CN107037444A - Optical system and laser radar - Google Patents
Optical system and laser radar Download PDFInfo
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- CN107037444A CN107037444A CN201710423157.9A CN201710423157A CN107037444A CN 107037444 A CN107037444 A CN 107037444A CN 201710423157 A CN201710423157 A CN 201710423157A CN 107037444 A CN107037444 A CN 107037444A
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- laser
- wedge
- shaped mirrors
- optical system
- light
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Classifications
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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
-
- 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
Abstract
The invention provides a kind of optical system and laser radar, belong to lidar measurement field.The laser radar includes laser beam emitting device, reflection unit, wedge-shaped mirrors, objective lens unit, eyepiece component and detection device.Wedge-shaped mirrors are incided after the reflected device reflection of laser that laser beam emitting device is sent and occur refractive deflection；When wedge-shaped mirrors are in rotation status, the laser of outgoing is as the rotation of wedge-shaped mirrors is to target progress circular scan.The laser for being reflected by target and passing through wedge-shaped mirrors incides detection device after objective lens unit, eyepiece component successively.When the optical system that the present invention is provided is applied to laser radar, the rear end for simplifying laser radar is conducive to calculate.
Description
Technical field
The present invention relates to lidar measurement field, in particular to a kind of optical system and laser radar.
Background technology
At present, the detection means of submarine target are mainly using underwater acoustic detection systems such as sonar, hydrophones.Sonar detection system
It is typically mounted on ship, not only inefficiency, and in the marine site full of submerged reef and shoal, measurement process has certain in itself
Danger, in some instances it may even be possible to can not carry out at all；And sonar mobility is poor, it is difficult to carry out wide area search, often using " adopting
Sample " working method.Airborne laser detection system is worked with scan mode, and scanning direction is vertical with heading, during flight, sea
On sensing point constitute hundreds of meters of wide surveying tapes, the detection efficient more much bigger than sonar detection can be obtained；Detection is close
Degree is significantly larger than traditional sonar system, and can adjust detection density at any time.
Laser radar optical system is laser radar " eyes ", and it is that laser radar is extremely critical, extremely important portion
Part.However, existing current domestic airborne laser radar optical system realizes that Underwater Target Detection with Laser is mainly swept using avette
Retouch mode.The scanning laser of this scan mode is avette, now incidence of the scanning laser in the water surface in the scanning track of the water surface
Angle changes with the change in location of scanning element, it is necessary to which the incidence angle of each scanning foot point to scanning laser on the water surface is entered in advance
Rower is determined, the complexity that the workload and rear end for increasing laser radar Underwater Target Detection are calculated.In addition, when Laser emission frequency
Rate is constant, and the laser footprint hot spot that the wedge reflector at the uniform velocity rotated is scanned is distributed comparatively dense, intermediate distribution at avette two
It is sparse.To obtain equally spaced scanning, the control of electric wedge reflector electric rotating machine becomes complicated.
The content of the invention
In view of this, it is an object of the invention to provide a kind of optical system and laser radar, effectively to improve above-mentioned
Problem.
To achieve these goals, the technical solution adopted by the present invention is as follows：
On the one hand, the embodiments of the invention provide a kind of optical system, including laser beam emitting device, reflection unit, wedge shape
Mirror, objective lens unit, eyepiece component and detection device.After the laser that the laser beam emitting device is sent reflects through the reflection unit
Incide the first surface of the wedge-shaped mirrors.When the wedge-shaped mirrors are in rotation status, the first of the wedge-shaped mirrors is incided
Surface and by the wedge-shaped mirrors second surface outgoing laser with the wedge-shaped mirrors rotation to target carry out circular scan.
The laser for being reflected by the target and passing through the wedge-shaped mirrors incides the detection through the objective lens unit, the eyepiece component
Device.
Further, in above-mentioned optical system, the first table of the wedge-shaped mirrors is incided after being reflected through the reflection unit
The optical axis coincidence of laser of the optical axis of the laser in face with being reflected by the target and being passed through the wedge-shaped mirrors.
Further, above-mentioned reflection unit includes the first speculum, and first speculum is arranged at the wedge-shaped mirrors
Between first surface and the objective lens unit.
Further, above-mentioned reflection unit also includes the second speculum, the laser light incident that the laser beam emitting device is sent
To second speculum, first speculum is reflexed to through second speculum, after being reflected through first speculum
Incide the first surface of the wedge-shaped mirrors.
Further, above-mentioned reflection unit is provided with optical channel, and the laser that the laser beam emitting device is sent is through the light
Passage incides the first surface of the wedge-shaped mirrors, through the first surface and by the second surface outgoing of the wedge-shaped mirrors
Laser light incident is to target, and the laser for being reflected by the target and passing through the wedge-shaped mirrors reflexes to the thing through the reflection unit
Mirror assembly.
Further, above-mentioned detection device includes beam splitter, the first photodetector and the second photodetector, from described
The laser of eyepiece component outgoing is the first detection light and the second detection light through the beam splitter beam splitting, and the first detection light is incident
Received to first photodetector, by first photodetector, the second detection light incides second light
Electric explorer, by second photodetector receive, wherein, it is described first detection light energy be less than described second detection light
Energy.Using Dual channel detection, HDR measurement have effectively achieved.
Further, above-mentioned optical system also includes the first Polarization Controller and the second Polarization Controller.The laser hair
The laser light incident that injection device is sent is to first Polarization Controller, the polarization state coded treatment through first Polarization Controller
Afterwards, the reflection unit is incided, the first surface of the wedge-shaped mirrors is incided after being reflected through the reflection unit.By the mesh
The laser of mirror assembly outgoing enters the detection device after the second Polarization Controller analyzing.Pass through the polarization state to light beam
It is controlled, is conducive to the signal to noise ratio of raising system.
Further, above-mentioned optical system also includes narrow band pass filter, and the narrow band pass filter is arranged at the eyepiece group
In light path between part and the detection device, for filtering out the veiling glare beyond laser.Due to the peak value ripple of narrow band pass filter
Length is related to the incident angle of laser, and the incidence side of the laser of the narrow band pass filter is incided after the eyepiece component outgoing
To the normal direction parallel to the narrow band pass filter, be conducive to avoiding the peak wavelength of narrow band pass filter to shift, influence
Filter effect.
Further, above-mentioned optical system also includes field stop, the rear focus of the objective lens unit and the eyepiece
The rear focus of component is overlapped, and the field stop is arranged at the image planes of the objective lens unit.
On the other hand, the embodiment of the present invention has been also provided to a kind of laser radar, and the laser radar includes above-mentioned optics
System.
Compared to the optical system that existing airborne ocean measures laser radar, optical system provided in an embodiment of the present invention
In, by rotary wedge mirror, the first surface that makes to incide the wedge-shaped mirrors and by the second surface outgoing of the wedge-shaped mirrors
Laser carries out circular scan with the rotation of the wedge-shaped mirrors to target, now, and the scanning track of each scanning element is circle in target
Shape, and the incidence angle of each scanning element of the laser in target by the second surface outgoing of the wedge-shaped mirrors is equal, it is not necessary to it is right
Incidence angle at each scanning element is demarcated, and effectively simplifies the use of the laser radar using the optical system, and have
Calculated beneficial to the rear end for simplifying laser radar.For example, when target is ocean, lake, water beach etc., the incidence angle of laser is constant,
Then refraction angle is also constant, is conducive to simplifying depth of water resolving model.In addition, incidence angle is constant to also advantageously improve Laser Radar Scanning
The uniformity of point cloud.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of structural representation of the existing laser radar emission system using avette scan mode；
Fig. 2 shows another structural representation of the existing laser radar emission system using avette scan mode；
Fig. 3 shows water-depth measurement schematic diagram；
Fig. 4 shows the first structural representation for the optical system that first embodiment of the invention is provided；
Fig. 5 shows second of structural representation of the optical system that first embodiment of the invention is provided；
Fig. 6 shows the deviation of laser when wedge-shaped mirrors are in rotation status in the optical system that first embodiment of the invention is provided
View；
Fig. 7 shows a kind of structural representation of the receiving subsystem for the optical system that first embodiment of the invention is provided；
Fig. 8 shows another structural representation of the receiving subsystem for the optical system that first embodiment of the invention is provided
Figure；
Fig. 9 shows the third structural representation for the optical system that first embodiment of the invention is provided；
Figure 10 shows the 4th kind of structural representation of the optical system that first embodiment of the invention is provided；
Figure 11 shows the peak wavelength of narrow band pass filter and the graph of relation of incidence angle.
In figure：10- laser radar emission systems；101- pulse lasers；102- wedge reflectors；103- scans track；
Scanning element -1031；20- optical systems；200- laser beam emitting devices；310- lasers；320- laser beam expanding components；202- reflects
Device；The speculums of 410- first；The speculums of 420- second；2021,511- optical channels；204- wedge-shaped mirrors；204a- first surfaces；
204b- second surfaces；206- objective lens units；208- eyepiece components；210- detection devices；510- beam splitters；The photoelectricity of 520- first
Detector；The photodetectors of 530- second；212- field stops；214- optically focused microscope groups；The Polarization Controllers of 216- first；218-
Two Polarization Controllers；220- narrow band pass filters.
Embodiment
Fig. 1 shows a kind of structural representation of the existing laser radar emission system using avette scan mode.Fig. 2
Show another structural representation of the existing laser radar emission system using avette scan mode.As shown in figure 1, should
Laser radar emission system 10 includes pulse laser 101 and wedge reflector 102.Wedge reflector 102 include inclined plane and
Right-angle surface, inclined plane and right-angle surface form the angle of wedge of the wedge reflector 102.Wedge reflector 102 is around the rotary shaft shown in Fig. 1
When a rotates, the pulse laser that pulse laser 101 is sent incides the inclined plane of wedge reflector 102, is reflected through inclined plane
Pulse laser is scanned with the rotation of wedge reflector 102 to target.The rotary shaft of wedge reflector 102 is perpendicular to wedge shape
The right-angle surface of speculum 102, now, the surfaces of revolution of wedge reflector 102 is parallel to its right-angle surface.Now, target surface is swept
It is avette to retouch track 103, and incidence angle of the pulse laser at each scanning element 1031 is with scanning element in the scanning track 103
The change of 1031 positions.The scanning angle of wedge reflector 102 is bigger, then in the scanning track 103 at each scanning element 1031
Incidence angle difference is bigger.In the laser radar emission system 10, the modes of emplacement of wedge reflector 102 can be using shown in Fig. 1
Mode, it would however also be possible to employ the mode shown in Fig. 2.
In a kind of specific measurement scene, laser radar emission system 10 is arranged on aircraft bottom, and target is ocean.To
The depth of water is measured, it is necessary at advance 360 degree of rotary wedge speculums 102, each scanning element 1031 for demarcating above-mentioned scanning track 103
Incident angle.The depth of water is further obtained by depth of water calculation formula.Shown in Fig. 3, it is assumed that seawater depth is h, and incidence angle is θ,
Depth of water calculation formula can be expressed as：
In formula, Δ t=twb-tws, twbFor the time of the pulse laser return laser light Radar Receiver System of sub-bottom reflection, tws
For the time of the pulse laser return laser light Radar Receiver System of sea surface reflection, i.e. Δ t is that the pulse in seabed and sea surface reflection swashs
The time difference of light return laser light Radar Receiver System；C is the speed of light in a vacuum, nwRefraction for seawater to pulse laser
Rate；θ is the incidence angle of pulse laser across the sea.
Therefore, if the incidence angle of the pulse laser in the scanning track 103 of single pass at each scanning element 1031 is in the presence of poor
It is different, it is necessary to the incidence angle of each scanning foot point to scanning laser on the water surface is demarcated in advance, increase laser radar under water
The workload of target acquisition and laser radar rear end resolve the complexity of model.
In addition, in above-mentioned laser radar emission system 10, the tranmitting frequency of pulse laser is constant and wedge reflector
In the case of 102 invariablenes turning speeds, in the avette scanning track 103 of pulse laser each scanning element 1031 be distributed as it is heterogeneous,
Scanning light spot of the pulse laser in target is distributed comparatively dense at two of avette track, and intermediate distribution is sparse, such as Fig. 1 and figure
Shown in 2.Now, for the scanning light spot being evenly distributed, in addition it is also necessary to which further the rotation driving to wedge reflector 102 is filled
Carry out speed Control is put, needs to slow down when scanning light spot is rotated to short-axis direction, when scanning light spot is rotated to long axis direction
Need to accelerate.Thus, wedge reflector 102 will undergo and accelerate twice with slowing down twice during rotating a circle.Due to wedge shape
The rotating speed of speculum 102 is higher, thus high to rotating driving device control accuracy requirement, is unfavorable for reducing system cost.
Furthermore, it is assumed that in laser radar, the entrance pupil with the corresponding receiving optics of above-mentioned laser radar emission system 10
A diameter of D, when single side scan angle is 20 degree on the long axis direction of avette scanning track 103, the bore of wedge reflector 102 should be big
In or equal to 1.74D, it is unfavorable for mitigating system weight, while being also unfavorable for the Miniaturization Design of system.
Therefore, the embodiments of the invention provide a kind of optical system, applied to laser radar, effectively to improve above-mentioned ask
Topic.Optical system provided in an embodiment of the present invention will be described in detail below.Obviously, described embodiment is the present invention
A part of embodiment, rather than whole embodiments.The group of embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings
Part can be arranged and designed with a variety of configurations.Therefore, below to the embodiments of the invention that provide in the accompanying drawings
The scope for being not intended to limit claimed invention is described in detail, but is merely representative of the selected embodiment of the present invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to explanation, the orientation or position relationship of the instruction such as term " on ", " under " are base
In orientation shown in the drawings or position relationship, or the orientation usually put when using of the invention product or position relationship, only
It is to be described for the ease of the description present invention with simplified, rather than indicates or imply that the device or element of meaning must be with specifically
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " first ", " the
Two " etc. are only used for distinguishing description, and it is not intended that indicating or implying relative importance.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" connection " should be interpreted broadly, for example, it may be being joined directly together, can also be indirectly connected to by intermediary, can be two
The connection of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood in the present invention
In concrete meaning.
First embodiment
As shown in figure 4, first embodiment of the invention provides a kind of optical system 20, applied to laser radar.Wherein, should
Optical system 20 includes transmitting subsystem and receiving subsystem.Launching subsystem includes laser beam emitting device 200, reflection unit
202 and wedge-shaped mirrors 204.Receiving subsystem includes objective lens unit 206, eyepiece component 208 and detection device 210.
In the present embodiment, laser beam emitting device 200 includes laser 310.Laser 310 sends laser beam as laser
Signal.In the present embodiment, generally using the laser signal in infrared or visible light wave range.However, when the light of the present embodiment offer
When system 20 is applied to airborne ocean detecting laser radar, it is contemplated that the attenuation that laser is propagated in the seawater, it can adopt
With the laser of bluish-green wave band, it is preferred to use green laser.
In order to further compress the angle of divergence for the laser that laser beam emitting device 200 is sent, meet the dispersion angle of laser
System requirements, as shown in figure 4, laser beam emitting device 200 can also include laser beam expanding component 320.What laser 310 was sent swashs
Light light beam incides laser beam expanding component 320, the outgoing after laser beam expanding component 320 further the compression angle of divergence.
As a kind of embodiment, as shown in figure 4, reflection unit 202 includes the first speculum 410, the first speculum 410
It is arranged between the first surface 204a of wedge-shaped mirrors 204 and objective lens unit 206.The laser light incident that laser beam emitting device 200 is sent
To the reflecting surface of the first speculum 410, wedge-shaped mirrors 204 are incided after the reflection of the first speculum 410.Due to inciding first
The laser beam divergence of the reflecting surface of speculum 410 is smaller, can be similar to collimated light beam.Therefore, the size of the first speculum 410
Can be as far as possible small under conditions of satisfaction can be reflected laser, to avoid causing unnecessary to the laser returned by target
Block.In order to further optimize the space layout of this optical system 20, on the basis of above-mentioned first speculum 410, reflection
Device 202 can also include the second speculum 420, as shown in Figure 4.Now, the laser that laser beam emitting device 200 is sent is first incident
To the reflecting surface of the second speculum 420, the reflecting surface of the first speculum 410 is reflexed to through the second speculum 420, then through first
Speculum 410 incides wedge-shaped mirrors 204 after reflecting.
As another embodiment, as shown in figure 5, reflection unit 202 is provided with optical channel 2021.Laser beam emitting device
200 laser sent incide the first surface 204a of wedge-shaped mirrors 204 through the optical channel 2021, through first surface 204a and by
The laser light incident of the second surface 204b outgoing of wedge-shaped mirrors 204 is to target.The laser for being reflected by target and passing through wedge-shaped mirrors 204 enters
The reflecting surface of reflection unit 202 is mapped to, reflected device 202 reflexes to objective lens unit 206.For example, reflection unit 202 can be
It is provided centrally with the speculum of the through hole for thang-kng.It should be noted that in Fig. 4 and Fig. 5, the straight line with arrow represents sharp
Light.
In the present embodiment, reflected device 202 incides the light of the first surface 204a of wedge-shaped mirrors 204 laser after reflecting
The optical axis coincidence of laser of the axle with being reflected by target and being passed through wedge-shaped mirrors 204.That is, the present embodiment is by setting reflection dress
Put the laser that 202 pairs of laser beam emitting devices 200 send to transfer so that the optical axis weight of transmitting subsystem and receiving subsystem
Close.Now, in order to reduce system bulk and weight as far as possible, the Entry pupil diameters that the bores of wedge-shaped mirrors 204 can be with receiving subsystem
It is equal, be conducive to the Miniaturization Design of system.
In the present embodiment, the first surface 204a of wedge-shaped mirrors 204 is right-angle surface, and second surface 204b is inclined plane, right angle
Face and the angle of wedge of inclined plane formation wedge-shaped mirrors 204.Wedge-shaped mirrors 204 can rotate under the driving of rotating driving device.For example, should
Rotating driving device can be motor.It is preferred that, wedge-shaped mirrors 204 are circle prism wedge.
Wedge-shaped mirrors 204 be in rotation status when, by reflection unit 202 reflect laser light incident to wedge-shaped mirrors the first table
Face 204a.It should be noted that laser can be first surface 204a of the normal incidence to wedge-shaped mirrors 204, or, can also be with
One surface 204a normal is incident into default angle, and the default angle can need adjustment according to user.Now, with wedge-shaped mirrors
204 rotation, through after the first surface 204a of the wedge-shaped mirrors 204 by wedge-shaped mirrors 204 second surface 204b outgoing laser
In cone distribution, as shown in fig. 6, so as to carry out circular scan to target, that is, inciding the scanning of the scanning light spot in target
Track is circle.That is, with the rotation of wedge-shaped mirrors 204, target is incided after above-mentioned second surface 204b outgoing
The incidence angle of laser is not changed, it is not necessary to which the incidence angle at each scanning element is demarcated, and is conducive to simplifying rear end meter
Calculate.When the tranmitting frequency of laser 310 is constant, when wedge-shaped mirrors 204 at the uniform velocity rotate, wedge-shaped mirrors 204 rotate a circle corresponding scanning
Hot spot is uniformly distributed.Compared to the laser radar emission system of existing avette scanning, the requirement to rotating driving device is reduced,
Advantageously reduce system cost.
During practical application, in order to realize high-velocity scanning, wedge-shaped mirrors 204 need to rotate at a high speed.It is preferred, therefore, that the present embodiment
In the optical system 20 of offer, the rotation direction of principal axis of wedge-shaped mirrors 204 is consistent with the gravity direction of wedge-shaped mirrors 204, compared to existing
Laser radar emission system, can effectively reduce the requirement of the structural strength to wedge-shaped mirrors 204.
For receiving subsystem, existing large-caliber laser reception system mainly uses reflective telescopic system, for example, block
The reflective telescopic system of Green is filled in, because the secondary mirror of reflective telescopic system can bring central obscuration, the luminous flux blocked can
Reach 30% to 40%.Simultaneously as optical reflection has twice of optical lever amplification, thus reflective telescopic system is to optics
The processing of part and matching requirements are higher.Therefore, in the embodiment of the present invention, receiving subsystem, which is preferred to use transmission-type, looks in the distance and is
System, the rear focus of objective lens unit 206 is overlapped with the object focus of eyepiece component 208.It is for instance possible to use Kepler-type is looked in the distance
System.Transmission-type telescopic system is easily installed debugging, compared to reflective telescopic system, and non-stop layer blocks, thus identical entrance pupil
In the case of area, its volume is smaller, and requires lower to part processing precision and assembly precision.
It is understood that the light outside the visual field in order to further limit receiving subsystem, control visual field can not enter
Into subsequent optical path.As shown in fig. 7, above-mentioned receiving subsystem also includes field stop 212, the field stop 212 is arranged at thing
At the image planes of mirror assembly 206.
In addition, in receiving subsystem, detection device 210 is used to the laser signal received being converted to electric signal, to enter
One step handles the electric signal progress data for obtaining needing to measure.In the present embodiment, detection device 210 is photodetector.
In view of the limitation of photodetector sensitivity, in order to realize HDR, the measurement accuracy to target is improved.
In optical system 20 provided in an embodiment of the present invention, as shown in fig. 7, detection device 210 preferably includes beam splitter 510, the first light
The photodetector 530 of electric explorer 520 and second.Light splitting is carried out by beam splitter 510, realizes that binary channels is detected simultaneously, wherein
One channel reception light energy is low, the reflection of the object strong for receiving reflected energy, such as top, riffle bottom, water surface
Reflection etc.；Another channel reception light energy is high, for infant laser signal detection, such as detection of the deep water bottom.
Now, detect light and second for first through the beam splitting of beam splitter 510 from the laser of the outgoing of eyepiece component 208 and detect light.
Wherein, the energy of the first detection light is less than the energy of the second detection light.First detection light incide the first photodetector 520,
Received by the first photodetector 520.Second detection light incides the second photodetector 530, by the second photodetector 530
Receive.Specifically, beam splitter 510 can also be the speculum for being provided with optical channel 511, as shown in Figure 7.Wherein, optical channel 511
For thang-kng, now the splitting ratio of beam splitter 510 can be controlled by controlling the bore of optical channel 511, precision is easily controllable.
Or, beam splitter 510 can be the level crossing for being coated with spectro-film, as shown in Figure 8.
It is understood that when the beam diameter of the first detection light is smaller, less than the photosurface of the first photodetector 520
When first, it directly can receive first with the first photodetector 520 and detect light；When the beam diameter of the first detection light is larger, it is impossible to
When directly being received with the first photodetector 520, further it can be set between the photodetector 520 of beam splitter 510 and first
Optically focused microscope group 214 is put, hot spot is compressed by optically focused microscope group 214, as Fig. 9 shows.For example, when beam splitter 510 is to be provided with
During the speculum of optical channel, when the bore of optical channel is less than the photosensitive bin of the first photodetector 520, the first detection light can
Directly to be received by the first photodetector 520.Similarly, when the beam diameter of the second detection light is smaller, visited less than the second photoelectricity
When surveying the photosensitive bin of device 530, it directly can receive second with the second photodetector 530 and detect light；When the light of the second detection light
Beam diameter is larger, it is impossible to when directly being received with the second photodetector 530, can be further in the photoelectricity of beam splitter 510 and second
Optically focused microscope group 214 is set between detector 530, hot spot is compressed by optically focused microscope group 214.
In order to filter out the interference of veiling glare, the signal to noise ratio of system is improved, as shown in Figure 9 and Figure 10, what the present embodiment was provided
Optical system 20 also includes the first Polarization Controller 216 and the second Polarization Controller 218.What laser beam emitting device 200 was sent swashs
Light incides the first Polarization Controller 216, and the incident laser signal of the first 216 pairs of Polarization Controller carries out polarization state coding.By
The laser light incident of the outgoing of first Polarization Controller 216 incides wedge-shaped mirrors to reflection unit 202 after the reflected reflection of device 202
204 first surface 204a.Enter detection dress after the analyzing of the second Polarization Controller 218 by the laser of the outgoing of eyepiece component 208
Put 210.It is understood that when detection device 210 includes beam splitter 510, the first photodetector 520 and the second photodetection
During device 530, i.e., it is embodiment as one kind when this optical system 20 is that binary channels is detected, above-mentioned second Polarization Controller 218
It can be one, be arranged on the propagation path of light between eyepiece component 208 and beam splitter 510.As another embodiment,
Above-mentioned second Polarization Controller 218 can also be two, be separately positioned in a detection channels, i.e., one is arranged at beam splitter
510 and the first propagation path of light between photodetector 520 on, another is arranged at the photodetection of beam splitter 510 and second
On propagation path of light between device 530.
For the interference of the veiling glare that reduces other wavelength in addition to the laser that above-mentioned laser beam emitting device 200 is sent,
As shown in Figure 9 and Figure 10, the optical system 20 that the present embodiment is provided also includes narrow band pass filter 220.The work of narrow band pass filter 220
The wave band for making wave band with above-mentioned laser is adapted to, and for being gated according to wavelength to light beam, filters out other wavelength outside above-mentioned laser
Veiling glare.Narrow band pass filter 220 is arranged in the light path between eyepiece component 208 and detection device 210, by eyepiece component
The laser of 208 outgoing enters detection device 210 after narrow band pass filter 220.
It should be noted that in order to reduce interference as far as possible, system generally uses high-quality optical filter.For arrowband filter
Mating plate 220, its peak wavelength and incidence angle are into following functional relation：
In formula, α represents to incide the incidence angle of the laser of narrow band pass filter 220；λαPeak value ripple when for incidence angle being α
It is long；λ0Peak wavelength when incidence angle is 0；Ne is the external refractive index；N*For the refractive index of narrow band pass filter 220.It is assumed that λ0=
532nm, Ne=1.0, N*=1.52, now obtain the peak wavelength λ of narrow band pass filter 220αCurve map with incident angle α is as schemed
Shown in 11.As shown in figure 11, when incident angle α is 1.69 degree, peak wavelength λα0.2nm is moved toward shortwave direction；When incidence is
At 3.75 degree, peak wavelength λα1nm is moved toward shortwave direction.Based on above-mentioned relation, ideally, gone out by eyepiece component 208
The incident direction of laser of narrow band pass filter 220 is incided after penetrating parallel to the normal direction of narrow band pass filter 220, i.e. incidence angle
For 0 degree.The deviation assembled in view of real system, with reference to the parameter of narrow band pass filter 220, light enters after optical system 20 is assembled
Firing angle might be less that an angle threshold, and the angle threshold is determined by the parameter of specific narrow band pass filter 220.It is narrow for high-quality
Band optical filter 220, the center wavelength tolerance of optical filter is generally 0.2nm, and its halfwidth (FWHM) is 1nm ± 0.2nm or so, this
When, angle of incidence of light is preferably smaller than 1 degree after optical system 20 is assembled.
Optical system 20 provided in an embodiment of the present invention is explained in order to clearer, is below detection target by ocean, with
Exemplified by the structure of optical system 20 shown in Fig. 9, the principle to optical system 20 provided in an embodiment of the present invention is carried out on the whole
Explanation.
The laser beam that laser 310 is sent incides laser beam expanding component 320, and laser beam expanding component 320 is further pressed
The angle of divergence for the laser beam that contracting laser 310 is sent, after the first Polarization Controller 216, incides the second speculum 420
Reflecting surface, successively through the second speculum 420, the first speculum 410 reflection after incide the wedge-shaped mirrors 204 in rotation status
First surface 204a, by the laser light incident after the second surface 204b outgoing of wedge-shaped mirrors 204 to the seawater water surface.Also, with
The rotation of wedge-shaped mirrors 204, the different sensing points of laser light incident after the second surface 204b outgoing of wedge-shaped mirrors 204 to target are real
Existing conical scan, scanning light spot is circle in the track of the seawater water surface.
Incide in the laser on the seawater water surface, fraction laser diffusion echo meeting backtracking to wedge-shaped mirrors 204
Second surface 204b, remaining most of laser generation refraction continues to travel to the formation diffusing reflection up to after seabed and returns to wedge-shaped mirrors 204
Second surface 204b.Second time formed from the first echo laser signal of seawater water surface diffusing reflection formation with seabed diffusing reflection
Ripple laser signal reaches the second surface 204b of wedge-shaped mirrors 204 in succession, successively by the first surface 204a outgoing of wedge-shaped mirrors 204,
Pass sequentially through after objective lens unit 206, field stop 212, being processed as directional light through eyepiece component 208 incides narrow band pass filter
220.It is the first detection light and the second detection light by the beam splitting of beam splitter 510 after spectral filtering processing through narrow band pass filter 220.
Wherein, the first detection light is received after the analyzing of the second Polarization Controller 218 by the first photodetector 520, the second detection light
Received after the analyzing of the second Polarization Controller 218 by the second photodetector 530, the first photodetector 520 is detected first
Light is converted to the first electric signal, and the second detection light is converted to the second electric signal by the second photodetector 530, in order to laser thunder
The back-end processing system reached further handles the first electric signal and the progress of the second electric signal the data for obtaining needing to measure.
Optical system 20 provided in an embodiment of the present invention realizes the conical scan to target, that is, target is respectively scanned
Laser light incident angle at point is equal, it is not necessary to which the incidence angle at each scanning element is demarcated, and effectively simplifies to use and is somebody's turn to do
The use of the laser radar of optical system 20, and be conducive to the rear end for simplifying the laser radar to calculate.
Second embodiment
Second embodiment of the invention additionally provides a kind of laser radar, including the optical system that above-mentioned first embodiment is provided
20.Certainly, in addition to including above-mentioned optical system 20, laser radar also includes at other components, such as turntable and information
The (not shown)s such as reason system, do not elaborate herein.
Laser radar is to launch the radar system of the characteristic quantities such as the position of detecting laser beam target, speed.It is substantially former
Manage and be：To objective emission exploring laser light, then it will receive from the target laser echo signal reflected and swashing for launching
Optical signal is compared, and is made after proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed,
The parameters such as posture, even shape, so as to be detected to targets such as aircraft, guided missile, oceans.
Laser radar is measured compared to existing airborne ocean, the laser radar that second embodiment of the invention is provided is employed
The optical system 20 that first embodiment is provided, the conical scan to target is realized by the optical system 20, that is, causes mesh
The laser light incident angle marked at each scanning element is equal, it is not necessary to the incidence angle at each scanning element is demarcated, effectively simplified
The use of laser radar, and be conducive to the rear end for simplifying the laser radar to calculate.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of optical system, it is characterised in that including laser beam emitting device, reflection unit, wedge-shaped mirrors, objective lens unit, eyepiece
Component and detection device；
The laser that the laser beam emitting device is sent incides the first surface of the wedge-shaped mirrors after being reflected through the reflection unit；
When the wedge-shaped mirrors are in rotation status, the first surface of the wedge-shaped mirrors is incided and by the second of the wedge-shaped mirrors
The laser of surface outgoing carries out circular scan with the rotation of the wedge-shaped mirrors to target；
Reflected by the target and pass through the laser of the wedge-shaped mirrors incided through the objective lens unit, the eyepiece component it is described
Detection device.
2. optical system according to claim 1, it is characterised in that incide the wedge after being reflected through the reflection unit
The optical axis coincidence of laser of the optical axis of the laser of the first surface of shape mirror with being reflected by the target and being passed through the wedge-shaped mirrors.
3. optical system according to claim 2, it is characterised in that the reflection unit includes the first speculum, described
First speculum is arranged between the first surface of the wedge-shaped mirrors and the objective lens unit.
4. optical system according to claim 3, it is characterised in that the reflection unit also includes the second speculum, institute
Laser light incident that laser beam emitting device sends is stated to second speculum, described first is reflexed to through second speculum anti-
Mirror is penetrated, the first surface of the wedge-shaped mirrors is incided after being reflected through first speculum.
5. optical system according to claim 2, it is characterised in that the reflection unit is provided with optical channel, described to swash
The laser that light emitting devices is sent incides the first surface of the wedge-shaped mirrors through the optical channel, through the first surface and
By the wedge-shaped mirrors second surface outgoing laser light incident to target, reflected by the target and pass through swashing for the wedge-shaped mirrors
Light reflexes to the objective lens unit through the reflection unit.
6. the optical system according to any one of claim 1-5, it is characterised in that the detection device includes beam splitting
Device, the first photodetector and the second photodetector, be from the laser of the eyepiece component outgoing through the beam splitter beam splitting
First detection light and the second detection light, the first detection light incide first photodetector, by first photoelectricity
Detector is received, and the second detection light incides second photodetector, received by second photodetector, its
In, the energy of the first detection light is less than the energy of the described second detection light.
7. the optical system according to any one of claim 1-5, it is characterised in that also including the first Polarization Controller and
Second Polarization Controller；
The laser light incident that the laser beam emitting device is sent is to first Polarization Controller, through first Polarization Controller
After polarization state coded treatment, the reflection unit is incided, the of the wedge-shaped mirrors is incided after being reflected through the reflection unit
One surface；
Enter the detection device after the second Polarization Controller analyzing by the laser of the eyepiece component outgoing.
8. optical system according to claim 1, it is characterised in that also including narrow band pass filter, the narrow band pass filter
It is arranged in the light path between the eyepiece component and the detection device, is incided after the eyepiece component outgoing described narrow
Normal direction of the incident direction of laser with optical filter parallel to the narrow band pass filter.
9. optical system according to claim 1, it is characterised in that also including field stop, the picture of the objective lens unit
Square focus is overlapped with the rear focus of the eyepiece component, and the field stop is arranged at the image planes of the objective lens unit.
10. a kind of laser radar, it is characterised in that including optical system as claimed in any one of claims 1-9 wherein.
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