CN109000584A - Coaxial transmitting-receiving detection device - Google Patents
Coaxial transmitting-receiving detection device Download PDFInfo
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- CN109000584A CN109000584A CN201810671789.1A CN201810671789A CN109000584A CN 109000584 A CN109000584 A CN 109000584A CN 201810671789 A CN201810671789 A CN 201810671789A CN 109000584 A CN109000584 A CN 109000584A
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- laser
- optical fiber
- transmitting
- receiving
- light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses coaxial transmitting-receiving detection devices to realize transmitting visual field and field of view of receiver matched with simplified structure, more return light can be received, signal-to-noise ratio and detection range are improved, while the various pieces in device are connected by optical fiber, and carry out flexible installing is facilitated.
Description
Technical field
The present invention relates to field of detecting, in particular to coaxial transmitting-receiving detection device.
Background technique
In numerous application fields such as aerospace, copying, machine vision, autonomous driving vehicle, unmanned plane, require
The three-D profile information of object and environment.With the development of technology, increasingly higher demands are proposed to environment sensing.
The important realization rate that Photoelectric Detection is perceived as three-D profile, obtained more and more extensive attention in recent years,
Also significant progress is achieved.When common photoelectric detecting technology approach mainly includes Moire fringe technique, triangulation, pulse
Between flight method, indirect time flight method, laser illumination distance gating imaging method etc..Above-mentioned technological approaches respectively has advantage and disadvantage, not
Same platform and field is all applied.
In current Photoelectric Detection, most light source transmitting aperture is to separate with receiving aperture, i.e., most of is non-
Coaxial transmitting-receiving not only increases the difficulty of light beam scanning, also leads to optical axis calibration inefficiency when production.It is asked to solve this
, also there is the solution of some coaxial transmitting-receivings, for example, by using devating prism, optical fiber circulator etc. in topic.
By taking devating prism solution as shown in Figure 1 as an example, the program is realized by a semi-transparent semi-reflecting lens 115.Its
Disadvantage is: system structure is more complex, needs 140 two groups of camera lenses of semi-transparent semi-reflecting lens 115 and receiver；The light that light source 110 issues
When beam passes through semi-transparent semi-reflecting lens 115, existing transmission also has reflection, can lose part energy, when receiving Returning beam, passes through
When semi-transparent semi-reflecting lens 115, existing transmission also has reflection, can also lose part energy, therefore only portion of energy reaches reception
System, noise is relatively low, and detection range is limited.
Summary of the invention
The embodiment of the invention provides coaxial transmitting-receiving detection devices.In order to which some aspects of the embodiment to disclosure have one
Simple summary is shown below in basic understanding.The summarized section is not extensive overview, nor to determine key/critical
Component or the protection scope for describing these embodiments.Its sole purpose is that some concepts are presented with simple form, with this
Preamble as following detailed description.
The embodiment of the invention provides a kind of coaxial transmitting-receiving detection device, described device includes: processor, laser, is total to
Axis transceiver, receiver and transmitting-receiving scanner；
The processor, for controlling the laser transmitting laser；Handle the signal that the receiver obtains；
The transmitting-receiving scanner, for scanning mode by the Laser emission to the object to be measured；It receives described sharp
Return light of the light through object to be measured；
The coaxial transceiver receives the laser for emitted optical fiber, is transmitted to the laser through transmitting-receiving optical fiber
The transmitting-receiving scanner；The return light and received optical fiber that the transmitting-receiving scanner transmits are received through the transmitting-receiving optical fiber
By the return optical transport to the receiver；
The receiver, for receiving the return light and being converted into electric signal.
Based on described device, as optional first embodiment, described device further include: fiber optic splitter；
The fiber optic splitter, for the laser to be divided at least two light beams, the corresponding detection of each light beam is logical
Road；
Each detection access includes: at least one described coaxial transceiver, at least one described receiver and at least
One transmitting-receiving scanner.
Based on described device and the first embodiment, as optional second embodiment, the transmitting-receiving scanner includes:
Collimating components, reflecting light beam deflecting device array and transmission-type beam deflector part array；
The reflecting light beam deflecting device array includes at least one reflecting light beam deflecting device, for swashing described
Light reflexes to the transmission-type beam deflector part array；It receives from described in the transmission-type beam deflector part array times
Return light；
The transmission-type beam deflector part array includes at least one transmission-type beam deflector part, for swashing described
Light transmission is to the object to be measured；Receive the return light；
The collimating components are arranged between the transmitting-receiving optical fiber and the reflecting light beam deflecting device and the reflection
Between formula beam deflector part and the transmission-type beam deflector part at least one at.
Based on described device and the first embodiment, as optional 3rd embodiment, the transmitting-receiving scanner includes:
Collimating components and reflecting light beam deflecting device array；
The reflecting light beam deflecting device array includes at least one reflecting light beam deflecting device, for swashing described
Light reflexes to the object to be measured；Receive the return light；
The collimating components setting is between the transmitting-receiving optical fiber and the reflecting light beam deflecting device array and described
Between reflecting light beam deflecting device array and the object to be measured at least one at.
Based on described device and the first embodiment, as optional fourth embodiment, the transmitting-receiving scanner includes:
Collimating components and transmission-type beam deflector part array；
The transmission-type beam deflector part array includes at least one transmission-type beam deflector part, for swashing described
Light transmission is to the object to be measured；Receive the return light；
The collimating components are arranged between the transmitting-receiving optical fiber and the transmission-type beam deflector part array.
Based on described device and the first embodiment, as optional fourth embodiment, the coaxial transceiver includes:
First optical fiber and the second optical fiber；
First optical fiber connects the launching fiber and the transmitting-receiving optical fiber；
Second optical fiber connects the reception optical fiber, and second optical fiber is disposed proximate to first optical fiber；
First optical fiber, for receiving laser through the launching fiber and being transmitted to the transmitting-receiving optical fiber；Through the receipts
The fibre that shines receives the return light and is coupled to second optical fiber；
Second optical fiber is used for the return optical transport to the reception optical fiber.
Based on the fourth embodiment, as optional 5th embodiment, first optical fiber has covering and fibre core, institute
It states after return light transmits set distance in the covering and is coupled to second optical fiber.
Based on the fourth embodiment, as optional sixth embodiment, second optical fiber is at least two, surrounds institute
It states the first optical fiber and is disposed proximate to first optical fiber.
Based on the sixth embodiment, as optional 7th embodiment, the every reception optical fiber is connected described in one
Second optical fiber.
Based on the sixth embodiment, as optional 8th embodiment, a receiver at least described in two
Reception optical fiber is connected；
One coaxial transceiver is connected at least two reception optical fibers.
Based on the fourth embodiment, as optional 9th embodiment, first optical fiber, the launching fiber and institute
State the parameter matching of transmitting-receiving optical fiber；
Alternatively, first optical fiber, the launching fiber and the transmitting-receiving optical fiber are an optical fiber.
Based on the fourth embodiment, as optional tenth embodiment, second optical fiber and the reception optical fiber
Parameter matching；
Alternatively, second optical fiber and the reception optical fiber are an optical fiber.
Based on described device and the first embodiment, as optional 11st embodiment, the laser includes: half
Conductor laser and isolator；
Semiconductor laser, for generating pump light；The pump light is used for excitation fiber laser；
The isolator, for the pump light to be isolated.
Based on described device and the first embodiment, as optional 12nd embodiment, described device further include: narrow
Band filter；
The narrow band filter is set at least one of the transmitting-receiving scanner and described receiver, is had and institute
State filtering parameter similar in optical maser wavelength.
Based on described device and the first embodiment, as optional 13rd embodiment, the laser is configured
Are as follows:
Generate pulse laser；
The volume that generates the identification information that carries described device is repeatedly measured by the pulse laser same object to be measured
Code laser signal；
Emit the coded laser light signal.
Based on the 13rd embodiment, as optional 14th embodiment, the receiver is configured as:
All return light received are converted into electric signal, by being decoded to the electric signal converted out, really
Make the electric signal of the coded laser light signal of corresponding present apparatus transmitting.
Based on described device and the first embodiment, as optional 15th embodiment, described device further include: temperature
Spend sensor and temperature control unit；
The temperature sensor, for obtaining the temperature of the laser and the receiver；
The temperature control unit carries out temperature when the temperature for obtaining in the temperature sensor is more than temperature threshold
Degree control.
Coaxial transmitting-receiving detection device in the embodiment of the present invention, achieve it is following the utility model has the advantages that
First, simplify the structure of detection device；
Second, emit visual field and field of view of receiver matched, more return light can be received, improve signal-to-noise ratio and spy
Ranging from；
Third, the various pieces in device are connected by optical fiber, and carry out flexible installing is facilitated.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 be in the prior art it is a kind of it is coaxial transmitting-receiving detection device schematic diagram；
Fig. 2 is the schematic diagram of the coaxial transmitting-receiving detection device in an exemplary embodiment；
Fig. 3 is the schematic diagram of the coaxial transmitting-receiving detection device in an exemplary embodiment；
Fig. 4 is realization schematic diagram of the multiplexed detection on automobile in an exemplary embodiment；
Fig. 5 is the structural schematic diagram of the transmitting-receiving scanner in an exemplary embodiment；
Fig. 6 is the structural schematic diagram of the transmitting-receiving scanner in an exemplary embodiment；
Fig. 7 is the structural schematic diagram of the transmitting-receiving scanner in an exemplary embodiment；
Fig. 8 is the structural schematic diagram of the transmitting-receiving scanner in an exemplary embodiment；
Fig. 9 a is the schematic diagram for carrying out one-dimensional scanning in an exemplary embodiment in one direction；
Fig. 9 b is to carry out the schematic diagram of two-dimensional scanning in both direction in an exemplary embodiment；
Figure 10 is the structural schematic diagram of the coaxial transceiver in an exemplary embodiment；
Figure 11 is the structural schematic diagram of the laser in an exemplary embodiment；
Figure 12 is the schematic diagram of the pulse laser of different pulse widths in an exemplary embodiment；
Figure 13 is the schematic diagram of the intensity of return light in an exemplary embodiment.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.Embodiment only represents possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and
And the sequence of operation can change.The part of some embodiments and feature can be included in or replace other embodiments
Part and feature.The range of embodiment of the present invention includes the entire scope of claims and the institute of claims
There is obtainable equivalent.Herein, each embodiment can individually or generally be indicated that this is only with term " invention "
It is merely for convenience, and if in fact disclosing the invention more than one, it is not meant to automatically limit the range of the application
For any single invention or inventive concept.Herein, relational terms such as first and second and the like are used only for one
Entity, which is perhaps operated, to be distinguished and exists without requiring or implying between these entities or operation with another entity or operation
Any actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-exclusive
Property include so that include a series of elements process, method or equipment not only include those elements, but also including
Other elements that are not explicitly listed.Each embodiment herein is described in a progressive manner, and each embodiment stresses
Be the difference from other embodiments, the same or similar parts in each embodiment may refer to each other.
In one exemplary embodiment, as shown in Fig. 2, coaxial transmitting-receiving detection device include: processor 11, laser 12,
Coaxial transceiver 13, receiver 14 and transmitting-receiving scanner 15.
Processor 11 emits laser for controlling laser 12；The signal that processing receiver 14 obtains.
Receive and dispatch scanner 15, for scanning mode by the Laser emission to object to be measured；Receive the laser pass through to
Survey the return light of object.
Coaxial transceiver 13 receives the laser for emitted optical fiber 6, is transmitted to the laser through transmitting-receiving optical fiber 8
Receive and dispatch scanner 15；The return light of the transmitting-receiving transmission of scanner 15 is received through transmitting-receiving optical fiber 8 and received optical fiber 7 will be described
Return optical transport is to receiver 14.
Receiver 14, for receiving the return light and being converted into electric signal.
Consider that actual application environment, detection device can be divided into internal mounting part 100 and external installation section 200, on
Stating each component can be separately contained in this two parts.
Coaxial transmitting-receiving detection device in the present exemplary embodiment, achieve it is following the utility model has the advantages that
First, simplify the structure of detection device；
Second, emit visual field and field of view of receiver matched, more return light can be received, improve signal-to-noise ratio and spy
Ranging from；
Third, the various pieces in device are connected by optical fiber, and carry out flexible installing is facilitated.
In one exemplary embodiment, as shown in figure 3, coaxial transmitting-receiving detection device include: processor 11, laser 12,
Coaxial transceiver 13, receiver 14, transmitting-receiving scanner 15 and fiber optic splitter 16.
Fiber optic splitter 16, the laser for emitting laser 12 are divided at least two light beams, each light beam corresponding one
A detection access.
The detection access includes: at least one coaxial transceiver 13, at least one receiver 14 and at least one transmitting-receiving
Scanner 15.As it can be seen that combination there are many devices that detection access includes, such as a detection access may include one total
13, receivers 14 of axis transceiver and a transmitting-receiving scanner 15, in another example a detection access may include one coaxial
Transceiver 13, multiple receivers 14 and a transmitting-receiving scanner 15.Optionally, a transmitting-receiving scanner 15 may belong to multiple spies
Access is surveyed, in this case, a transmitting-receiving scanner 15 can pass through multiple transmitting-receiving optical fiber 8 and multiple coaxial 13 phases of transceiver
Even.
Processor 11 includes controller and at least one signal processor.The controller is for controlling the transmitting of laser 12
Laser, the signal processor is for handling the signal that receiver 14 obtains.Optionally, each signal processor, can be with
Handle the signal that one or more receivers 14 obtain.
Receive and dispatch scanner 15, for scanning mode by the Laser emission to object to be measured；Receive the laser pass through to
Survey the return light of object.
Coaxial transceiver 13 receives the laser for emitted optical fiber 6, is transmitted to the laser through transmitting-receiving optical fiber 8
Receive and dispatch scanner 15；The return light of the transmitting-receiving transmission of scanner 15 is received through transmitting-receiving optical fiber 8 and received optical fiber 7 will be described
Return optical transport is to receiver 14.
Receiver 14, for receiving the return light and being converted into electric signal.
After fiber optic splitter 16, the laser all the way that can emit laser 12 is divided into multichannel, realizes that multichannel is visited
It surveys, effectively reduces cost, reduce the size of detection device.Each detection access, can with flexible installing application environment not
The detection to different zones is realized in same position.
As shown in figure 4, by taking application environment is automobile 300 as an example, each above-mentioned detection access may be mounted at automobile
Different location.Two transmitting-receiving scanners 15 are set side by side in headstock position, and one is used as remote small field of view, and one is used as closely
Big visual field.Several transmitting-receiving scanners 15 also can be set with backward in automobile side angle.
In one exemplary embodiment, the internal structure for receiving and dispatching scanner 15 includes collimating components, can also include reflection
At least one of formula beam deflector part array and transmission-type beam deflector part array.
The reflecting light beam deflecting device is referred to changing by the mirror surface attitude angle of device, be irradiated in light beam
When reflection on it, change the device of direction of beam propagation.
The reflecting light beam deflecting device array may include at least one reflecting light beam deflecting device, reflecting light
Beam deflecting device can be MEMS galvanometer, tilting mirror, galvanometer or other reflecting mirrors etc., when including multiple reflecting light beam deflecting devices
When, multiple reflecting light beam deflecting device series connection.
The transmission-type beam deflector part refers to that, by adjusting the electric signal on device is added in, penetrating in light beam should
When device, the device for changing direction of beam propagation is realized.
The transmission-type beam deflector part array may include at least one transmission-type beam deflector part, transmission-type light
Beam deflecting device can be electro-optical device, acousto-optical device, liquid crystal device or phased array device etc., when including multiple transmission-type light beams
When deflection device, multiple transmission-type beam deflector part series connection.
Several citings of transmitting-receiving 15 internal structure of scanner are given below.
As shown in figure 5, transmitting-receiving scanner 15 includes: collimating components 41, reflecting light beam deflecting device array and transmission-type
Beam deflector part array.
Transmission-type beam deflector part array includes multiple transmission-type beam deflector parts 43 being arranged in series.
Reflecting light beam deflecting device array includes a reflecting light beam deflecting device 42, for emitting laser 12
Laser reflection to transmission-type beam deflector part 43；Receive the return light from transmission-type beam deflector part 43.
The setting of collimating components 41 is between transmitting-receiving optical fiber 8 and reflecting light beam deflecting device 42 and reflected light beams are inclined
Turn between device 42 and transmission-type beam deflector part 43.Under the application scenarios having, collimating components 41, which also can be set, to be received
It shines between fibre 8 and reflecting light beam deflecting device 42 or reflecting light beam deflecting device 42 and transmission-type beam deflector part
Between 43 wherein at one.
As optional embodiment, collimating components 41 can be lens group, play the role of collimation and optically focused.
A transmission-type beam deflector part 43 can also be only included as optional embodiment, in transmissive arrays.
It receives and dispatches scanner 15 and passes through at least one in reflecting light beam deflecting device 42 and transmission-type beam deflector part 43
It is a, realize the Laser emission that emits laser 12 with scanning mode to object to be measured.
As shown in fig. 6, transmitting-receiving scanner 15 includes: collimating components 51, reflecting light beam deflecting device array and transmission-type
Beam deflector part array.
Transmission-type beam deflector part array includes multiple transmission-type beam deflector parts 53 being arranged in series.
Reflecting light beam deflecting device array is inclined including the first reflecting light beam deflecting device 521, the second reflected light beams
Turn device 522.First reflecting light beam deflecting device 521, laser reflection for emitting laser 12 is to second reflective
Beam deflector part 522；Receive the return light from the second reflecting light beam deflecting device 522.
Second reflecting light beam deflecting device 522, the laser reflection for emitting laser 12 are inclined to transmission-type light beam
Turn device 53；Receive the return light from transmission-type beam deflector part 53.
Collimating components 51, setting is between transmitting-receiving optical fiber 8 and the first reflecting light beam deflecting device 521 and second reflects
Between formula beam deflector part 522 and transmission-type beam deflector part 53.Under the application scenarios having, collimating components 51 can also be with
Setting transmitting-receiving optical fiber 8 and the first reflecting light beam deflecting device 521 between or 522 and of the second reflecting light beam deflecting device
Between transmission-type beam deflector part 53 wherein at one.
As optional embodiment, structure shown in Fig. 7 can not also include transmissive arrays, and direct by reflective array
By Laser emission to object to be measured, return light of the laser through object to be measured is then directly received.
As optional embodiment, in structure shown in Fig. 7, transmission-type beam deflector part array can also be only included
One transmission-type beam deflector part 53.
As shown in fig. 7, transmitting-receiving scanner 15 includes: collimating components 61 and reflecting light beam deflecting device array.
Reflecting light beam deflecting device array includes a reflecting light beam deflecting device 62, for emitting laser 12
Laser reflection to object to be measured；It receives return light of the laser through object to be measured and reflexes to transmitting-receiving optical fiber 8.
The setting of collimating components 61 is between transmitting-receiving optical fiber 8 and reflecting light beam deflecting device 62 and reflected light beams deflect
Between device 62 and object to be measured.
As shown in figure 8, transmitting-receiving scanner 15 includes: collimating components 71 and transmission-type beam deflector part array.
Transmission-type beam deflector part array includes multiple transmission-type beam deflector parts 72 being arranged in series.
The setting of collimating components 71 is between transmitting-receiving optical fiber 8 and transmission-type beam deflector part 72.
As optional embodiment, it is inclined that transmission-type beam deflector part array can also only include a transmission-type light beam
Turn device 72.
Based on Fig. 5 to it is shown in Fig. 8 transmitting-receiving scanner 15 any structure, a transmitting-receiving scanner 15 can connect to
Few two transmitting-receiving optical fiber 8.When transmitting-receiving scanner 15 connects more transmitting-receiving optical fiber 8, emitted energy can be improved, and receive return
The hot spot of light is larger, to collect more energy, improves the sensitivity of detection device.
Based on Fig. 5 to any structure of transmitting-receiving scanner 15 shown in Fig. 8, transmitting-receiving scanner 15 can be as illustrated in fig. 9
One-dimensional scanning is carried out in one direction, it, can also be as shown in figure 9b at two such as the scanning in horizontal direction or vertical direction
Two-dimensional scanning, such as snake scan are carried out on direction.
Based on Fig. 5 to any structure of transmitting-receiving scanner 15 shown in Fig. 8, transmitting-receiving scanner 15 has different angles
Range, sweep spacing and scanning speed realize detection angle range, the dynamic change of angular resolution and speed of detection.It gives below
Two citings out.
On a highway, vehicle driving is very fast, and forward detection is needed to detecting more at a distance, and detection can concentrate
Within the scope of the set angle of right ahead, at this time receive and dispatch scanner 15 can according to setup parameter, carry out it is non-angularly between
Every non-uniform speed scanning, by scanning be concentrated mainly within the scope of the set angle of right ahead.In business district, vehicle driving compared with
Slowly, traffic condition is complicated, and forward detection needs to cover biggish angular range, and receiving and dispatching scanner 15 at this time can carry out angularly
The uniform speed scanning at interval.
It, can also be by above-mentioned equiangularly spaced scanning, non-equiangularly spaced scanning, uniform speed scanning under other application scenarios
With non-uniform speed scanning with the use of other combinations.
In one exemplary embodiment, as shown in Figure 10, coaxial transceiver 13 shown in Fig. 2 or Fig. 3 includes: the first light
Fibre 91 and the second optical fiber 92.
First optical fiber 91 connects launching fiber 6 and transmitting-receiving optical fiber 8.Optionally, the first optical fiber 91, launching fiber 6 and transmitting-receiving
Optical fiber 8 has covering and fibre core.
Second optical fiber 92 connects reception optical fiber 7, and the second optical fiber 92 is disposed proximate to the first optical fiber 91.It is disposed proximate to can be
It fits closely.
Return light through object to be measured reaches the first optical fiber 91 by transmitting-receiving optical fiber 8, and passes in the covering of the first optical fiber 91
The second optical fiber 92 is coupled to after defeated set distance.It is coupled to the return light of the second optical fiber 92, according to coupling efficiency difference, is had not
Together.
As optional embodiment, the first optical fiber 91, launching fiber 6 and the parameter matching or first for receiving and dispatching optical fiber 8
Optical fiber 91, launching fiber 6 and transmitting-receiving optical fiber 8 can be an optical fiber, which can be single mode optical fiber or doubly clad optical fiber.The
The matching of the parameter of two optical fiber 92 and reception optical fiber 7 or the second optical fiber 92 and reception optical fiber 7 can be an optical fiber, the optical fiber
It can be no clad silica silk.
Based on structure shown in Fig. 10, coaxial transceiver 13 may be implemented transmitting-receiving and efficiently separate.Come from the transmission of launching fiber 6
Laser reach coaxial transceiver 13 after, can be a large amount of or fully enter transmitting-receiving optical fiber 8, come from the transmitting-receiving transmission of optical fiber 8 return
After light reaches coaxial transceiver 13, can largely or all it be coupled into reception optical fiber 7.
As optional embodiment, the second optical fiber 92 can be at least two, around the first optical fiber 91 and with the first light
Fibre 91 is disposed proximate to.
As optional embodiment, the second optical fiber 92 is identical with the quantity of reception optical fiber 7.Further, a receiver
14 can be connected at least two root receiving fibers 7, and a coaxial transceiver 13 is connected at least two root receiving fibers 7.
In one exemplary embodiment, laser 12 can be optical fiber laser, be also possible to fiber coupling output its
His laser.As shown in figure 11, when laser 12 includes semiconductor laser 101, laser 12 can also include isolator
102。
Semiconductor laser 101, for emitting pump light.Pump light is used for excitation fiber laser.
Isolator 102, for pump light to be isolated.Isolator 102 realizes the isolation to pump light, leaves behind to subsequent spy
Survey useful optical-fiber laser.
In one exemplary embodiment, device shown in Fig. 2 or Fig. 3 can also include narrow band filter, be set to receipts
It sends out at least one of scanner 15 and receiver 14.Above-mentioned narrow band filter has and the emitted optical maser wavelength of laser 12
Similar filtering parameter, so that the return light emitted near optical maser wavelength is only allowed to pass through, the environmental background light quilt of other wavelength
It filters out, the signal-to-noise ratio of detection device can be improved.Optionally, narrow band filter can be the optical filter of OD3~5.
It in one exemplary embodiment, is that Object table to be measured is scanned by pulse laser to the complete detection of object to be measured
The different location in face is realized, will be known as primary detection for the scanning of each scan position, is completed using multi-pulse laser each
Secondary detection.In this case, laser 12 generates pulse laser, and generation is repeatedly measured same target by pulse laser and is taken
Then the coded laser light signal of identification information with detection device emits coded laser light signal.
Receiver 14 receives after the return light of subject surface to be measured, converts thereof into electric signal, can then proceed in
Identical presetting coding mode is decoded, and obtains identification information therein, so that it is determined that going out the volume of corresponding present apparatus transmitting
The electric signal of code laser signal, then execute subsequent operation.As it can be seen that being detected every time by multiple-pulse, this detection can be distinguished
Device and other detection devices improve anti-interference ability.
In one exemplary embodiment, receiver 14 can be the types such as single-point, linear array, face battle array.Receiver 14 can be adopted
With charge coupling element (Charge-coupled Device, english abbreviation CCD), complementary metal oxide semiconductor
(Complementary Metal Oxide Semiconductor, english abbreviation CMOS), position-sensitive detector
(Position Sensitive Detector, english abbreviation PSD), avalanche photodide (Avalanche Photo
Diode, english abbreviation APD), photodiode (Positive Intrinsic-Negative, english abbreviation PIN), silicon photoelectricity
Multiplier tube (silicon photomultiplier, english abbreviation SiPM), more pixel photon counter (Multi-Pixel
Photon Counter, english abbreviation MPPC) or other light receiving elements.Make full use of receiver 14 photoelectric conversion capacity,
The parameters such as response frequency, resolution ratio, tonal gradation realize high frame frequency, high-resolution measurement.Connected applications scene, receiver
14 can use single-point APD detector, can also use SiPM or MPPC detector.
In one exemplary embodiment, 12 emission pulse laser of laser can also include: electronic shutter in detection device
And isochronous controller.
Isochronous controller, it is synchronous with electronic shutter for controlling pulse laser.
Electronic shutter, for controlling and receiving the time for exposure of device 14.
When isochronous controller control electronic shutter is synchronous with pulse laser and electronic shutter controls and receives the exposure of device 14
Between, influence of noise can be reduced, the signal noise ratio of detection is promoted, is advantageously implemented farther away detection range.
Optionally, isochronous controller control electronic shutter is synchronous with pulse laser, can not be absolute synchronization, specifically,
Isochronous controller can determine synchronous time window according to the flight time of light beam.
It in one exemplary embodiment, is that Object table to be measured is scanned by pulse laser to the complete detection of object to be measured
The different location in face is realized, will be known as primary detection for the scanning of each scan position, is completed using multi-pulse laser each
Secondary detection.
Further, same target is repeatedly measured by pulse laser, coded excitation signal can be generated in laser 12.On
State the identification information that coded excitation signal carries detection device.Above-mentioned coded excitation signal is light beam, and the identification of above equipment is believed
Breath is used to indicate detection device.
Receiver 14 receives after the return light of subject surface to be measured, can according to identical presetting coding mode into
Row decoding, obtains device identifying information therein, if it is determined that the return light corresponds to the present apparatus, then executes subsequent operation.As it can be seen that
It is detected every time by multiple-pulse, receiver can be made to distinguish the present apparatus and other devices, improve anti-interference ability.
In one exemplary embodiment, shade can be set near receiver 14, which can be volume
The hood of outer setting is also possible to the long and narrow space of the installation of receiver 14.Shade can prevent stray light from entering reception
Device 14 improves signal-to-noise ratio.
In one exemplary embodiment, for different application scenarios demands, by adjusting the power of light source, that is, pass through tune
The power of whole laser 12 realizes the dynamic adjustment of the reflectivity range of the object to be measured of detection range and covering.
For example, for the object to be measured of identical reflectivity, when needing to detect more remote, the power of laser 12 will be compared with
Greatly, when needing to detect closer distance, the power of laser 12 will be smaller.In another example for the object to be measured at same distance,
When the power of laser 12 is big, the lower object to be measured of reflectivity can be detected, and when the power of laser 12 is small, only
The higher object to be measured of reflectivity can be detected.At this point, processor 11 can determine that different applications needs according to setting condition
It asks, then adjusts the power of laser 12.Above-mentioned setting condition, can be presetting decision condition, for example, car speed, to
Object-detection result etc. is surveyed, be also possible to operator is manually entered instruction.
In another example will lead to the decline of the received signal-to-noise ratio of receiver 14 when environmental background light is too strong, so that effectively detection
Distance reduces, and when environmental background light is too weak, and will lead to the light energy waste of laser 12, power consumption is higher.
It may further include ambient light sensor in detection device, processor 11 can be according to ambient light sensor to ring
The testing result of border light adjusts the power of laser 12.
If in detection device not including the detection device of environment light, processor 11 can also be received according to receiver 14
The intensity of return light to obtain the situation of environment light indirectly, then adjusts the power of laser 12.
Optionally, temperature sensor and temperature control unit be can further include in detection device.
Temperature sensor, for obtaining the temperature of laser 12 and receiver 14.
Temperature control unit carries out temperature control when the temperature for obtaining when temperature sensor is more than temperature threshold.It can
Choosing, temperature threshold may include temperature upper limit threshold value and lowest temperature threshold value, specifically, when temperature is higher than temperature upper limit threshold value
When, temperature control equipment is for freezing and reducing temperature, and when temperature is lower than lowest temperature threshold value, temperature control equipment is for adding
Heat simultaneously improves temperature.
Processor 11 can adjust the time for exposure of receiver 14 by control electronic shutter and laser 12 emits
Pulse width, to realize the changed power of laser 12.As shown in figure 12, make laser within each constant pulse period
Device 12 emits the pulse laser of different pulse widths, i.e., each pulse period can have different duty ratios.
In one exemplary embodiment, processor 11 can according to the intensity of the received return light of receiver 14, determine to
The material of object is surveyed, such as vehicle driving, barrier and road surface can be distinguished, distinguish pedestrian and trees, identification road
Shoulder and identification lane line etc..
In one exemplary embodiment, the light beam that laser 12 emits can be radiated on certain objects that can be penetrated,
Such as leaf, glass wall or the transparent object to be measured of other parts, multiecho signal is generated, and received repeatedly by receiver 14
Return light, and multiple imaging results are generated, the intensity of return light is as shown in figure 13, and in this case, receiver 14 can also be used
In multiple return light of the pulse laser through subject surface to be measured of reception and it is imaged.Processor 11 can be also used for handling multiple figures
Picture obtains the information of object to be measured.
Specifically, processor 11 can obtain to be measured for the first time after receiver 14 receives return light for the first time and is imaged
As a result；After receiver 14 receives second of return light and is imaged, processor 11 can obtain second of measurement result；Until complete
It is measured at last time.
It should be understood that the invention is not limited to the process and structure that are described above and are shown in the accompanying drawings,
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is only limited by the attached claims
System.
Claims (11)
1. a kind of coaxial transmitting-receiving detection device, which is characterized in that described device include: processor, laser, coaxial transceiver,
Receiver and transmitting-receiving scanner；
The processor, for controlling the laser transmitting laser；Handle the signal that the receiver obtains；
The transmitting-receiving scanner, for scanning mode by the Laser emission to the object to be measured；Receive the laser warp
The return light of object to be measured；
The coaxial transceiver receives the laser for emitted optical fiber, is transmitted to the laser through transmitting-receiving optical fiber described
Receive and dispatch scanner；The return light and received optical fiber for receiving the transmitting-receiving scanner transmission through the transmitting-receiving optical fiber are by institute
Return optical transport is stated to the receiver；
The receiver, for receiving the return light and being converted into electric signal.
2. device as described in claim 1, which is characterized in that described device further include: fiber optic splitter；
The fiber optic splitter, for the laser to be divided at least two light beams, the corresponding detection access of each light beam；
Each detection access include: at least one described coaxial transceiver, at least one described receiver and at least one
The transmitting-receiving scanner.
3. device as claimed in claim 1 or 2, which is characterized in that the transmitting-receiving scanner includes: collimating components, reflective
Beam deflector part array and transmission-type beam deflector part array；
The reflecting light beam deflecting device array includes at least one reflecting light beam deflecting device, for the laser is anti-
It is incident upon the transmission-type beam deflector part array；It receives from the described return of the transmission-type beam deflector part array
Light；
The transmission-type beam deflector part array includes at least one transmission-type beam deflector part, for the laser is saturating
It is incident upon the object to be measured；Receive the return light；
The collimating components are arranged between the transmitting-receiving optical fiber and the reflecting light beam deflecting device and the reflecting light
Between beam deflecting device and the transmission-type beam deflector part at least one at.
4. device as claimed in claim 1 or 2, which is characterized in that the transmitting-receiving scanner includes: collimating components and reflective
Beam deflector part array；
The reflecting light beam deflecting device array includes at least one reflecting light beam deflecting device, for the laser is anti-
It is incident upon the object to be measured；Receive the return light；
The collimating components are arranged between the transmitting-receiving optical fiber and the reflecting light beam deflecting device array and the reflection
Between formula beam deflector part array and the object to be measured at least one at.
5. device as claimed in claim 1 or 2, which is characterized in that the transmitting-receiving scanner includes: collimating components and transmission-type
Beam deflector part array；
The transmission-type beam deflector part array includes at least one transmission-type beam deflector part, for the laser is saturating
It is incident upon the object to be measured；Receive the return light；
The collimating components are arranged between the transmitting-receiving optical fiber and the transmission-type beam deflector part array.
6. device as claimed in claim 1 or 2, which is characterized in that the coaxial transceiver includes: the first optical fiber and the second light
It is fine；
First optical fiber connects the launching fiber and the transmitting-receiving optical fiber；
Second optical fiber connects the reception optical fiber, and second optical fiber is disposed proximate to first optical fiber；
First optical fiber, for receiving laser through the launching fiber and being transmitted to the transmitting-receiving optical fiber；
The return light is received through the transmitting-receiving optical fiber and is coupled to second optical fiber；
Second optical fiber is used for the return optical transport to the reception optical fiber.
7. device as claimed in claim 1 or 2, which is characterized in that the laser includes: semiconductor laser and isolation
Device；
Semiconductor laser, for generating pump light；The pump light is used for excitation fiber laser；
The isolator, for the pump light to be isolated.
8. device as claimed in claim 1 or 2, which is characterized in that described device further include: narrow band filter；
The narrow band filter is set at least one of the transmitting-receiving scanner and described receiver, is had and is swashed with described
Filtering parameter similar in optical wavelength.
9. device as claimed in claim 1 or 2, which is characterized in that the laser is configured as:
Generate pulse laser；
Swashed by the coding that the pulse laser repeatedly measures same object to be measured the identification information for generating carrying described device
Optical signal；
Emit the coded laser light signal.
10. device as claimed in claim 9, which is characterized in that the receiver is configured as:
All return light received are converted into electric signal, by being decoded to the electric signal converted out, are determined
The electric signal of the coded laser light signal of corresponding present apparatus transmitting.
11. device as claimed in claim 1 or 2, which is characterized in that described device further include: temperature sensor and temperature control
Component processed；
The temperature sensor, for obtaining the temperature of the laser and the receiver；
The temperature control unit carries out temperature control when the temperature for obtaining in the temperature sensor is more than temperature threshold
System.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671789.1A CN109000584A (en) | 2018-06-26 | 2018-06-26 | Coaxial transmitting-receiving detection device |
| PCT/CN2019/092169 WO2020001372A1 (en) | 2018-06-26 | 2019-06-21 | Coaxial transmitting-receiving detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671789.1A CN109000584A (en) | 2018-06-26 | 2018-06-26 | Coaxial transmitting-receiving detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109000584A true CN109000584A (en) | 2018-12-14 |
Family
ID=64601270
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810671789.1A Pending CN109000584A (en) | 2018-06-26 | 2018-06-26 | Coaxial transmitting-receiving detection device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109000584A (en) |
| WO (1) | WO2020001372A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020001372A1 (en) * | 2018-06-26 | 2020-01-02 | 洛伦兹（北京）科技有限公司 | Coaxial transmitting-receiving detection device |
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