CN108226898A - Laser radar and the method for improving laser radar launch point frequency - Google Patents
Laser radar and the method for improving laser radar launch point frequency Download PDFInfo
- Publication number
- CN108226898A CN108226898A CN201810034847.XA CN201810034847A CN108226898A CN 108226898 A CN108226898 A CN 108226898A CN 201810034847 A CN201810034847 A CN 201810034847A CN 108226898 A CN108226898 A CN 108226898A
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- Prior art keywords
- laser
- shoot
- sub
- delay line
- collimation unit
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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
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
-
- 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
- G01S7/484—Transmitters
Abstract
A kind of method that laser radar is disclosed in the embodiment of the present invention and improves the launch point frequency of laser radar, laser radar include：Semiconductor laser, for emitting shoot laser；The first collimation unit of transmitting terminal, for collimating the shoot laser of the semiconductor laser；Microlens array is emitted sub- laser, and the N beams are emitted sub- laser coupled and enter N fibre delay line for the shoot laser after collimating to be divided into N beams；Fibre delay line, for postponing the outgoing time of the sub- laser of outgoing；Bundling device, the sub- laser of outgoing for fibre delay line to be exported are combined into a shoot laser；The second collimation unit of transmitting terminal, for collimating the shoot laser from the bundling device.The present invention can improve the launch point frequency of laser radar, so as to improve the angular resolution of laser radar.
Description
Technical field
The present invention relates to detection field, the method for more particularly to a kind of laser radar and raising laser radar launch point frequency.
Background technology
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Transmitter is for emitting the component of shoot laser in laser radar, is the important component of laser radar.It is real
On border, the laser of transmitter transmitting is discontinuous, is sent with impulse form, the pulse that transmitter generated in one second
Number is known as the repetition of transmitter.The repetition of transmitter is higher, and the points being presented in the unit interval on laser radar are more,
So also referred to as laser radar launch point frequency.And it is presented on that the points on laser radar are more, in the visual field one of laser radar
In the case of fixed, then at angle interval between points with regard to smaller, i.e. the angular resolution of laser radar is higher.
In the prior art, there are no a kind of launch point frequency by improving laser radar so as to improve laser radar angular resolution
The method of rate.
Invention content
A kind of method that laser radar and raising laser radar launch point frequency are provided in the embodiment of the present invention can be improved and be swashed
The launch point frequency of optical radar improves the angular resolution of laser radar.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions：
On the one hand, a kind of laser radar is provided, including：
Semiconductor laser, for emitting shoot laser；
The first collimation unit of transmitting terminal, for collimating the shoot laser of the semiconductor laser；
Microlens array is emitted sub- laser, and the N beams are emitted son for the shoot laser after collimating to be divided into N beams
Laser coupled enters N fibre delay line；
Fibre delay line, for postponing the outgoing time of the sub- laser of outgoing；
Bundling device, the sub- laser of outgoing for fibre delay line to be exported are combined into a shoot laser；
The second collimation unit of transmitting terminal, for collimating the shoot laser from the bundling device.
Optionally, first collimation unit of transmitting terminal includes：
Slow axis collimation unit, for collimating the shoot laser in the slow axis of the semiconductor laser；
Fast axis collimation unit, in shoot laser described in the fast axis collimation of the semiconductor laser.
Optionally, the delay-time difference between the fibre delay line and adjacent fiber delay line is：
C/ (N*f),
Wherein, c is the light velocity, and N is the item number for being emitted sub- laser, and f is the launch point frequency of semiconductor laser.
Second aspect provides a kind of method for the launch point frequency for improving laser radar, the method includes：
Semiconductor laser shoot laser；
The first collimation unit of transmitting terminal collimates the shoot laser of the semiconductor laser；
Shoot laser after collimation is divided into N beams and is emitted sub- laser, and the N beams are emitted sub- laser coupling by microlens array
It closes and enters N fibre delay line；
The outgoing time of the sub- laser of outgoing described in optical fiber delay wire delay；
The sub- laser of outgoing that bundling device exports fibre delay line is combined into a shoot laser；
The second collimation unit of transmitting terminal collimates the shoot laser from the bundling device.
Optionally, the shoot laser of the first collimation unit of transmitting terminal collimation semiconductor laser, including：
Slow axis collimation unit collimates the shoot laser in the slow axis of the semiconductor laser；
Shoot laser described in fast axis collimation of the fast axis collimation unit in the semiconductor laser.
Optionally, the delay-time difference between the fibre delay line and adjacent fiber delay line is：
C/ (N*f),
Wherein, c is the light velocity, and N is the item number for being emitted sub- laser, and f is the launch point frequency of semiconductor laser.
A kind of laser radar is disclosed in the embodiment of the present invention, including semiconductor laser, for emitting shoot laser；
The first collimation unit of transmitting terminal, for collimating the shoot laser of the semiconductor laser；Microlens array, for will be accurate
Shoot laser after straight is divided into N beams and is emitted sub- laser, and the N beams are emitted sub- laser coupled and enter N fibre delay line；Light
Fine delay line, for postponing the outgoing time of the sub- laser of outgoing；Bundling device, for outgoing for exporting fibre delay line
Laser is combined into a shoot laser；The second collimation unit of transmitting terminal, for collimating the shoot laser from the bundling device.This hair
In bright embodiment, N beams have the time difference between being emitted sub- laser, can successively be emitted on same test point, be equivalent to and carry
Laser particle number in the high unit interval on same test point, thus the laser radar of the embodiment of the present invention can improve it is sharp
The launch point frequency of optical radar, so as to improve the angular resolution of laser radar.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the structure diagram of the laser radar of the embodiment of the present invention；
Fig. 2 show the structure diagram of the laser radar of the embodiment of the present invention；
Fig. 3 show the laser facula schematic diagram of the laser radar of the embodiment of the present invention.
Specific embodiment
A kind of method that following examples of the present invention provide laser radar and raising laser radar launch point frequency, can improve
The launch point frequency of laser radar improves the angular resolution of laser radar.
Fig. 1 show the structure diagram of the laser radar of the embodiment of the present invention, as shown in Figure 1, the laser radar packet
It includes：
Semiconductor laser 110, for emitting shoot laser；
The first collimation unit of transmitting terminal 120, for collimating the shoot laser that the semiconductor laser 110 emits；
Microlens array 130 is emitted sub- laser, and the N beams are emitted for the shoot laser after collimating to be divided into N beams
Sub- laser coupled enters N fibre delay line；
Fibre delay line 140, for postponing the outgoing time of the sub- laser of outgoing；
Bundling device 150, the sub- laser of outgoing for fibre delay line to be exported are combined into a shoot laser；
The second collimation unit of transmitting terminal 160, for collimating the shoot laser from the bundling device.
The distance that fibre delay line can transmit optical fiber increases or reduces, and prolongs from the time so as to reach output laser
Slow device.In the embodiment of the present invention, the delay-time difference between any one fibre delay line and adjacent fiber delay line is：
C/ (N*f),
Wherein, c is the light velocity, and N is the item number for being emitted sub- laser, and f is the launch point frequency of semiconductor laser.
After setting the time difference, laser can be made uniformly to be emitted on test point in time.
In the embodiment of the present invention, fibre delay line can be numbered, respectively 1,2 ... N,
In the embodiment of the present invention, due to the presence of fibre delay line, N beams have the time difference between being emitted sub- laser, can be with
It is emitted to successively on same test point, is equivalent to the laser particle number improved in the unit interval on same test point, because
The laser radar of this embodiment of the present invention can improve the launch point frequency of laser radar, so as to improve the angular resolution of laser radar
Rate.
Fig. 2 show the structure diagram of the laser radar of the embodiment of the present invention, in laser radar shown in Fig. 2, including
Semiconductor laser 110, the first collimation unit of transmitting terminal 120, microlens array 130, fibre delay line 140, bundling device 150,
The second collimation unit of transmitting terminal 160, wherein, the first collimation unit of transmitting terminal 120 includes slow axis collimation unit 121 and fast axis collimation
Unit 122.
Slow axis collimation unit 121 is used to collimate the shoot laser in the slow axis of the semiconductor laser；
Fast axis collimation unit 122, in shoot laser described in the fast axis collimation of the semiconductor laser.
Semiconductor laser is different in two mutually orthogonal direction angles of divergence, and the size that shines is also different, and fast axle refers to send out
The larger direction in angle is dissipated, slow axis refers to the smaller direction of the angle of divergence, it is therefore desirable to carry out collimation respectively for fast axle and slow axis
Best collimating effect can be reached.
Fig. 3 show the schematic diagram of the laser facula of the laser radar of the embodiment of the present invention, through 121 He of slow axis collimation unit
It is a strip shaped laser spot shown in laser facula such as Fig. 3 (a) after fast axis collimation unit 122；After microlens array 130
Shown in laser facula such as Fig. 3 (b), N parts have been divided into it.This N beam is emitted sub- laser by after N optical fiber delay wire delay, and meeting is successively
Monitoring point is emitted to, so as to improve the launch point of laser radar frequency.
Corresponding with above-mentioned laser radar, the embodiment of the present invention additionally provides a kind of side for improving laser radar launch point frequency
Method, the method includes：
Semiconductor laser shoot laser；
The first collimation unit of transmitting terminal collimates the shoot laser of the semiconductor laser；
Shoot laser after collimation is divided into N beams and is emitted sub- laser, and the N beams are emitted sub- laser coupling by microlens array
It closes and enters N fibre delay line；
The outgoing time of the sub- laser of outgoing described in optical fiber delay wire delay；
The sub- laser of outgoing that bundling device exports fibre delay line is combined into a shoot laser；
The second collimation unit of transmitting terminal collimates the shoot laser from the bundling device.
Optionally, the shoot laser of the first collimation unit of transmitting terminal collimation semiconductor laser, including：
Slow axis collimation unit collimates the shoot laser in the slow axis of the semiconductor laser；
Shoot laser described in fast axis collimation of the fast axis collimation unit in the semiconductor laser.
Optionally, the delay-time difference between the fibre delay line and adjacent fiber delay line is：
C/ (N*f),
Wherein, c is the light velocity, and N is the item number for being emitted sub- laser, and f is the launch point frequency of semiconductor laser.
The method of the embodiment of the present invention can improve the launch point frequency of laser radar, so as to improve the angle of laser radar
Resolution ratio.
A kind of method that laser radar is disclosed in the embodiment of the present invention and improves the launch point frequency of laser radar, laser
Radar includes：Semiconductor laser, for emitting shoot laser；The first collimation unit of transmitting terminal, for collimating the semiconductor
The shoot laser of laser transmitting；Microlens array is emitted sub- laser, and will for the shoot laser after collimating to be divided into N beams
The N beams are emitted sub- laser coupled and enter N fibre delay line；Fibre delay line, for postponing going out for the sub- laser of the outgoing
Penetrate the time；Bundling device, the sub- laser of outgoing for fibre delay line to be exported are combined into a shoot laser；Transmitting terminal second collimates
Unit, for collimating the shoot laser from the bundling device.In the embodiment of the present invention, when having between the sub- laser of N beams outgoing
Between it is poor, can successively be emitted on same test point, be equivalent to the laser improved in the unit interval on same test point
Population, therefore the laser radar of the embodiment of the present invention can improve the launch point frequency of laser radar, so as to improve laser thunder
The angular resolution reached.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to by specialized hardware including application-specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on such understanding, the technical solution sheet in the embodiment of the present invention
The part that the prior art contributes can be embodied in the form of software product in other words in matter, computer software production
Product can be stored in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disc, CD etc., used including some instructions so that a computer equipment (can be
People's computer, server either network equipment etc.) it performs described in certain parts of each embodiment of the present invention or embodiment
Method.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Point just to refer each other, and the highlights of each of the examples are difference from other examples.Especially for system reality
For applying example, since it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of laser radar, which is characterized in that including：
Semiconductor laser, for emitting shoot laser；
The first collimation unit of transmitting terminal, for collimating the shoot laser of the semiconductor laser；
Microlens array is emitted sub- laser, and the N beams are emitted sub- laser for the shoot laser after collimating to be divided into N beams
It is coupled into N fibre delay line；
Fibre delay line, for postponing the outgoing time of the sub- laser of outgoing；
Bundling device, the sub- laser of outgoing for fibre delay line to be exported are combined into a shoot laser；
The second collimation unit of transmitting terminal, for collimating the shoot laser from the bundling device.
2. laser radar as described in claim 1, which is characterized in that first collimation unit of transmitting terminal includes：
Slow axis collimation unit, for collimating the shoot laser in the slow axis of the semiconductor laser；
Fast axis collimation unit, in shoot laser described in the fast axis collimation of the semiconductor laser.
3. laser radar as claimed in claim 2, which is characterized in that between the fibre delay line and adjacent fiber delay line
Delay-time difference be：
C/ (N*f),
Wherein, c is the light velocity, and N is the item number for being emitted sub- laser, and f is the launch point frequency of semiconductor laser.
A kind of 4. method for the launch point frequency for improving laser radar, which is characterized in that the method includes：
Semiconductor laser shoot laser；
The first collimation unit of transmitting terminal collimates the shoot laser of the semiconductor laser；
Shoot laser after collimation is divided into N beams and is emitted sub- laser by microlens array, and by the N beams be emitted sub- laser coupled into
Enter N fibre delay line；
The outgoing time of the sub- laser of outgoing described in optical fiber delay wire delay；
The sub- laser of outgoing that bundling device exports fibre delay line is combined into a shoot laser；
The second collimation unit of transmitting terminal collimates the shoot laser from the bundling device.
5. method as claimed in claim 4, which is characterized in that first collimation unit of transmitting terminal collimates semiconductor laser
The shoot laser of transmitting, including：
Slow axis collimation unit collimates the shoot laser in the slow axis of the semiconductor laser；
Shoot laser described in fast axis collimation of the fast axis collimation unit in the semiconductor laser.
6. the method as described in claim 5, which is characterized in that prolonging between the fibre delay line and adjacent fiber delay line
The time difference is late：
C/ (N*f),
Wherein, c is the light velocity, and N is the item number for being emitted sub- laser, and f is the launch point frequency of semiconductor laser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034847.XA CN108226898A (en) | 2018-01-15 | 2018-01-15 | Laser radar and the method for improving laser radar launch point frequency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034847.XA CN108226898A (en) | 2018-01-15 | 2018-01-15 | Laser radar and the method for improving laser radar launch point frequency |
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| CN108226898A true CN108226898A (en) | 2018-06-29 |
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| CN201810034847.XA Pending CN108226898A (en) | 2018-01-15 | 2018-01-15 | Laser radar and the method for improving laser radar launch point frequency |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020191809A1 (en) * | 2019-03-25 | 2020-10-01 | 深圳市速腾聚创科技有限公司 | Laser radar, and installation and adjustment method therefor |
| US11782144B2 (en) | 2019-04-04 | 2023-10-10 | Suteng Innovation Technology Co., Ltd. | Lidar and adjustment method thereof |
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| US11782144B2 (en) | 2019-04-04 | 2023-10-10 | Suteng Innovation Technology Co., Ltd. | Lidar and adjustment method thereof |
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