CN108732552A - A kind of method and laser radar for realizing that the probe of laser radar is detached with cabinet - Google Patents
A kind of method and laser radar for realizing that the probe of laser radar is detached with cabinet Download PDFInfo
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- CN108732552A CN108732552A CN201810338096.0A CN201810338096A CN108732552A CN 108732552 A CN108732552 A CN 108732552A CN 201810338096 A CN201810338096 A CN 201810338096A CN 108732552 A CN108732552 A CN 108732552A
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- laser
- fiber
- laser radar
- optical fiber
- probe
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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
- G01S7/4818—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
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention discloses a kind of methods realized the probe of laser radar and detached with cabinet, it is related to laser radar technique field, its probe for including laser radar is the exposed optical lens in external environment, laser radar cabinet is that inside is equipped with the casing structure of the electronics component for generating the component of laser signal, the component for receiving laser signal and processing laser signal being isolated with the external world and fiber optic bundle connecting the two；This method can realize being spatially separating for probe in laser radar and cabinet, so that laser, detector, electronics etc. are placed in the cabinet being relatively isolated with the external world, and then it is more prone to accomplish temperature control, vibration damping, dust-separation, exposed probe segment is optical lens, its surface is easy to clean, resist chemical performance is strong, resistance to variation of ambient temperature.
Description
Technical field
The present invention relates to laser radar technique fields, and in particular to a kind of to realize what the probe of laser radar was detached with cabinet
Method and laser radar.
Background technology
Laser radar is the key sensor of intelligent driving automobile, and market potential is huge, by people's common concern.At present
Laser radar in the market is mechanical scanning type, is made of laser, detector, optical lens, sweep mechanism, electronics etc.,
Using flight time range measurement principle, belong to direct ranging.In the mechanical scanning laser radar of intelligent driving, in order to adapt to vapour
Range image when vehicle high-speed motion obtains, and multipoint mode laser lighting, multiple lasers is generally used to be arranged in linear array, by swashing
Light device linear array-detector linear array is in the one-dimensional scanning with linear array vertical direction, so that it may to obtain the whole picture in motor vehicle environment space
Image, speed are faster than single-point type illumination.Laser radar technique is not yet shaped at present, and people are being developed based on the non-of floodlighting
Scanning laser radar and the laser radar etc. for using amplitude or frequency modulation(PFM) light source new principle.No matter which kind of laser radar, all
It is the entirety of optical, mechanical and electronic integration, also not exclusively adapts to the requirement of automobile autonomous driving.
At present in application fields such as intelligent driving automobiles, since the rigors that laser radar must satisfy vehicle rule could just
Formula is mounted on automobile, existing laser radar in terms of adapting to high temperature, the adverse circumstances such as jolt there is also defect, it is therefore necessary to
It is improved.
Invention content
In view of the deficiencies in the prior art, the purpose of the present invention is to provide a kind of probe for realizing laser radar with
The method of cabinet separation, this method realize being spatially separating for probe in laser radar and cabinet by optical fiber so that laser
Device, detector, electronics etc. are placed in the cabinet being relatively isolated with the external world, and then are more prone to accomplish temperature control, vibration damping, dust-separation,
Exposed probe segment is optical lens, and surface is easy to clean, and resist chemical performance is strong, resistance to variation of ambient temperature.
To achieve the above object, the technical solution adopted by the present invention is as follows：
A method of realizing that the probe of laser radar is detached with cabinet, the probe of laser radar is mounted on outside to be exposed
Optical lens in environment, laser radar cabinet are that inside is equipped with the component for generating laser signal, reception laser signal
The casing structure of the electronics component of component and processing laser signal being isolated with the external world, wherein component in cabinet
The laser pulse of generation forms divergent laser beam by optical fiber, and divergent laser beam forms collimation laser by the probe of laser radar
Beam is simultaneously irradiated on object, and dot matrix illumination is formed on object, and object forms laser facula after being illuminated, formation swashs
Light hot spot generates reflection laser beam, and reflection laser beam forms convergence laser beam by the probe of laser radar, and convergence laser beam is logical
It crosses in fiber pass-back to the component in laser radar cabinet, carries out analyzing processing.
Meanwhile this programme also provides a kind of laser for the method that the probe according to above-mentioned realization laser radar is detached with cabinet
Radar, the laser radar include cabinet, probe and fiber optic bundle, include to have M × N+1 laser, swash in the cabinet
Light device power supply, the trigger signal generator for generating Pulse-trigger control signal to the laser, two-dimentional launching fiber battle array
The fiber connector at first optical fiber both ends, lenticule, two are arranged in M × N number of incidence end fiber connector, a pair in row
M × N number of exit end fiber connector in dimension launching fiber array receives the first photodetector of initial signal and connects respectively
Receive the second photodetector of stop signal, for providing biased electrical to first photodetector and the second photodetector
The detector power supply of pressure is orderly used to is put to the signal in first photodetector and the second photodetector respectively
Amplifying circuit, time-discriminating circuit and the time-to-digital conversion circuit handled greatly, M × N number of incidence end optical fiber jointing
Correspondence is coupled with M × N number of laser respectively, another described laser is coupled with a fiber connector, and M ×
Correspondence is coupled N number of exit end fiber connector with second photodetector respectively, wherein M and N all for >=1 nature
Integer；The probe includes the outgoing end face of two-dimentional launching fiber array, is arranged and swashs in the M × N items being emitted on end face
Light device optical fiber fibre core, Laser emission lens, the hair being formed between the laser side fiber core and Laser emission lens
Laser beam, spike filter, laser pick-off lens, two-dimentional reception optical fiber array end face, setting are dissipated in the two-dimentional reception optical fiber
M × N detector side fiber core on array end face and it is formed in the detector side fiber core and laser pick-off is saturating
Convergence laser beam between mirror；The fiber optic bundle includes M × N launching fiber, M × N reception optical fiber and the first optical fiber,
The exit end of wherein launching fiber described in M × N items is connected to M × N items on the outgoing end face of the two-dimentional launching fiber array
Laser side fiber core, the incidence end of reception optical fiber described in M × N items are connected to the exit end of the two-dimentional launching fiber array
M × N detector side fiber core on face.
Further, the laser is one kind in laser diode, solid state laser or optical fiber laser.
Further, it is provided with the M in two-dimensional arrangements × N number of trepanning on the outgoing end face of two-dimentional launching fiber array,
One fiber core is installed, wherein M and N are >=1 natural integer in each trepanning.
Further, the M in two-dimensional arrangements × N number of trepanning, Mei Yikai are provided on the two-dimentional reception optical fiber array end face
One fiber core is installed, wherein M and N are >=1 natural integer in hole.
Further, the trepanning is the small structure formed by using micrometer-nanometer processing technology.
Further, first photodetector and the second photodetector be using avalanche photodiode detector or
P-type-is intrinsic-diode detector that constitutes of N-type semiconductor in one kind.
Further, the lenticule is for coupleeing the signal from optical fiber to first photodetector and second
Fine lens arrangement in photodetector.
Further, the Laser emission lens are to be made of a lens or be made of the lens group of several lens forming.
Further, the laser power supply is the power supply architecture that can provide fast-pulse driving capability.
Compared with prior art, the advantageous effects that this programme has are：
1, being spatially separating for probe and cabinet is realized so that laser, detector, electronics etc. are placed on opposite with the external world
In the cabinet of isolation, it is more prone to accomplish that temperature control, vibration damping, dust-separation, exposed probe segment are optical lens, surface is easy to clear
Clean, resist chemical performance is strong, resistance to variation of ambient temperature；
2, the probe size after being spatially separating is small, and riding position is restricted small, is conducive to the global design of vehicle shape.
3, it is empty can arbitrarily to adjust separation using the flexibility of fiber optic bundle for the separation that probe and cabinet are realized by fiber optic bundle
Between size and Orientation.
Description of the drawings
Fig. 1 is the laser radar principle schematic diagram in the present embodiment.
Reference sign in figure：
1- laser power supplies, 2- trigger signal generators, 3- lasers, 4- incidence end fiber connectors, 5- launching fibers,
6- is emitted end face, 7- laser side fiber cores, 8- divergent laser beams, 9- Laser emission lens, 10- collimated laser beams, 11- mesh
Mark object, 12- laser faculas, the first optical fiber of 13-, the ends 14- the first optical fiber A connector, 15- lenticules, the first photodetections of 16-
Device, 17- detector power supplys, 18- signal amplification circuits, 19- time-discriminating circuits, 20- time-to-digital conversion circuits, 21- reflections
Laser beam, 22- spike filters, 23- laser pick-off lens, 24- converge laser beam, 25- incident end faces, 26- detector sidelights
Long and slender core, 27- optical fiber, 28- exit end fiber connectors, the second photodetectors of 29-, 30- probes, 31- fiber optic bundles, 32- machines
Case, the ends 33- the first optical fiber B connector.
Specific implementation mode
The present invention is described in further detail with specific implementation mode with reference to the accompanying drawings of the specification.
This programme is directed at present in application fields such as intelligent driving automobiles, since laser radar must satisfy the tight of vehicle rule
Severe requirement could be formally mounted on automobile, and there is also lack in terms of adapting to high temperature, the adverse circumstances such as jolt for existing laser radar
Sunken problem, and a kind of method realized the probe of laser radar and detached with cabinet proposed, this method can realize laser thunder
Probe and cabinet in reaching are spatially separating so that laser, detector, electronics etc. are placed on and the extraneous cabinet being relatively isolated
In, and then be more prone to accomplish that temperature control, vibration damping, dust-separation, exposed probe segment are optical lens, surface is easy to clean,
Resist chemical performance is strong, resistance to variation of ambient temperature.
The present embodiment provides a kind of method that the probe realized on laser radar is detached with cabinet first, and this method is laser
The probe of radar is the exposed optical lens in external environment, and laser radar cabinet is that inside is equipped with generation laser letter
Number component, receive the component of laser signal and handle being isolated with the external world for the electronics component of laser signal
Casing structure, the laser pulse that component generates wherein in cabinet form divergent laser beam by optical fiber, and divergent laser beam passes through
The probe of laser radar forms collimated laser beam and is irradiated on object, and dot matrix illumination, object quilt are formed on object
Laser facula is formed after illuminating, the laser facula of formation generates reflection laser beam, the probe that reflection laser beam passes through laser radar
Convergence laser beam is formed, convergence laser beam is by fiber pass-back to the component in laser radar cabinet, carrying out analyzing processing.
In the above-mentioned methods, laser radar is mainly made of three probe, cabinet and fiber optic bundle parts.Swash with current
Optical radar is compared, had more with certain length and can free bend fiber optic bundle.Probe is by Laser emission lens, laser acquisition
Lens, and the fiber connector of the fiber connector of two-dimentional launching fiber array, two-dimentional reception optical fiber array form.Fiber optic bundle
It is made of launching fiber beam, reception optical fiber beam and the first optical fiber, transmitting, reception optical fiber beam are a part for fiber array, one
End enters probe, and other end enters cabinet and coupled respectively with laser or detector, and the rest part of laser radar is whole
In cabinet.
Operation principle is that laser is coupled to the incidence end of two-dimentional launching fiber array, after being transmitted by fiber optic bundle, two
Laser is formed laser point by the exit end for tieing up launching fiber array by Laser emission lens by laser irradiation to object
Battle array hot spot.After reflected light on object is by laser acquisition lens, by laser irradiation to the incidence of two-dimentional reception optical fiber array
End, after being transmitted by fiber optic bundle, coupled with detector in the exit end of two-dimentional reception optical fiber array, be equivalent to high-performance, mostly as
The detector array of element.Herein, the characteristics of being easily bent using optical fiber softness realizes laser, detector, electronics etc.
With being spatially separating for Laser emission lens and laser pick-off lens, to which fragile laser, detector, electronics etc. are placed on
In the environment being relatively isolated, temperature control, vibration damping, dust-separation is made to become to be more prone to, so that laser radar passes through vehicle rule.While this
In using laser dot-matrix illumination and detection mode, have the characteristics that without scanning or reduce scan require.
It is the laser radar principle schematic diagram in the present embodiment with reference to shown in attached drawing 1.Laser thunder in the present embodiment
Up to including cabinet 32, probe 30 and fiber optic bundle 31.Include in cabinet 32 M × N+1 laser 3, laser power supply 1,
For generating the M in the trigger signal generator 2 of Pulse-trigger control signal, two-dimentional launching fiber array × N number of to laser 3
Incidence end fiber connector 4, a pair of the first ends optical fiber A connector 14 and the first ends optical fiber B being arranged at 13 both ends of the first optical fiber
Connector 33, M × N number of exit end fiber connector 28 in two-dimentional launching fiber array, receives starting letter at lenticule 15 respectively
Number the first photodetector 16 and receive the second photodetector 29 of stop signal, for giving the first photodetector 16 and
Second photodetector 29 provides the detector power supply 17 of bias voltage, is orderly used to respectively to the first photodetector 16 and the
Signal in two photodetectors 29 is amplified amplifying circuit 18, time-discriminating circuit 19 and the time-to-digital converter electricity of processing
Road 20, correspondence couples above-mentioned M × N number of incidence end fiber connector 4 with M × N number of laser 3 respectively, another laser 3 and the
One ends optical fiber A connector 14 is coupled, and M × N number of exit end fiber connector 28 is corresponded to and the second light by lenticule 15 respectively
Electric explorer 29 is coupled, and wherein M and N are >=1 natural integer；Probe 30 includes going out for two-dimentional launching fiber array
It penetrates end face 6, M × N laser side fiber core 7 being arranged on outgoing end face 6, Laser emission lens 9, be formed in laser
Divergent laser beam 8, spike filter 22, laser pick-off lens 23, two dimension between optical fiber fibre core 7 and Laser emission lens 9
Reception optical fiber array incident end face 25, M × N detector side optical fiber being arranged on two-dimentional reception optical fiber array incident end face 25
Fibre core 26 and the convergence laser beam 24 being formed between detector side fiber core 26 and laser pick-off lens 23；Fiber optic bundle 31
Include M × N launching fiber 5, M × N reception optical fiber 27 and the first optical fiber 13 for being used for transmission initial signal laser,
The incidence end of middle M × N launching fiber 5 connects M × N number of incidence end optical fiber jointing 4, and exit end is connected to two dimension transmitting light
M × N laser side fiber core 7 on the outgoing end face 6 of fibre array, the incidence end of M × N reception optical fiber 27 are connected to two
M × N detector side fiber core 26 on the incident end face 25 of reception optical fiber array is tieed up, exit end connects M × N number of exit end
Fiber connector 28.
When work, laser power supply 1 is that laser 3 provides fast driving pulse, and trigger signal generator 2 generates one and touches
Electrical signal, while controlling M × N+1 laser 3 and generating laser pulse, the incidence end optical fiber in two-dimentional launching fiber array connects
Each fiber connector in connector 4 carries out efficient coupling, total M × N number of fiber connector with a laser 3 respectively.Swash
After light pulse is coupled into incident end fiber connector 4, the exit end of two-dimentional launching fiber array is transferred to along launching fiber 5
Face 6.M × N number of laser pulse leaves end face from the laser side fiber core 7 on the outgoing end face 6 of two-dimentional launching fiber array,
Freedom of entry space forms divergent laser beam 8.After divergent laser beam 8 is by Laser emission lens 9, become collimated laser beam 10.
Collimated laser beam 10 transmits in free space, is irradiated on object 11, M × N number of laser facula is formed, to complete dot matrix
Illumination.
First ends optical fiber A connector 14 is coupled with laser 3, is coupled into the laser come and is passed along the first optical fiber 13
It is defeated, after being transferred to the first ends optical fiber B connector 33, enters the first photodetector 16 after the focusing of lenticule 15, generate mould
The initial signal of analog quantity form.First photodetector 16 is powered by detector power supply 17.The initial signal quilt of analog quantity form
Subsequent signal amplification circuit 18 amplifies, and entry time discriminator circuit 19 becomes digital initial signal after being shaped, finally
In entry time digital conversion circuit 20.
Object 11 generates laser facula 12 after being illuminated by laser illumination system.The reflection laser beam that laser facula 12 generates
21, laser pick-off lens 23 are entered by spike filter 22, convergence laser beam 24 are generated, in the coke of laser pick-off lens 23
It is incident in the detector side fiber core 26 on two-dimentional reception optical fiber array incident end face 25 plan-position.The laser of reception is logical
The transmission of reception optical fiber 27 is crossed, is come out from the exit end fiber connector 28 of two-dimentional reception optical fiber array exit end.It is connected from optical fiber
The laser of head out, after lenticule 15, into the second photodetector 29 for receiving stop signal.Detector power supply 17 is given
Second photodetector 29 provides bias voltage, makes its normal work.Second photodetector 29 generates stopping for analog quantity form
Stop signal.The small-signal passes through the amplification of signal amplification circuit 18, believes with distance using becoming after time-discriminating circuit 19
Relevant digital stop signal is ceased, from different input terminal entry time digital conversion circuits 20.Time-to-digital conversion circuit
20 generate the flight time by comparing the time difference of initial signal and stop signal.With at 12 place of laser facula apart from relevant
Flight time is exported in the form of digital signal, is entered in computer and is handled, at different 12 places of laser facula
Distance set forms the range image that people want, and can be shown with form appropriate, such as widely known laser
Point cloud, or control system is sent to remove control actuator.It should be noted that computer etc. belongs at the information of laser radar
Reason system, no longer draws here, is the prior art.
In addition, signal amplification circuit 18 mentioned above is the faint letter to generate photodetector by opto-electronic conversion
Number circuit being amplified, is generally made of two parts of preamplifier and main amplifier, is the prior art；Same time mirror
Other circuit 19 be by amplified pulse signal it is filtered after initial signal or stop signal provided by time discriminator
Circuit；Time-to-digital conversion circuit 20 is to come out the time difference measurements of the initial signal of input and stop signal, and with number
The circuit of the form output of signal.The time difference i.e. with apart from the relevant flight time, is multiplied by the distance that the light velocity detects.It
It can be equipped with auxiliary circuit by special time-to-digital converter chip to form, can also be by on-site programmable gate array FPGA
Circuit forms.
Above-mentioned laser power supply 1 in the present embodiment is the power supply architecture that fast-pulse driving capability is provided for laser 3.
Laser 3 can also be solid state laser, can also be optical fiber laser either laser diode, these lasers are logical
The power supply of power supply 1 is crossed, under the control for the same trigger signal that trigger signal generator 2 generates, multiple lasers 3 generate simultaneously
Multiple laser pulse.Lenticule is for coupleeing the signal from optical fiber to first photodetector, 16 and second photoelectricity
Fine lens arrangement in detector 29；Laser emission lens 9 be made of a lens or by several lens forming lens
Group is constituted；First photodetector 16 and the second photodetector 29 are using avalanche photodiode detector or p-type-sheet
One kind in the diode detector that sign-N-type semiconductor is constituted, usual avalanche photodide are more conventional.Two pole of avalanche optoelectronic
Pipe can be operated in the Geiger mode angular position digitizer that bias voltage is slightly above avalanche threshold voltage, can also be operated in bias voltage and slightly below avenge
Collapse the linear model of threshold voltage.First photodetector 16 is for detecting initial signal.Second photodetector 29 is for visiting
Survey stop signal.
It is all respectively set on the outgoing end face 6 of two-dimentional launching fiber array and on two-dimentional reception optical fiber array incident end face 25
Have M × N number of trepanning in two-dimensional arrangements, a fiber core be installed in each trepanning, wherein M and N be all >=1 it is naturally whole
Number.In actual fabrication, by micrometer-nanometer processing technology, Precision Machining M × N number of aperture on the materials such as silicon chip, optical fiber is steadily
It is fixed in aperture, constitutes the 2-D optical fibre array of precise alignment.Here the arrangement period of the arrangement period of X-direction and Y-direction
Can be identical, different value can also be taken according to the design needs.M can be equal to N, can not also be equal to N.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technology
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method realized the probe of laser radar and detached with cabinet, it is characterised in that：The probe of laser radar is exposed
Optical lens in external environment, laser radar cabinet are that inside is equipped with the component for generating laser signal, reception
The casing structure of the component of laser signal and the electronics component of processing laser signal being isolated with the external world, wherein machine
The laser pulse that component generates in case forms divergent laser beam, the probe shape that divergent laser beam passes through laser radar by optical fiber
It at collimated laser beam and is irradiated on object, forms dot matrix illumination on object, object forms laser light after being illuminated
The laser facula of spot, formation generates reflection laser beam, and reflection laser beam forms convergence laser beam by the probe of laser radar, converges
Poly- laser beam is by fiber pass-back to the component in laser radar cabinet, carrying out analyzing processing.
2. a kind of laser radar for the method that the probe of realization laser radar as described in claim 1 is detached with cabinet, special
Sign is：The laser radar includes cabinet, probe and fiber optic bundle, includes to have M × N+1 laser in the cabinet
Device, laser power supply, the trigger signal generator for generating Pulse-trigger control signal to the laser, two dimension transmitting light
The fiber connector at the first optical fiber both ends, lenticule, two are arranged in M × N number of incidence end fiber connector, a pair in fibre array
M × N number of exit end fiber connector in launching fiber array is tieed up, the first photodetector of initial signal is received respectively and connects
Receive the second photodetector of stop signal, for providing biased electrical to first photodetector and the second photodetector
The detector power supply of pressure is orderly used to is put to the signal in first photodetector and the second photodetector respectively
Amplifying circuit, time-discriminating circuit and the time-to-digital conversion circuit handled greatly, M × N number of incidence end optical fiber jointing
Correspondence is coupled with M × N number of laser respectively, another described laser is coupled with first fiber connector, and M ×
Correspondence is coupled N number of exit end fiber connector with second photodetector respectively, wherein M and N all for >=1 nature
Integer；The probe includes the outgoing end face of two-dimentional launching fiber array, is arranged and swashs in the M × N items being emitted on end face
Light device optical fiber fibre core, Laser emission lens, the hair being formed between the laser side fiber core and Laser emission lens
Laser beam, spike filter, laser pick-off lens, two-dimentional reception optical fiber array end face, setting are dissipated in the two-dimentional reception optical fiber
M × N detector side fiber core on array end face and it is formed in the detector side fiber core and laser pick-off is saturating
Convergence laser beam between mirror；The fiber optic bundle includes M × N launching fiber, M × N reception optical fiber and the first optical fiber,
The exit end of wherein launching fiber described in M × N items is connected to M × N items on the outgoing end face of the two-dimentional launching fiber array
Laser side fiber core, the incidence end of reception optical fiber described in M × N items are connected to the exit end of the two-dimentional reception optical fiber array
M × N detector side fiber core on face.
3. a kind of laser radar according to claim 2, it is characterised in that：The laser is laser diode, solid
One kind in laser or optical fiber laser.
4. a kind of laser radar according to claim 2, it is characterised in that：The exit end of two-dimentional launching fiber array
It is provided with the M in two-dimensional arrangements × N number of trepanning on face, a fiber core is installed, wherein M and N are in each trepanning
For >=1 natural integer.
5. a kind of laser radar according to claim 4, it is characterised in that：It is set on the two dimension reception optical fiber array end face
It is equipped with M × N number of trepanning in two-dimensional arrangements, a fiber core is installed in each trepanning, wherein M and N are >=1
Natural integer.
6. a kind of laser radar according to claim 4 or 5, it is characterised in that：The trepanning is to add by using fine
The small structure that work technology is formed.
7. a kind of laser radar according to claim 2, it is characterised in that：First photodetector and the second photoelectricity
Detector be using avalanche photodiode detector or p-type-it is intrinsic-N-type semiconductor constitute diode detector in one
Kind.
8. a kind of laser radar according to claim 2, it is characterised in that：The lenticule is for will be from optical fiber
Signal is coupled to the fine lens arrangement in first photodetector and the second photodetector.
9. a kind of laser radar according to claim 2, it is characterised in that：The Laser emission lens are by a lens
It constitutes or is made of the lens group of several lens forming.
10. a kind of laser radar according to claim 2, it is characterised in that：The laser power supply is that can provide quickly
The power supply architecture of pulsed drive ability.
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| CN111766587A (en) * | 2020-06-11 | 2020-10-13 | 苏州玖物互通智能科技有限公司 | Multi-line laser radar optical system |
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