CN106443635A - Miniature laser radar system - Google Patents
Miniature laser radar system Download PDFInfo
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- CN106443635A CN106443635A CN201610949389.3A CN201610949389A CN106443635A CN 106443635 A CN106443635 A CN 106443635A CN 201610949389 A CN201610949389 A CN 201610949389A CN 106443635 A CN106443635 A CN 106443635A
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- Prior art keywords
- laser
- galvanometer
- radar system
- miniature
- laser galvanometer
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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 miniature laser radar system. The miniature laser radar system comprises a laser, a collimating lens, a first laser galvanometer, a second laser galvanometer, a receiving lens, a detector and a control processing unit, wherein the first laser galvanometer is used for periodically deflecting the transmitting direction of laser which is emitted from the laser and transmitted via the collimating lens, so that an object to be measured is scanned and measured; the second laser galvanometer is used for periodically deflecting the transmitting direction of laser which is reflected from the surface of the object to be measured, so that the reflecting laser which returns from different directions can be received by the receiving lens and is gathered in the detector; and the control processing unit measures the distance of the object to be measured according to time difference between transmitting of laser by the laser and receiving of the reflecting laser of the detector, and the direction angle of the object to be measured is obtained according to the working state of the first laser galvanometer which deflects the laser, namely the deflection angle of a mirror surface. The miniature laser radar system is simple in structure, small in size and low in cost.
Description
Technical field
The invention belongs to laser radar field is and in particular to a kind of miniature laser radar system.
Background technology
Laser radar technique has years of researches history, is initially applied to the fields such as national defence, Aero-Space.In recent years with
The development of laser technology and the information processing technology, laser radar is unmanned in ground mapping, robot space orientation, automobile
Etc. aspect have increasing application.
Laser radar technique has phase measurement, impulsive mensuration, triangulation etc. in specific technical scheme, its
Middle impulsive mensuration is high due to far measuring distance, certainty of measurement, of great interest.The side of implementing of impulsive mensuration
Formula is：Laser launched by laser instrument, is radiated at object under test surface, some laser is in body surface meeting after collimation is processed
Reflected, and be received by a detector.According to measurement transmitting laser and receive reflection laser time difference calculate object under test with
The distance between laser instrument.
Space for measuring targets is positioned, in addition it is also necessary to obtain the orientation of object under test in addition to range information
Information.Prior art is usually to be realized using rotary scanning mechanism, and rotary scanning mechanism utilizes the rotation of itself, drives and swashs
Optical detection and ranging system rotates, and carries out rotation sweep by this measuring targets, according to the azimuth information of rotary scanning mechanism during scanning, obtains
The azimuth being located to object under test.
Problem of the prior art is：
Rotary scanning mechanism will drive whole laser radar system to be rotated, because laser radar system comprises a lot of electricity
Road and optics, volume and weight all ratios are larger, and therefore rotary scanning mechanism is also required to big volume and counterweight, to reach steady
Fixed scanning effect, the installation to laser radar system and attractive in appearance bring impact.
Content of the invention
It is an object of the invention to solving the problems referred to above of prior art presence and at least one aspect of defect.
The present invention provides a kind of miniature laser radar system, makees laser scanning element using miniature laser galvanometer, makes laser
Radar system itself does not need to rotate the rotation sweep that can achieve measuring targets.
For achieving the above object, the present invention provides a kind of miniature laser radar system, including：
Laser instrument, launches laser；Collimating lens, laser laser instrument launched and transmits is collimated；First swashs
Light galvanometer；Second laser galvanometer；Receiving lens, the transmitting laser that object under test surface is reflected is received and is converged；
Detector, the reflection receiving laser is carried out opto-electronic conversion；Control process unit, controls laser instrument, detector, first laser
The working condition of galvanometer and second laser galvanometer simultaneously carries out data processing.
Wherein, first laser galvanometer is carried out to the direction of the launch of the laser after the collimation being transmitted by collimating lens partially
Turn, be scanned measuring by this measuring targets；Second laser galvanometer is to the reflection laser being reflected by object under test surface
Transmission direction enter horizontal deflection so that the reflection laser returned by different directions can be received by receiving lens and converge to detection
In device；Control process unit measures determinand according to the time difference that laser instrument transmitting laser and detector receive reflection laser
The distance of body, draws object under test deflection according to the working condition of first laser galvanometer.
Laser galvanometer is a kind of conventional laser scanning device, is changed using the rotation of laser galvanometer minute surface and is irradiated to mirror
The direction of propagation of the laser in face, realizes the high-velocity scanning of laser by high-speed rotation, and the application in daily life has laser marking
The scanheadss of machine.Laser galvanometer itself carries angular transducer, and when laser radar system works, laser galvanometer is by specular angle
The working condition that degree information is entered to laser during horizontal deflection is sent to control process unit.
According to the embodiment of an example of the present invention, the work week of described first laser galvanometer and second laser galvanometer
Phase is identical.
The embodiment of another exemplary according to the present invention, described first laser galvanometer and second laser galvanometer are one-dimensional
Laser galvanometer.
The embodiment of another exemplary according to the present invention, described one-dimensional laser galvanometer：First laser galvanometer and second
The working method of laser galvanometer is phase step type.
The embodiment of another exemplary according to the present invention, described one-dimensional laser galvanometer：First laser galvanometer and second
The working method of laser galvanometer is continuous way.
The embodiment of another exemplary according to the present invention, in the one-dimensional laser galvanometer of described continuous way work, second swashs
The working condition of light galvanometer has a time delay than first laser galvanometer.
The embodiment of another exemplary according to the present invention, described first laser galvanometer and second laser galvanometer are two dimension
Laser galvanometer.
The embodiment of another exemplary according to the present invention, described two-dimensional laser galvanometer：First laser galvanometer and second
The working method of laser galvanometer is phase step type.
The embodiment of another exemplary according to the present invention, described two-dimensional laser galvanometer：First laser galvanometer and second
The working method of laser galvanometer mutually mixes with continuous way for phase step type, and first laser galvanometer and second laser galvanometer are swept at first
Retouching direction is phase step type, is continuous way second scanning direction.
The embodiment of another exemplary according to the present invention, the two-dimensional laser of described phase step type and continuous way mixing shakes
Mirror, is continuous way operative orientation second scanning direction, and the working condition of second laser galvanometer has one than first laser galvanometer
Individual time delay.
The embodiment of another exemplary according to the present invention, described collimating lens are planoconvex lenss.
The embodiment of another exemplary according to the present invention, described receiving lens are Kepler-type telescope.
Difference with the prior art of the present invention is：
The present invention utilizes the deflecting action to laser propagation direction for the miniature laser galvanometer, realizes the scanning of measuring targets,
Structure is simple, and small volume is lightweight.Existing laser radar typically adopts bulky rotary scanning mechanism, by rotation
The whole laser radar system that rotarily drives of sweep mechanism itself is scanned, and volume is big, complex structure.
By the description made for the present invention of below with reference to accompanying drawing, other objects of the present invention and advantage will be aobvious and easy
See, and can help that complete understanding of the invention will be obtained.
Brief description
Fig. 1 shows the general illustration of the present invention.
Fig. 2 shows the one-dimensional laser galvanometer schematic diagram in the present invention as a kind of embodiment of exemplary.
Fig. 3 shows the two-dimensional laser galvanometer schematic diagram of the embodiment in the present invention as another kind of exemplary.
Fig. 4 shows the collimating lens structures schematic diagram in the present invention.
Fig. 5 shows the receiving lens structural representation in the present invention.
Specific embodiment
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.In explanation
In book, same or analogous drawing reference numeral indicates same or analogous part.Following referring to the drawings to embodiment of the present invention
Illustrate to be intended to the present general inventive concept of the present invention is explained, and be not construed as one kind restriction to the present invention.
In addition, in the following detailed description, for ease of explaining, elaborate many concrete details to provide to present disclosure
Embodiment comprehensive understanding.It will become apparent, however, that one or more embodiments can also be by the case of not having detail
Implement.In other cases, known construction and device diagrammatically embodies to simplify accompanying drawing.
According to a general technical design of the present invention, provide a kind of miniature laser radar system, as shown in figure 1, including：
Laser instrument 102, launches laser；Collimating lens 103, the laser that laser instrument 102 is launched and transmitted carries out standard
Directly；First laser galvanometer 104；Second laser galvanometer 108；Receiving lens 109, by object under test 106 surface reflect anti-
Penetrate laser 107 to be received and converge；Detector 110, reflection is swashed 107 light and carries out opto-electronic conversion；Control process unit 101,
Control laser instrument 102, the working condition of detector 110, first laser galvanometer 104 and second laser galvanometer 108 and carry out data
Process.
Wherein, first laser galvanometer 104 enters to the direction of the launch of the laser after the collimation being transmitted by collimating lens 103
Line period deflects, and forms Laser Measurement 105 and launches, and is scanned measuring by this measuring targets 106；Second laser is shaken
Mirror 108 to reflected by object under test 106 surface reflection laser 107 transmission direction carry out periodic deflection so that by
The reflection laser 107 that different directions are returned can be received by receiving lens 109 and converge in detector 110；Control process list
Unit 101 measures object under test according to the time difference that laser instrument 102 transmitting laser and detector 110 receive reflection laser 107
106 distance, is that the laser that collimation lens 103 transmit enters horizontal deflection according to the working condition of first laser galvanometer 104
When minute surface deflection angle draw object under test 106 deflection.
In the first embodiment of the present invention, described first laser galvanometer and second laser galvanometer are one-dimensional laser galvanometer.
In the second embodiment of the present invention, described first laser galvanometer and second laser galvanometer are two-dimensional laser galvanometer.
First embodiment
The specific works mode of first embodiment of the invention is as follows：
First laser galvanometer 104 in the present embodiment and second laser galvanometer 108 are all one-dimensional laser galvanometer.Commercial at present
The maximum deflection angle of one-dimensional laser galvanometer can accomplish more than 50 °, repetition rate is in more than 10KHz.Maximum deflection angle is also referred to as
Range of deflection, is the range of deflection angles of minute surface in one deflection cycle during laser galvanometer periodic deflection.For convenience of stating, make
For a kind of preferred version, maximum deflection angle in the present embodiment, is adopted to be 50 °, repetition rate is that the one-dimensional laser galvanometer of 10KHz comes
Illustrated.Those of ordinary skill in the art should be understood that there is the one-dimensional of other maximum deflection angles and repetition rate
Laser galvanometer also apply be applicable to the present embodiment.
The operating diagram of the one-dimensional laser galvanometer in the present invention is as shown in Figure 2.One-dimensional laser galvanometer has two deflections to draw
Foot 201 and 202, when applying bias voltage equal in magnitude, in opposite direction respectively in pin 201 and 202, one-dimensional laser galvanometer
Minute surface 203 can deflect.Change the size of bias voltage, the angle of deflection can change；When applying cyclically-varying
Voltage signal when, the deflection angle of minute surface 203 can generating period change.
As a kind of preferred version, the collimating lens 103 in the present embodiment, as shown in figure 4, being planoconvex lenss, will be transmitted across
The laser beam transformation dissipating is the directional light of collimation.
As a kind of preferred version, the receiving lens 109 in the present embodiment, will as shown in figure 5, being Kepler-type telescope
The directional light transmitting converges.
In t0In the moment, control process unit 101 controls laser instrument 102 transmitting laser.The laser of laser instrument 102 transmitting passes through
After collimating lens 103 collimation, become the smaller directional light of the angle of divergence, this directional light reaches first laser galvanometer through propagating
104.
In t0In the moment, control process unit 101 controls the work of first laser galvanometer 104 and second laser galvanometer 108 simultaneously
Make state, periodic bias voltage, the deflection of the minute surface therefore generating period of two laser galvanometers are provided.The present embodiment
In, convenient for statement, the cyclically varying orientation that deflection leads to be transferred to the laser of minute surface can be made to be X-direction.
The laser of laser instrument 102 transmitting, when traveling on the minute surface of first laser galvanometer 104, reflects in minute surface, shape
Laser Measurement 105 is become to launch to object under test 106, on the surface of object under test 106, some laser can reflect, shape
Become reflection laser 107.
Reflection laser 107 propagates the minute surface reaching second laser galvanometer 108, and the direction of propagation deflects, sending out after deflection
Penetrate laser to be received by receiving lens 109, and converge to detector 110, the signal detecting is carried out photoelectricity and turns by detector 110
Change, and transfer information to control process unit 101.The moment that control process unit 101 records now is t1.
The laser of laser instrument 102 transmitting is pulse laser, and laser radar is to the certainty of measurement of space length and pulse width
Relevant, in general, pulse width is wider, and certainty of measurement is lower.Simultaneously as the measurement distance of laser radar and pulse width
Also there is relation, because pulse width is wider, laser energy is bigger, then measurement distance is bigger.Therefore, pulse width will comprehensively be examined
Consider.For convenience of stating, as a kind of exemplary illustration, in the present embodiment, the pulse width of pulse laser was 10 nanoseconds.This area
Those of ordinary skill should be understood that pulse width is not become a kind of restriction of the present embodiment 10 nanoseconds.
Laser instrument 102 is periodic transmission pulse laser, and its cycle is according to the measurement of object under test or laser radar
Distance determines, the cycle should propagate a time required back and forth more than laser in measurement distance.Exemplary as one kind
Explanation, when the distance of object under test 106 is 150 meters, launch laser from laser instrument 102, laser reaches object under test 106
Behind surface, the time that reflection laser 107 is received by a detector is about 1 microsecond, then the cycle of laser instrument 102 emission pulse laser will
Delicate more than 1.As a kind of preferred version of the present embodiment, the cycle that can select laser instrument 102 emission pulse laser is micro- for 2
Second, that is, every 2 microseconds launch the laser that pulsatile once width was 10 nanoseconds.Those of ordinary skill in the art should be understood that laser
The cycle of device 102 is a kind of exemplary illustration for 2 microseconds, should not become a kind of restriction of the present embodiment.
In exemplary illustration in the present embodiment, the operating frequency of first laser galvanometer 104 and second laser galvanometer 108 is
10KHz, the time of a cycle that often works is 100 microseconds.From the foregoing, it will be observed that in a cycle, laser instrument 102 transmits 50
Subpulse laser, that is, the miniature laser radar measuring targets in the present embodiment measure 50 times.Because laser galvanometer is in the cycle
Property change bias voltage under work, the yawing moment of laser galvanometer minute surface is also periodically variable, that is, in the present embodiment
Angular measurement 50 times in different directions in the range of 50 ° of the X yawing moment of miniature laser radar.
In the present invention, the effect of first laser galvanometer 104 is periodic deflection by minute surface so that transmitting laser 105
Angular object under test 106 scans in different directions；The effect of second laser galvanometer 108 is the periodic deflection by minute surface,
Make the reflection laser 107 that different directions are returned, can be received by receiving lens 109.
As a kind of preferred version, the first laser galvanometer 104 in the present embodiment and the work side of second laser galvanometer 108
Formula is phase step type, and that is, the deflection angle of laser galvanometer is with bias voltage sudden transformation.
As a kind of preferred version, shaken with the first laser galvanometer 104 of sudden transformation and second laser in the present embodiment
The working condition of mirror 108 is identical.As a kind of exemplary illustration, with the cycle for 100 seconds, range of deflection is 50 ° of laser galvanometer
As a example.From t0Moment, every 2 microseconds, the deflection angle of the minute surface of first laser galvanometer 104 and second laser galvanometer 108
Make a saltus step, for example, from 0 to 2 microseconds, 1 ° of deflection mirror surface；From 2 to 4 microseconds, 2 ° of deflection mirror surface；From 4 to 6 microseconds, minute surface is inclined
Turn 3 °, so continue, until from 98 to 100 microseconds, 50 ° of deflection mirror surface, first laser galvanometer 104 and second laser galvanometer 108
Complete a working cycle.
As another kind of preferred version, the first laser galvanometer 104 in the present embodiment and the work of second laser galvanometer 108
Mode is continuous way.The deflection angle of laser galvanometer is directly proportional to the size of bias voltage, when bias voltage linearly changes,
The deflection angle of laser galvanometer also linear change.As a kind of exemplary illustration, with the cycle for 100 seconds, range of deflection is 50 °
As a example laser galvanometer, when bias voltage is when changing to 50 volts for 0 volt, the deflection angle of laser galvanometer changes to 50 degree from 0 degree, then
Within the same cycle not in the same time, the angle being deflected by the transmitting laser 105 of first laser galvanometer 104 is different, that is,
The direction of the launch is different.
As a kind of preferred version, swashed with the first laser galvanometer 104 and second that continuous way mode works in the present embodiment
The working condition of light galvanometer 108 is identical, has identical deflection angle at any one time.
As another kind of preferred version, the working condition of the second laser galvanometer being worked in continuous way mode in the present embodiment
There is a time delay than first laser galvanometer.Because second laser galvanometer 108 will be launched by first laser galvanometer 104
Have different directions angle transmitting the reflection laser 107 on object under test 106 surface for the laser 105 reflex to receiving lens 109
Range of receiving in, and launch laser 105 and reach second laser galvanometer 108 through first laser galvanometer 104 and reflection laser 107
There is a time difference, the therefore working condition of second laser galvanometer has a time delay than first laser galvanometer.Time delay
Occurrence refer to object under test distance determine.
As a kind of exemplary illustration, with the cycle for 100 seconds, as a example range of deflection is 50 ° of laser galvanometer.Note t1Moment
And t0The time difference in moment is Δ T1, according to the measuring principle of pulse detection method, on the object under test 106 recording in this measurement
Certain point with laser instrument 102 apart from L beWherein C is the aerial transmission speed of laser.Current measurement
On measured object under test 106 surface, the deflection of certain point is 1 °.
In t0In+2 microsecond moment, laser instrument 102 emission pulse laser again, in t2In the moment, reflection laser 107 is by detector
Receive.Note t2Moment and t0The time difference in+2 microsecond moment is Δ T2, on the object under test 106 that records in this measurement certain point with
Laser instrument 102 apart from L beThe current deflection measuring certain point on measured object under test 106 surface
For 2 °.
Continue such repetition measurement, in t0In+98 microsecond moment, laser instrument 102 emission pulse laser again, in t50When
Carve, reflection laser 107 is received by a detector.Note t2Moment and t0The time difference in+98 microsecond moment is Δ T50, survey in this measurement
Object under test 106 on certain point with laser instrument 102 apart from L beTo be measured measured by current measurement
On object 106 surface, the deflection of certain point is 50 °.
So far, the miniature laser radar system in the present embodiment completes the measure the cycle of 100 microseconds.
Second embodiment
The specific works mode of second embodiment of the invention is as follows：
First laser galvanometer 104 in the present embodiment and second laser galvanometer 108 are all two-dimensional laser galvanometer, commercial at present
Two-dimensional laser galvanometer deflection angle in the two directions and repetition rate can accomplish, in first yawing moment：Deflection
More than 50 ° of angle, repetition rate in more than 10KHz, in second yawing moment：10 ° of deflection angle, repetition rate is in more than 1KHz.
Note both direction is X-direction and Y-direction normal thereto, and for convenience of stating, as a kind of preferred version, the present embodiment adopts
The maximum deflection angle of X-direction is 10 °, and repetition rate is 1KHz；Maximum deflection angle in the Y direction is 50 °, and repetition rate is
The two-dimensional laser galvanometer of 10KHz is illustrative.Those of ordinary skill in the art should be understood that there is other maximums partially
The two-dimensional laser galvanometer of corner and repetition rate also apply be applicable to the present embodiment.
The operating diagram of the two-dimensional laser galvanometer in the present invention is as shown in Figure 3.Two-dimensional laser galvanometer has two deflection is drawn
Foot：301 and 302,303 and 304, when applying bias voltage equal in magnitude, in opposite direction respectively in pin 301 and 302, two
The minute surface 305 of dimension laser galvanometer can deflect in X-direction；When applying equal in magnitude, direction phase respectively in pin 303 and 304
During anti-bias voltage, the minute surface 305 of two-dimensional laser galvanometer can deflect in the Y direction.Change the size of bias voltage, deflection
Angle can change；When applying periodically variable voltage signal, the deflection angle of minute surface 305 can generating period become
Change.
As a kind of preferred version, the collimating lens 103 in the present embodiment, as shown in figure 4, being planoconvex lenss, will be transmitted across
The laser beam transformation dissipating is the directional light of collimation.
As a kind of preferred version, the receiving lens 109 in the present embodiment, will as shown in figure 5, being Kepler-type telescope
The directional light transmitting converges.
In t0In the moment, control process unit 101 controls laser instrument 102 transmitting laser.The laser of laser instrument 102 transmitting passes through
After collimating lens 103 collimation, become the smaller directional light of the angle of divergence, this directional light reaches first laser galvanometer through propagating
104.
In t0In the moment, control process unit 101 controls the work of first laser galvanometer 104 and second laser galvanometer 108 simultaneously
Make state, periodic bias voltage, the deflection of the minute surface therefore generating period of two laser galvanometers are provided.
The laser of laser instrument 102 transmitting, when traveling on the minute surface of first laser galvanometer 104, launches reflection, shape in minute surface
Laser Measurement 105 is become to launch to object under test 106, on the surface of object under test 106, some laser can reflect, shape
Become reflection laser 107.
Reflection laser 107 propagates the minute surface reaching second laser galvanometer 108, and the direction of propagation deflects, sending out after deflection
Penetrate laser to be received by receiving lens 109, and converge to detector 110, the signal detecting is carried out photoelectricity and turns by detector 110
Change, and transfer information to control process unit 101.The moment that control process unit 101 records now is t1.
The laser of laser instrument 102 transmitting is pulse laser, and laser radar is to the certainty of measurement of space length and pulse width
Relevant, in general, pulse width is wider, and certainty of measurement is lower.Simultaneously as the measurement distance of laser radar and pulse width
Also there is relation, because pulse width is wider, laser energy is bigger, then measurement distance is bigger.Therefore, general pulse width is comprehensive
Consider.As a kind of preferred version, the pulse width making pulse laser was 10 nanoseconds.Those of ordinary skill in the art should know
Road, pulse width is not become a kind of restriction of the present embodiment 10 nanoseconds.
Laser instrument 102 is periodic transmission pulse laser, and its cycle is according to the measurement of object under test or laser radar
Distance determines, the cycle should propagate a time required back and forth more than laser in measurement distance.Exemplary as one kind
Explanation, when the distance of object under test 106 is 150 meters, launch laser from laser instrument 102, laser reaches object under test 106
Behind surface, the time that reflection laser 107 is received by a detector is about 1 microsecond, then the cycle of laser instrument 102 emission pulse laser will
Delicate more than 1.As a kind of preferred version of the present embodiment, the cycle that can select laser instrument 102 emission pulse laser is micro- for 2
Second, that is, every 2 microseconds launch the laser that pulsatile once width was 10 nanoseconds.Those of ordinary skill in the art should be understood that laser
The cycle of device 102 is a kind of exemplary illustration for 2 microseconds, should not become a kind of restriction of the present embodiment.
In the present embodiment, as a kind of exemplary illustration, first laser galvanometer 104 and second laser galvanometer 108 are in X-direction
Operating frequency be 1KHz, time of a cycle that often works is to be all 1 millisecond；Operating frequency in the Y direction is
10KHz, the time of a cycle that often works is 100 microseconds.From the foregoing, it will be observed that a cycle in the X direction is in 1 millisecond,
Laser instrument 102 transmits 500 subpulse laser, and that is, the miniature laser radar measuring targets in the present embodiment measure 500 times；
A cycle in the Y direction is in 100 microseconds, and laser instrument 102 transmits 50 subpulse laser, that is, miniature in the present embodiment
Laser radar measuring targets measure 50 times.
In the present invention, the effect of first laser galvanometer 104 is periodic deflection by minute surface so that transmitting laser 105
Angular object under test 106 scans in different directions；The effect of second laser galvanometer 108 is the periodic deflection by minute surface,
Make the reflection laser 107 that different directions are returned, can be received by receiving lens 109.
As a kind of preferred version, the first laser galvanometer 104 in the present embodiment and the work side of second laser galvanometer 108
Formula is phase step type.As a kind of exemplary illustration, in X-direction, from t0Moment, every 100 microseconds, first laser galvanometer
104 and second laser galvanometer 108 minute surface X-direction deflection angle make a saltus step, for example, from 0 to 100 microseconds, minute surface
1 ° of deflection；From 100 to 200 microseconds, 2 ° of deflection mirror surface；From 200 to 300 microseconds, 3 ° of deflection mirror surface, so continues, until from 900
To 1 millisecond, 10 ° of deflection mirror surface, first laser galvanometer 104 and second laser galvanometer 108 complete a work week in X-direction
Phase.In the Y direction, from t0In the moment, every 2 microseconds, the minute surface of first laser galvanometer 104 and second laser galvanometer 108 is in Y side
To deflection angle make a saltus step, for example, from 0 to 2 microseconds, 1 ° of deflection mirror surface；From 2 to 4 microseconds, 2 ° of deflection mirror surface；From 4 to
6 microseconds, 3 ° of deflection mirror surface, so continues, until from 98 to 100 microseconds, 50 ° of deflection mirror surface, first laser galvanometer 104 and second
Laser galvanometer 108 completes a working cycle in the Y direction.As a kind of preferred version, first laser galvanometer 104 and second swashs
The working condition of light galvanometer 108 is identical, has identical deflection angle at any one time.
As another kind of preferred version, the first laser galvanometer 104 in the present embodiment and the work of second laser galvanometer 108
Mode mutually mixes with continuous way for phase step type, and first laser galvanometer and second laser galvanometer are phase step type in X-direction, in the Y direction
For continuous way.In the Y direction, the deflection angle of laser galvanometer is directly proportional to the size of bias voltage, when bias voltage linearly changes
When, the deflection angle also linear change of laser galvanometer.For example, as a kind of exemplary illustration, when bias voltage changes to from 0 volt
When 50 volts, the deflection angle of laser galvanometer changes to 50 degree from 0 degree, then within the same cycle not in the same time, by first
The angle that the transmitting laser 105 of laser galvanometer 104 is deflected is different, and that is, the direction of the launch is different.Because second laser galvanometer 108 will
By launched by first laser galvanometer 104 have different directions angle transmitting laser 105 anti-on object under test 106 surface
Penetrate laser 107 to reflex in the range of receiving of receiving lens 109, and launch laser 105 through first laser galvanometer 104 and reflection
Laser 107 reaches second laser galvanometer 108 has a time difference, therefore as a kind of preferred version of this scheme, second laser
The working condition of galvanometer has a time delay in the Y direction than first laser galvanometer.The occurrence of time delay refers to be measured
The distance of object determines.
As a kind of exemplary illustration, from t0Moment is to t0In+100 microseconds, it is that first laser galvanometer 104 and second swashs
The light galvanometer 108 first job cycle in the Y direction, now two laser galvanometers be 1 ° in the deflection angle of X-direction.
Note t1Moment and t0The time difference in moment is Δ T1, according to the measuring principle of pulse detection method, record in this measurement
Object under test 106 on certain point with laser instrument 102 apart from L beWherein C is the aerial biography of laser
Defeated speed.On measured object under test 106 surface of current measurement, certain point is 1 ° in the deflection of X-direction, the deflection of Y-direction
For 1 °.
In t0In+2 microsecond moment, laser instrument 102 emission pulse laser again, in t2In the moment, reflection laser 107 is by detector
Receive.Note t2Moment and t0The time difference in+2 microsecond moment is Δ T2, on the object under test 106 that records in this measurement certain point with
Laser instrument 102 apart from L beOn measured object under test 106 surface of current measurement, certain point is in X-direction
Deflection be 1 °, the deflection in Y-direction be 2 °.
Continue such repetition measurement, in t0In+98 microsecond moment, laser instrument 102 emission pulse laser again, in t50When
Carve, reflection laser 107 is received by a detector.Note t2Moment and t0The time difference in+98 microsecond moment is Δ T50, survey in this measurement
Object under test 106 on certain point with laser instrument 102 apart from L beTo be measured measured by current measurement
On object 106 surface, certain point is 1 ° in the deflection of X-direction, and the deflection in Y-direction is 50 °.
So far, the miniature laser radar system in the present embodiment completes the measurement week in the Y direction of 100 microseconds
Phase, now X-direction deflection be 1 °.
In t0During+100 microsecond, first laser galvanometer 104 and second laser galvanometer 108 jump to 2 ° in the deflection of X-direction,
From t0+ 100 microseconds are to t0Between+200 microseconds, the miniature laser radar system in the present embodiment repeat above-mentioned in the Y direction
Periodic measurement, in Y-direction, every microsecond changes once, changes to 50 ° from 1 °.
So continue, in t0During+900 microsecond, first laser galvanometer 104 and second laser galvanometer 108 are in the direction of X-direction
Angle jumps to 2 °, from t0+ 900 microseconds are to t0Between+1 millisecond, in the miniature laser radar system Y-direction of Shi Lizhong, every microsecond becomes
Change once, change to 50 ° from 1 °.
From t0To t0+ 1 millisecond, the laser radar system in the present embodiment completes a complete measure the cycle, completes
500 measurements.Change to 10 ° from 1 ° in the X direction, a cycle；Change to 50 ° from 1 ° in the Y direction, changed for 10 week
Phase.
It should be noted that for ease of the understanding of persons skilled in the art, to used in the specific embodiment of the invention
To the parameter of part made exemplary restriction, such as the pulse width of laser instrument was 10 nanoseconds, and the working cycle is 2 microseconds；One
The maximum deflection angle of dimension laser galvanometer is 50 °, and the working cycle is 10KHz.One of ordinary skill in the art is it should be appreciated that this limit
Surely it is intended merely to the clearer general technical design illustrating the present invention, and should not be used as a kind of limit in technical solution of the present invention
Fixed.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this area
Technical staff can make improvements, the rushing in terms of not recurring structure or principle of the structure described in various embodiments
Independent assortment can be carried out in the case of prominent.
Although describing the present invention in conjunction with accompanying drawing, the embodiment disclosed in accompanying drawing is intended to the reality to the present invention
Apply that mode is illustrative, and it is not intended that one kind restriction to the present invention.
Although illustrating that some embodiments of the design of the present invention have been shown and have illustrated, those of ordinary skill in the art will
Understand, in the case of the principle without departing substantially from present inventive concept and spirit, these embodiments can be made a change, the model of the present invention
Enclose and limited with claim and their equivalent.
Claims (10)
1. a kind of miniature laser radar system, including：
Laser instrument, launches laser；Collimating lens, laser laser instrument launched and transmits is collimated；First laser is shaken
Mirror；
Second laser galvanometer；Receiving lens, the transmitting laser that object under test surface is reflected is received and is converged；Detect
Device, reflection laser is carried out opto-electronic conversion；Control process unit, controls laser instrument, detector, first laser galvanometer and second to swash
The working condition of light galvanometer simultaneously carries out data processing；
It is characterized in that：
First laser galvanometer carries out periodic deflection to the direction of the launch of the laser after the collimation being transmitted by collimating lens, by
This measuring targets is scanned measuring；The transmission to the reflection laser being reflected by object under test surface for the second laser galvanometer
Direction carries out periodic deflection so that the reflection laser returned by different directions can be received by receiving lens and converge to detection
In device；Control process unit measures determinand according to the time difference that laser instrument transmitting laser and detector receive reflection laser
The distance of body, draws object under test deflection according to the working condition of first laser galvanometer.
2. miniature laser radar system according to claim 1 is it is characterised in that described first laser galvanometer and second swashs
The working cycle of light galvanometer is identical.
3. miniature laser radar system according to claim 2 is it is characterised in that described first laser galvanometer and second swashs
Light galvanometer is one-dimensional laser galvanometer.
4. miniature laser radar system according to claim 2 is it is characterised in that described first laser galvanometer and second swashs
Light galvanometer is two-dimensional laser galvanometer.
5. the miniature laser radar system according to claim 3 or 4 is it is characterised in that described first laser galvanometer and
The working method of dual-laser galvanometer is phase step type.
6. miniature laser radar system according to claim 3 is it is characterised in that described first laser galvanometer and second swashs
The working method of light galvanometer is continuous way.
7. miniature laser radar system according to claim 6 is it is characterised in that the working condition ratio of second laser galvanometer
First laser galvanometer has a time delay.
8. miniature laser radar system according to claim 4 is it is characterised in that described first laser galvanometer and second swashs
The working method of light galvanometer mutually mixes with continuous way for phase step type, is phase step type first scanning direction, scans at second
Direction is continuous way.
9. miniature laser radar system according to claim 8 is it is characterised in that scan dimension at described second, and the
The working condition of dual-laser galvanometer has a time delay than first laser galvanometer.
10. the miniature laser radar system according to any one of claim 2,3,4,6,7,8 or 9 is it is characterised in that institute
Stating receiving lens is Kepler-type telescope.
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