:
A, laser radar emitter are to objective emission laser signal；
B, on the variable optical attenuator of laser radar optical receiver assembly add voltage V, determine by variable optical attenuator light
The attenuation of signal；
C, with described laser radar optical receiver assembly receive laser echo signal；
D, the light intensity of laser signal, target range and other shadows launched according to the reception light intensity of laser signal, emitter
Ring the parameter of light intensity of laser signal, calculate target to the distance between optical receiver.
Laser radar range method the most according to claim 8, it is characterised in that
Step B also includes:
The voltage V added on variable optical attenuator is adjusted by the distance according to detection echo-signal.
Laser radar range method the most according to claim 8, it is characterised in that
Described variable optical attenuator is by the attenuation of Control of Voltage optical signal.
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