CN109188397A - Laser transmitting-receiving device and laser radar - Google Patents
Laser transmitting-receiving device and laser radar Download PDFInfo
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- CN109188397A CN109188397A CN201810999167.1A CN201810999167A CN109188397A CN 109188397 A CN109188397 A CN 109188397A CN 201810999167 A CN201810999167 A CN 201810999167A CN 109188397 A CN109188397 A CN 109188397A
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- light
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- receiving device
- local oscillator
- acting surface
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
A kind of laser transmitting-receiving device and laser radar, comprising: the primary light is divided into the light splitting coupling unit of the first initial light and the second initial light；The outgoing unit of emergent light is formed according to first initial light；Acquire the collector unit that echo light forms signal light；Further include: the first initial light of reflective portion forms the first acting surface of the first local oscillator light and the second initial light of reflective portion forms at least one in the second acting surface of the second local oscillator light.Since the first local oscillator light is formed by the first initial light of first acting surface reflective portion, the second local oscillator light is formed by the second initial light of second acting surface reflective portion, therefore the power of the first local oscillator light and the second local oscillator light is smaller, the power of the emergent light can be effectively improved, so as in the case where technique and constant cost, effectively extend the detection range of laser radar, expand the investigative range of laser radar.
Description
Technical field
The present invention relates to laser field, in particular to a kind of laser transmitting-receiving device and laser radar.
Background technique
Laser radar is a kind of common distance measuring sensor, has remote detection range, high resolution, little interference by environment etc.
Feature is widely used in the fields such as intelligent robot, unmanned plane, unmanned.In recent years, automatic Pilot technology is quickly grown,
Core sensor of the laser radar as its perceived distance, it is indispensable.
In mobile lidar using upper, continuous wave frequency (FMCW) coherent laser radar passes through to local local oscillator light
The intermediate-freuqncy signal that signal is mixed with measured signal carries out Fourier transformation and obtains range-to-go and speed.Compared to being based on
The incoherent pulses laser radar of flight time (TOF) ranging, with some advantages outstanding, such as: angle with higher
Resolution ratio and distance resolution, strong antijamming capability, the Range Profile that can obtain target simultaneously and speed picture etc., are very suitable to use
In vehicular applications scene.
But the existing laser radar using coherent detection technology, it is smaller often to there is detection range, it is difficult to meet automatic
The problem of demand on new technique such as driving.
Summary of the invention
Problems solved by the invention is to provide a kind of laser transmitting-receiving device and laser radar, is guaranteeing coherent detection advantage
Under the premise of, extend detection range, expand investigative range.
To solve the above problems, the present invention provides a kind of laser transmitting-receiving device, comprising:
It is divided coupling unit, the light splitting coupling unit receives the primary light that light supply apparatus generates, and the light splitting coupling is single
The primary light is also divided into the first initial light towards outgoing cell propagation and second towards collector unit propagation initially by member
Light；The outgoing unit receives at least partly described first initial light, the outgoing unit also according to first initial light with
Form emergent light；The emergent light reflects to form echo light through target to be detected；The collector unit acquire the echo light with
Form the signal light propagated towards the light splitting coupling unit；The laser transmitting-receiving device further include: the first acting surface and second
At least one in acting surface；The first initial light of first acting surface reflective portion is to form the first local oscillator light；Described second makees
With the second initial light of face reflective portion to form the second local oscillator light；The light splitting coupling unit also makes the first local oscillator light and institute
It states at least one in the second local oscillator light and forms the coherent light transmitted towards detection device with the signal optical coupling.
Optionally, the light splitting coupling unit includes: the first connecting pin, first connecting pin and the light supply apparatus phase
Even；Second connection end, the second connection end are connected with the outgoing unit；Third connecting pin, the third connecting pin and institute
Collector unit is stated to be connected；4th connecting pin, the 4th connecting pin are connected with the detection device.
Optionally, first acting surface includes: that the end face of the second connection end and first initial light are projected to
At least one of the surface of the outgoing unit.
Optionally, second acting surface includes: that the end face of the third connecting pin and second initial light are projected to
At least one of the surface of the collector unit.
Optionally, further includes: the second transfer arm, second transfer arm is located at the second connection end and the outgoing is single
Between member, second transfer arm is suitable for transmitting first initial light and the first local oscillator light；First acting surface
Further include: second transfer arm is single towards the end face of the second connection end and second transfer arm towards the outgoing
At least one of the end face of member.
Optionally, further includes: third transfer arm, the third transfer arm is located at the third connecting pin and the collection is single
Between member, the third transfer arm is suitable for transmitting second initial light, the second local oscillator light and the signal light；It is described
Second acting surface further include: end face and the second transfer arm direction of the third transfer arm towards the third connecting pin
At least one of the end face of the collector unit.
Optionally, the light splitting coupling unit includes fiber coupler.
Optionally, the light splitting coupling unit includes: beam splitter.
Optionally, the outgoing unit includes: collimator；The collector unit includes: reception mirror；The coke for receiving mirror
Point is located on the photosurface of the detection device.
Optionally, further includes: collimation unit, the collimation unit are located at the light supply apparatus and the light splitting coupling unit
Between, the focus of the collimation unit is located on the light-emitting surface of the light emitting device；Convergence unit, the convergence unit are located at institute
It states between light splitting coupling unit and the detection device；The focus of the convergence unit is located at the photosurface of the detection device
On.
Optionally, between the light splitting coupling unit and the outgoing unit, the light splitting coupling unit and the collection
Between unit, between the light splitting coupling unit and the light supply apparatus and the light splitting coupling unit and the detection device it
Between pass through optical fiber realize connection.
Optionally, the optical fiber is single mode optical fiber.
Optionally, the reflectivity of first acting surface or second acting surface is less than 4%.
Optionally, further includes: optically functional film, the optically functional film are located at first acting surface and described second and make
With on the surface of at least one in face.
Correspondingly, the present invention also provides a kind of laser radars, comprising: light supply apparatus, the light supply apparatus are suitable for generating
Primary light；Laser transmitting-receiving device, the laser transmitting-receiving device are laser transmitting-receiving device of the invention；Detection device, the detection
Device is suitable for acquiring coherent light.
Compared with prior art, technical solution of the present invention has the advantage that
In technical solution of the present invention, the laser transmitting-receiving device further include: in the first acting surface and the second acting surface at least
One；Part first initial light reflects to form the first local oscillator light through first acting surface；At the beginning of part described second
Beginning light reflects to form the second local oscillator light through second acting surface；The light splitting coupling unit also makes the first local oscillator light
The coherent light is formed at least one in the second local oscillator light and the echo optical coupling.Due to the first local oscillator light by
The first initial light of first acting surface reflective portion is formed, and the second local oscillator light is by second acting surface reflective portion
Two initial lights are formed, therefore the power of the first local oscillator light and the second local oscillator light is smaller, can effectively improve it is described go out
The power of light is penetrated, so as in the case where technique and constant cost, effectively extend the detection range of laser radar, expand and swash
The investigative range of optical radar.
In optinal plan of the present invention, at the beginning of first acting surface includes: the end face and described first of the second connection end
Beginning light projection to it is described outgoing unit at least one of surface；Second acting surface includes: the third connecting pin
End face and second initial light are projected at least one of the surface of the collector unit.Since end face reflection is in optical system
It is difficult to avoid that in system, using end face as first acting surface and second acting surface, this way can not increase
Light channel structure complexity under the premise of not increasing optical component, realizes coherent detection, additionally it is possible to avoidance system end face reflection letter
Number interference, improve system signal noise ratio.
In optinal plan of the present invention, the laser transmitting-receiving device further include: the second transfer arm, the first effect bread
Include: second transfer arm is towards the end face of the second connection end and second transfer arm towards the outgoing unit
At least one of end face；Third transfer arm, the third transfer arm is towards the end face of the third connecting pin and described
Two transfer arms are towards at least one of the end face of the collector unit.Using the end face of transfer arm as reflection initial light, shape
At the acting surface of local oscillator light, can be realized relevant under the premise of not increasing light channel structure complexity, not increasing optical component
Detection, additionally it is possible to which the interference of avoidance system end face reflection signal improves system signal noise ratio.
In optinal plan of the present invention, the light splitting coupling unit includes: fiber coupler.Pass through setting for fiber coupler
It sets, can either realize light splitting, the coupling of light splitting coupling unit；The light-splitting devices such as circulator and bundling device can also be saved
Part, to be conducive to the structure for simplifying laser radar while cost is reduced.
In optinal plan of the present invention, between the light splitting coupling unit and the outgoing unit, the light splitting coupling unit
Between the collector unit, between the light splitting coupling unit and the light supply apparatus and the light splitting coupling unit with it is described
It is realized and is connected by optical fiber between detection device；And the optical fiber is single mode optical fiber.Optical path is constituted by optical fiber, it can be effective
Reduce optic path loss；And the use of single mode optical fiber, it can effectively ensure that the wavefront matching of local oscillator light and signal light, improve
The coupling efficiency of local oscillator light and signal light obtains higher signal-to-noise ratio.
In optinal plan of the present invention, the light splitting coupling unit includes: beam splitter.The light splitting coupling is constituted using beam splitter
Unit is closed, the laser transmitting-receiving device can be made to realize in free space optical path, so as to make the laser transmitting-receiving device
The limitation that optical fiber uses is got rid of, it being capable of effectively cost of implementation control；And the light splitting coupling unit is realized using beam splitter
In way, the first local oscillator light, the optical power ratio for detecting light, the second local oscillator light and the signal light are by described
The reflectivity decision of the splitting ratio of beam splitter and first acting surface, the second acting surface, can be constant in technique and cost
In the case of, the optical power of detection light is effectively improved, the detection range of laser radar is conducive to extend, expands the detection of laser radar
Range.
In optinal plan of the present invention, the outgoing unit includes collimator；The collector unit includes receiving mirror；It is described to connect
The focus for receiving mirror is located on the photosurface of the detection device；Alternatively, the laser transmitting-receiving device further include: collimation unit, institute
It states collimation unit to be located between the light supply apparatus and the light splitting coupling unit, the focus of the collimation unit is located at the hair
On the light-emitting surface of electro-optical device；Convergence unit, the convergence unit is between the light splitting coupling unit and the detection device；
The focus of the convergence unit is located on the photosurface of the detection device.By the way that collimation unit and convergence in optical path is rationally arranged
The position of unit and the detection device can effectively ensure that the wavefront matching of local oscillator light and signal light, can obtain higher
Signal-to-noise ratio.
In optinal plan of the present invention, the reflectivity of first acting surface and second acting surface is less than 4%.Control institute
The reflectivity of the first acting surface is stated, the power of the emergent light can be effectively improved, so as to constant in technique and cost
In the case of, effectively extend the detection range of laser radar, expand the investigative range of laser radar, the laser transmitting-receiving can be made to fill
It sets and meets vehicle the laser radar the needs of, meet unpiloted technical need.
In optinal plan of the present invention, the laser transmitting-receiving device further include: optically functional film, the optically functional film are located at
On the surface of at least one in first acting surface and second acting surface.Pass through the setting of the optically functional film, energy
Enough reflectivity and transmissivities for effectively adjusting first acting surface and second acting surface, so as to effectively adjust local oscillator
The power of light and signal light can guarantee coupling efficiency under the premise of extending detection range, expanding investigative range.
Detailed description of the invention
Fig. 1 is a structural schematic diagram using the laser transmitting-receiving device in coherent detection technology laser radar；
Fig. 2 is the light channel structure schematic diagram of laser transmitting-receiving device first embodiment of the present invention；
Fig. 3 is the structural schematic diagram of laser transmitting-receiving device second embodiment of the present invention.
Specific embodiment
It can be seen from background technology that use in the laser radar of coherent detection technology in the prior art and often there is detection range
Lesser problem.The reason of analyzing its detection range minor issue now in conjunction with the R-T unit of laser radar a kind of:
With reference to Fig. 1, a structural representation using the laser transmitting-receiving device in coherent detection technology laser radar is shown
Figure.
The laser transmitting-receiving device 10 includes: beam splitting unit 12, the input terminal of the beam splitting unit 12 and the laser light
Source 11 is connected；It is emitted acquisition unit 14, the outgoing acquisition unit 14 is connected with an output end of the beam splitting unit 12；Coupling
Unit 15 is closed, the input terminal of the coupling unit 15 is connected with the another output of the beam splitting unit 12, and the coupling is single
The input terminal of member 15 is also connected with the outgoing acquisition unit 14, output end and 16 phase of detection device of the coupling unit 15
Even.
Wherein, the beam splitting unit 12 and the coupling unit 15 are usually arranged as coupler or beam splitter；It is described go out
It penetrates acquisition unit 14 and is usually arranged as collimator or coupler.
The course of work of the laser transmitting-receiving device 10 is as follows: the beam splitting unit 12 receives the laser light source 11 and is produced
After raw primary light, the primary light is divided into local oscillator light and initial light；The outgoing acquisition unit 14 receives described initial
Light simultaneously forms emergent light according to the initial light；The emergent light reflects to form echo light through target to be detected；The outgoing is adopted
Collection unit 14 acquires the echo light to form signal light；The coupling unit 15 receives the local oscillator light and the signal light simultaneously
The local oscillator light and the signal optical coupling is set to form coherent light.It is relevant to realize that the detection device 16 detects the coherent light
Detection.
Since the local oscillator light and the initial light are that the beam splitting unit 12 will be formed after primary light light splitting,
Therefore the ratio between the local oscillator light and the initial light is determined by the splitting ratio of the beam splitting unit.
In free optical path, the light-dividing device 12 can be realized by beam splitter prism；In optic fibre light path,
The light-dividing device 12 can be realized by fiber optic splitter.Either beam splitter prism, fiber optic splitter, described point
The splitting ratio of electro-optical device 12 is relatively large, that is, the optical power of formed local oscillator light is larger, correspondingly, the light function of formed initial light
Rate is relatively small.The reduction of initial light optical power, will affect the optical power of emergent light, to cause the Airborne Lidar ranging
The problem insufficient from too small, investigative range.And light transmits in the laser transmitting-receiving device 10, and end face reflection is difficult to keep away
Exempt from, especially for the detectable signal in short distance, signal caused by optical component end face reflection institute will cause serious
Interference.
Road altogether, the laser transmitting-receiving device 10 further include: circulator 13, the circulator 13 are located at institute are received and dispatched in order to realize
It states light-dividing device 12 and the outgoing acquires between 14 devices.One output end of the circulator 13 and the light-dividing device 12
It is connected to receive the initial light that the beam splitting unit 12 is formed；The circulator 13 also with the outgoing acquisition unit 14, by institute
Received initial light is transmitted to the outgoing acquisition unit 14 to form emergent light；The circulator 13 is also acquired with the outgoing
The output end of unit 14, which is connected, is formed by signal light to receive the outgoing acquisition unit 14；The coupling unit 15 with it is described
The output end of circulator 13 is connected to receive the signal light.
On the other hand, in order to reduce system bulk, optical path precision is improved, the optical path of the laser transmitting-receiving device 10 passes through light
Fibre realize, i.e., the described laser light source 11, the beam splitting unit 12, the outgoing acquisition unit 14, the coupling unit 15 and
It is connected by optical fiber between the detection device 16.
In addition, higher signal-to-noise ratio, the 10 local oscillator light of laser transmitting-receiving device and signal light realize wavefront in order to obtain
Match.Therefore, in optical fiber approach, it can perfectly realize that wavefront matches using single mode optical fiber.But by the core diameter of single mode optical fiber
It is generally lower with the coupling efficiency of the limitation of numerical aperture, free space to single mode optical fiber.For the maximization for ensuring coupling efficiency,
Common practice is using the device for receiving and dispatching road altogether, even if using optical fiber circulator.The use of optical fiber circulator can make to receive system
Maximum may be implemented in the field angle of system, the angle of divergence of Receiver aperture and emission system and transmitting bore exact matching, coupling efficiency
Change.In view of this consideration, in free space optical path, the circulator of bulk optics can generally also be built.
2 couplers and 1 circulator are included at least in the laser transmitting-receiving device 10 as a result, either in bulk optics
Circulator or optical fiber circulator, price is all higher, will increase the optical path complexity of the laser transmitting-receiving device 10, no
Conducive to the control of cost.And the introducing of circulator, the end face in 10 optical path of laser transmitting-receiving device is also increased, is unfavorable for
The control of end face reflection interference.
To solve the technical problem, the present invention provides a kind of laser transmitting-receiving device, comprising: the first acting surface and second is made
With at least one in face；The first initial light of first acting surface reflective portion is to form the first local oscillator light；Second effect
The second initial light of face reflective portion is to form the second local oscillator light；The light splitting coupling unit also makes the first local oscillator light and described
At least one in second local oscillator light forms the coherent light transmitted towards detection device with the signal optical coupling.
Since the first local oscillator light is formed by the first initial light of first acting surface reflective portion, second local oscillator
Light is formed by the second initial light of second acting surface reflective portion, therefore the first local oscillator light and the second local oscillator light
Power is smaller, can effectively improve the power of the emergent light, so as to effectively prolong in the case where technique and constant cost
The detection range of long laser radar, the investigative range for expanding laser radar.
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
With reference to Fig. 2, the light channel structure schematic diagram of laser transmitting-receiving device first embodiment of the present invention is shown.
As shown in Fig. 2, the laser transmitting-receiving device includes: light splitting coupling unit 120, the light splitting coupling unit 120 is connect
The primary light 111 that light supply apparatus 110 generates is received, the light splitting coupling unit 120 also divides the primary light 111 to be emitted for direction
The first initial light 123 that unit 130 is propagated and the second initial light 124 propagated towards collector unit 140；The outgoing unit
130 receive first initial light 123, and the outgoing unit 130 is also according to first initial light 123 to form emergent light
(not shown)；The emergent light reflects to form echo light (not shown) through target (not shown) to be detected；Institute
It states collector unit 140 and acquires the echo light to form the signal light 142a propagated towards the light splitting coupling unit 120；It is described
Laser transmitting-receiving device further include: at least one in the first acting surface (not indicated in figure) and the second acting surface (not indicated in figure)；
The first initial light of first acting surface reflective portion 123 is to form the first local oscillator light 132；Second acting surface reflective portion
Second initial light 124 is to form the second local oscillator light 142b；The light splitting coupling unit 120 also makes 132 He of the first local oscillator light
At least one in the second local oscillator light 142b couples to be formed with the signal light 142a to be concerned with towards what detection device 150 was transmitted
Light 125.
Since the first local oscillator light 132 is formed by the first initial light of first acting surface reflective portion 123, described
Two local oscillator light 142b are formed by the second initial light of second acting surface reflective portion 142, therefore 132 He of the first local oscillator light
The power of the second local oscillator light 142b is smaller, can effectively improve the power of the emergent light, so as to technique and at
In the case that this is constant, effectively extends the detection range of laser radar, expands the investigative range of laser radar.
The light splitting coupling unit 120 is suitable for dividing the primary light 111 for first initial light 123 and described
Two initial lights 124, and propagate first initial light 123 towards the outgoing unit 130.
It should be noted that in the present embodiment, the laser transmitting-receiving device further include: collimation unit (not shown),
The collimation unit is located in the optical path between the light supply apparatus 110 and the light splitting coupling unit 120, the collimation unit
Focus be located on the light-emitting surface of the light emitting device.
The collimation unit is suitable for collimating the primary light to improve laser efficiency of transmission, reduce energy consumption
It dissipates, reduce stray light；And the position of the collimation unit focus, the light directional light of collimated unit can be made.
In addition, primary light caused by the light supply apparatus can also directly be projected to institute in other embodiments of the invention
Light splitting coupling unit is stated, i.e., between the described light source and the light splitting coupling unit in optical path and not set additional optics member device
Part, to adapt to miniaturization, highly integrated technical need.
As shown in Fig. 2, the light splitting coupling unit 120 includes: the first connecting pin being connected with the light supply apparatus 110
120a, the second connection end 120b being connected with the outgoing unit 130, the third connecting pin being connected with the collector unit 140
120c and the 4th connecting pin 120d being connected with the detection device 150.
It is described light splitting coupling unit 120 each connecting pin, be suitable for the other component of the laser transmitting-receiving device with
And light connects are realized between other optical components in optical system, to realize outputting and inputting for optical signal.This implementation
In example, the light splitting coupling unit 120 includes: beam splitter.The light splitting coupling unit 120 is constituted using beam splitter, can be made
The laser transmitting-receiving device is realized in free space optical path, so as to make the laser transmitting-receiving device get rid of what optical fiber used
Limitation, being capable of effectively cost of implementation control.
The first connecting pin 120a realizes light connects between input terminal, and the output end of the light supply apparatus 110, throws
The primary light 111 for being incident upon the first connecting pin 120a is conveyed into the light splitting coupling unit 120.
The second connection end 120b is output end, realizes light connects between the input terminal of the outgoing unit 130, institute
It states the first initial light 123 to be emitted from the second connection end 120b, be propagated along optical path towards the outgoing unit 130.
The third connecting pin 120c realizes light connects between input terminal, and the output end of the collector unit 140, throws
The signal light 142a for being incident upon the third connecting pin 120c is conveyed into the light splitting coupling unit 120.
The 4th connecting pin 120d realizes light connects between output end, and the input terminal of the detection device 150, institute
It states coherent light 125 to be emitted from the 4th end 120d, be propagated along optical path towards the detection device 150.
In the present embodiment, the light splitting coupling unit 120 includes: beam splitter.Specifically, it is single to be projected to the light splitting coupling
The optical power of first connecting pin 120a primary light 111 of member 120 is I1, connect as the beam splitter second for being divided coupling unit 120
The light splitting coefficient for meeting end 120b and third connecting pin 120c is respectively η1(1- η1), i.e., the described first connecting pin 120a with it is described
Transmitance is η between second connection end 120b1, transmitance between the first connecting pin 120a and the third connecting pin 120c
For (1- η1), the transmitance between the second connection end 120b and the 4th connecting pin 120d is (1- η1), the third connects
Connecing the transmitance between the 120c and the 4th connecting pin 120d of end is η1.Therefore it is divided through the light splitting coupling unit 120, institute
The optical power of the first initial light 123 formed is η1I1, the optical power for being formed by the second initial light 124 is (1- η1)I1。
First acting surface (not indicating in figure) is located in the optical path of first initial light 123, described in reflective portion
To form the first local oscillator light 132, second acting surface (not indicating in figure) is located at the beginning of described second first initial light 123
In the optical path of beginning light 124, the second initial light 124 described in reflective portion is to form the second local oscillator light 142b.
The first local oscillator light 132 and the second local oscillator light 142b are as local oscillator light with the signal light 142a described
The light splitting coupling of coupling unit 120 closes beam and forms the coherent light 125.
Specifically, first acting surface includes: the various ends that first initial light 123 is projected in communication process
At least one of face；Second acting surface includes: the various ends that second initial light 124 is projected in communication process
At least one of face.The first time initial light 123 and second initial light 124 are when projecting various end faces,
End face reflection can occur；It is the first local oscillator light 132 and the second local oscillator light that end face reflection, which is formed by reflected light,
124b。
Since the optical power of end face reflection is generally all smaller, that is, it is formed by the first local oscillator light 132 and the second local oscillator light
The optical power of 124b is smaller, therefore using the light of end face reflection as local oscillator light, can effectively control the optical power of local oscillator light, energy
It enough creates conditions for the raising of emergent light optical power, is conducive to extend the detection range of laser radar, expands the spy of laser radar
Survey range.On the other hand, since end face reflection is difficult to avoid that, using the light of end face reflection as local oscillator light, additionally it is possible to inhibit
The interference of reflected light, to achieve the purpose that improve signal-to-noise ratio.
From after light splitting, first initial light 123 is propagated towards the outgoing unit 120,124 court of the second initial light
It is emitted to the collector unit 140；Therefore, first acting surface include: the second connection end 120b end face 129b and
First initial light 123 is projected at least one of the surface 139 of the outgoing unit 130；The second effect bread
Include: the end face 129c of the third connecting pin 120c and second initial light 124 are projected to the surface of the collector unit 140
At least one of 149.
Specifically, the laser transmitting-receiving device includes the first acting surface and the second acting surface, first acting surface includes:
The end face 129b of the second connection end 120b and first initial light 123 are projected to the surface of the outgoing unit 130
139, second acting surface includes: the end face 129c and the signal light 142a of the third connecting pin 120c from the collection
The surface 149 that unit 140 is emitted, i.e., described first initial light 123 is in the end face 129b of the second connection end 120b and described
First initial light 123, which is projected on the surface 139 of the outgoing unit 130, can occur end face reflection；Second initial light
124 the third connecting pin 120c end face 129c and the signal light 142a from the surface that the collector unit 140 is emitted
End face reflection can occur on 149.
Therefore compared with the technical solution for directly forming local oscillator light and emergent light with beam splitter, the laser transmitting-receiving device energy
The smaller local oscillator light of optical power is enough formed, is conducive in the case where technique and constant cost, improves emergent light optical power, favorably
In extend laser radar detection range, expand laser radar investigative range.And since end face reflection is in optical system
It is difficult to avoid that, using end face as first acting surface and second acting surface, this way can not increase optical path
Structural complexity under the premise of not increasing optical component, realizes coherent detection, additionally it is possible to avoidance system end face reflection signal
Interference improves system signal noise ratio.
In the present embodiment, the reflectivity of first acting surface is r11, the reflectivity of second acting surface is r21, because
This, the optical power for forming the first local oscillator light 132 is r11η1I1, the optical power for forming the second local oscillator light 142b is r21(1-η1)
I1。
In addition, as shown in Fig. 2, being formed by the first local oscillator light 132 in the present embodiment and the second local oscillator light 142b being equal
It is propagated towards the light splitting coupling unit 120, therefore the first local oscillator light 132 and the second local oscillator light 142b can be by institutes
Light splitting coupling unit 120 is stated to be divided again.
It therefore, can be from the first of the 4th connecting pin 120d outgoing after the light splitting coupling unit 120 light splitting
The optical power of vibration light 132 is r11η1(1-η1)I1, can be from the light of the 4th connecting pin 120d the second local oscillator light 142b being emitted
Power is r21η1(1-η1)I1.So the local oscillator light coupled with the signal light 142a includes the first local oscillator light in the present embodiment
It can be (r from the optical power of the 4th connecting pin 120d local oscillator light being emitted with the second local oscillator light11+r21)η1(1-η1)
I1。
Compared with the technical solution for directly forming local oscillator light and emergent light by spectroscope, in the laser transmitting-receiving device, this
The ratio of vibration light and emergent light is not only related to spectroscopical light splitting coefficient, is also made by first acting surface and described second
It is influenced with the reflectivity in face.Therefore in the case where technique and constant cost, the laser transmitting-receiving device can obtain optical power
The smaller local oscillator light of ratio and emergent light, to be conducive to the optical power for reducing local oscillator light, the optical power for improving emergent light, favorably
In extend laser radar detection range, expand laser radar investigative range.
In the present embodiment, the reflectivity of first acting surface or second acting surface is less than 4%, to obtain optical power
The lesser local oscillator light of ratio and emergent light.The reflectivity for controlling first acting surface and the second acting surface, especially to first
The control of acting surface reflectivity and transmissivity can effectively improve the power of the emergent light, so as in technique and cost
In the case where constant, effectively extend the detection range of laser radar, expands the investigative range of laser radar, the laser can be made
R-T unit meets vehicle the laser radar the needs of, meets unpiloted technical need.
Specifically, the laser transmitting-receiving device further include: optically functional film, the optically functional film are located at described first and make
On surface at least one in face and second acting surface.The optically functional film can adjust the reflection on covered surface
Rate and transmissivity improve the outgoing to make the optical power suitable size of the first local oscillator light and the second local oscillator light
The optical power of light guarantees the optical power of local oscillator light, thus in the premise for guaranteeing to extend detection range, expand investigative range effect
Under, guarantee coupling efficiency, realizes taking into account for big distance and high s/n ratio.
It should be noted that the laser transmitting-receiving device includes the first acting surface and the second acting surface in the present embodiment；This
In invention other embodiments, the laser transmitting-receiving device also may include in first acting surface and second acting surface
Any one, such as can be most by the transmissivity for the end face that the design of optically functional film is projected to first initial light
Possible height, reflectivity are as small as possible.
It should also be noted that, by formed the optical power of the first local oscillator light and the second local oscillator light also with described point
The light splitting coefficient of optically coupled device is related, can also be by the way that the light splitting coupling is rationally arranged in other embodiments of the invention
It is divided coefficient, or the setting light splitting reasonable optical component of coefficient in the light splitting coupling unit, improved at the beginning of described first
Beginning light optical power, to achieve the purpose that improve emergent light light intensity, extend detection range.
First initial light 123 is projected to after the surface 139 of the outgoing unit 130, and at least partly described first
Initial light 123 transmits the surface 139, is received by the outgoing unit 130；The outgoing unit 130 is according to institute received the
One initial light 123 forms emergent light to realize the transmission of optical signal.
In the present embodiment, the laser transmitting-receiving device further include: reflecting element (does not indicate) in figure, the reflecting element position
In optical path between the light splitting coupling unit 120 and the outgoing unit 130, so that the outgoing of the outgoing unit 130
Direction and the acquisition direction of the collector unit 140 are consistent.
In the present embodiment, in the optical path between the light supply apparatus 110 and the light splitting coupling unit 120, the laser
R-T unit is additionally provided with collimation unit, therefore the outgoing unit 130 only forms emergent light, and the outgoing unit 130 is not
Including collimator.In other embodiments of the invention, when the primary light is directly projected to the light splitting coupling unit, the outgoing
Unit includes collimator, is collimated first initial light to form the emergent light.
After the emergent light outgoing, scattering occurs in the target surface to be detected and (is not shown in figure with forming echo light
Out).
The collector unit 140 is suitable for acquiring the echo light to form the signal light 142a.
In the present embodiment, the laser transmitting-receiving device is the R-T unit in laser radar, to the detection light of laser radar
Line is sent and is acquired, therefore the rear orientation light in the formed echo light of the acquisition of the collector unit 140 is described to be formed
Signal light 142a.
Similar with the second local oscillator light 142b, the signal light 142a is propagated towards the light splitting coupling unit 120；Institute
Also make at least one in the first local oscillator light 132 and the second local oscillator light 142b and institute with the light splitting coupling unit 120
Signal light 142a conjunction beam is stated to couple to form the coherent light 125.
Since the signal light 142a is coupled with local oscillator light by the light splitting coupling unit 120, the signal light
142a can be also divided by the light splitting coupling unit 120.Specifically, being projected to the signal light 142a of the third connecting pin 120c
Optical power is I1s, then the signal light 142a optical power that can be emitted from the 4th connecting pin 120d is η1I1s。
The detection device 150 acquires the coherent light 125 and carries out photoelectric conversion to the optical signal of the coherent light 125
To realize the collection of optical signal.
Specifically, the coherent light 125 includes from the 4th connecting pin 120d local oscillator light being emitted and from the described 4th
The signal light 142a of connecting pin 120d outgoing, therefore, signal light 142a optical power received by the detection device 150 are η1I1s, local oscillation optical power received by the detection device 150 is (r11+r21)η1(1-η1)I1.So the detection device 150
The signal light optical power that can be received is mainly related to the light splitting light splitting coefficient of coupling unit 120, the detection dress
The local oscillator light optical power not only influence by the light splitting coefficient of the light splitting coupling unit 120 that 150 can receive is set, also
Reflectivity modulation by first acting surface and second acting surface.
It should be noted that in the present embodiment, the laser transmitting-receiving device includes positioned at the light supply apparatus 110 and described
The collimation unit being divided between coupling unit 120；Therefore the laser transmitting-receiving unit further include: convergence unit (does not show in figure
Out), the convergence unit is between the light splitting coupling unit 120 and the detection device 150；The coke of the convergence unit
Point is located on the photosurface of the detection device 150, for example, collimation unit and convergence unit that selection focal length is equal, so that institute
The focus for stating collimation unit is located on the light-emitting surface of the light supply apparatus 110, and it is described to be located at the focus of the convergence unit
On the photosurface of detection device 150.
In other embodiments of the invention, the primary light is directly transmitted through the light splitting coupling unit, i.e., the described light source dress
It sets between the light splitting coupling unit and not set optical component, when the outgoing unit includes collimator, the collection
Unit includes receiving mirror；The focus for receiving mirror is located on the photosurface of the detection device.
Component and convergence component and the detection device and light source dress are collimated by being rationally arranged in optical path
Opposite position is set, can effectively ensure that (the local oscillator light includes the first local oscillator light and the second local oscillator light to local oscillator light
In at least one) and signal light wavefront matching, higher signal-to-noise ratio can be obtained.
With reference to Fig. 3, the structural schematic diagram of laser transmitting-receiving device second embodiment of the present invention is shown.
It is identical with the first embodiment place, details are not described herein by the present invention.What the present embodiment and free space optical path were realized
First embodiment the difference is that, in the present embodiment, the laser transmitting-receiving device is realized by way of optical fiber, i.e., it is described swash
In light R-T unit, between the light splitting coupling unit 220 and the outgoing unit, the light splitting coupling unit 220 with it is described
Between collector unit, between the light splitting coupling unit 220 and the light supply apparatus 210 and the light splitting coupling unit 220 with
It is realized and is connected by optical fiber between the detection device 250.Optical path is constituted by optical fiber, can be effectively reduced optic path damage
Consumption.
Specifically, the optical fiber is single mode optical fiber.The fibre core of single mode optical fiber is very thin, can only propagate one mode, therefore single
The intermode dispersion very little of mode fiber can effectively ensure that the wavefront matching of local oscillator light and signal light, improve local oscillator light and signal light
Coupling efficiency, obtain higher signal-to-noise ratio.
In the present embodiment, the Transmit-Receive Unit 234 is suitable for generating emergent light according to the first initial light, may also be adapted to acquire
Echo light is to form signal light, i.e., the described Transmit-Receive Unit 234 is instead of the outgoing unit and collector unit in first embodiment.
So as shown in figure 3, between the light supply apparatus 210 and the light splitting coupling unit 220, it is described light splitting couple
Lead between unit 220 and the Transmit-Receive Unit 234 and between the light splitting coupling unit 220 and the detection device 250
Crossing single mode optical fiber realizes connection to construct optical path.
In the present embodiment, the light splitting coupling unit 220 includes fiber coupler.By the setting of fiber coupler, both
It can be realized light splitting, the coupling of light splitting coupling unit；The light-splitting devices such as circulator and bundling device part can also be saved, thus
Be conducive to the structure for simplifying laser radar while cost is reduced.
As shown in figure 3, the laser transmitting-receiving device further include: the first transfer arm 221, first transfer arm 221 are located at
Between the light supply apparatus 210 and the first connecting pin (not indicated in figure) of the light splitting coupling unit 220, the first transfer arm
221 are suitable for constructing the optical path between the light supply apparatus 210 and the light splitting coupling unit 220, to realize the biography of primary light
It is defeated.
Second transfer arm 222, second transfer arm 222 be located at it is described light splitting coupling unit 220 second connection end and
Between the outgoing unit (the i.e. described Transmit-Receive Unit 234), second transfer arm 222 is suitable for constructing the light splitting coupling list
Part optical path between member 220 and the Transmit-Receive Unit 234, to realize the transmission of the first initial light and the first local oscillator light.
Third transfer arm 223, the third transfer arm 223 be located at it is described light splitting coupling unit 220 third connecting pin and
Between the collector unit (the i.e. described Transmit-Receive Unit 234), the third transfer arm 223 is suitable for constructing the light splitting coupling list
Part optical path between member 220 and the Transmit-Receive Unit 234, to realize second initial light, the second local oscillator light and institute
State the transmission of signal light.
4th transfer arm 224, the 4th transfer arm 224 be located at it is described light splitting coupling unit 220 the 4th connecting pin and
Between the detection device 250, the 4th transfer arm 224 is suitable for constructing the light splitting coupling unit 220 and the detection
Optical path between device 250, to realize the transmission of the coherent light.
So in the present embodiment, first acting surface further include: second transfer arm 222 connects towards described second
Connect end end face and second transfer arm 222 towards it is described outgoing unit (the i.e. described Transmit-Receive Unit 234) end face in
At least one；Second acting surface further include: end face and institute of the third transfer arm 223 towards the third connecting pin
The second transfer arm 223 is stated towards at least one of the end face of the collector unit (the i.e. described Transmit-Receive Unit 234).
Using the end face of transfer arm as the acting surface for reflecting initial light, forming local oscillator light, optical path knot can not increased
Structure complexity under the premise of not increasing optical component, realizes coherent detection, additionally it is possible to which avoidance system end face reflection signal is done
It disturbs, improve system signal noise ratio.
It is similar with first embodiment, it in the present embodiment, is conducted by first transfer arm 221, through first connecting pin
Primary light optical power into the light splitting coupling unit 220 is I2, as the fiber coupler for being divided coupling unit 220
The coefficient of coup be η2, i.e. transmitance between the first transfer arm 221 and the second transfer arm 222 is η2, the first transfer arm 221 with
Transmitance between third transfer arm 223 is (1- η2), therefore, the transmission between the second transfer arm 222 and the 4th transfer arm 224
Rate is (1- η2), the transmitance between third transfer arm 223 and the 4th transfer arm 224 is η2.In addition, first acting surface
Reflectivity is r12, the reflectivity of second acting surface is r22, the optical power of obtained signal light is Is。
As a result, in the present embodiment, include the first local oscillator light and the second local oscillator light with the local oscillator light of the signal optical coupling, i.e.,
It can be (r from the optical power of the four connecting pins 220d local oscillator light being emitted12+r22)η2(1-η2)I2。
So in order to avoid signal light waste, expand investigative range, in the present embodiment, the coefficient of coup is relatively
Greatly, for example, the coefficient of coup is 99%, the reflectivity of the first acting surface and the second acting surface is 4%, therefore, the spy
Surveying the signal light optical power that device 250 is detected is 0.99Is, local oscillator light optical power is 0.00079I1.Certainly by plated film or
The mode of person's other surfaces processing, can modulate first acting surface and the secondth acting surface reflectivity, so as to adjust
The optical power of obtained local oscillator light, and then further improve the precision of coherent detection.
Correspondingly, the present invention also provides a kind of laser radars.
With reference to Fig. 3, the structural schematic diagram of one embodiment of laser radar of the present invention is shown.
The laser radar includes: light supply apparatus 210, and the light supply apparatus 210 is suitable for generating primary light；Laser transmitting-receiving
Device, the laser transmitting-receiving device are laser transmitting-receiving device of the invention；Detection device 230, the detection device 230 are suitable for
Acquire coherent light.
The light supply apparatus 210 includes at least one laser, to generate primary light.In the present embodiment, the light source dress
The specific technical solution for setting 210 refers to the light source of existing laser radar, and the present invention repeats no more this.
The laser transmitting-receiving device is laser transmitting-receiving device of the invention, the specific technical solution of the laser transmitting-receiving device
With reference to the embodiment of aforementioned laser R-T unit, details are not described herein by the present invention.
Reflected light is formed by as local oscillator light using end face reflection, can either be effectively reduced the optical power of local oscillator light, be mentioned
High emergent light optical power, to effectively extend the detection range of laser radar in the case where technique and constant cost, expand and swash
The investigative range of optical radar；But also it can be real under the premise of not increasing light channel structure complexity, not increasing optical component
Existing coherent detection, additionally it is possible to which the interference of avoidance system end face reflection signal improves system signal noise ratio.
And by fiber coupler or spectroscopical setting, it can either realize that the light splitting of light splitting coupling unit, coupling are made
With；The light-splitting devices such as circulator and bundling device part can also be saved, to be conducive to while cost is reduced, simplify laser thunder
The structure reached.
The detection device 250 forms electric signal by carrying out photoelectric conversion to coherent light to realize coherent detection.This reality
Apply in example, the specific technical solution of the detection device 250 refers to the detection device of existing laser radar, the present invention to this no longer
It repeats.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (15)
1. a kind of laser transmitting-receiving device characterized by comprising
It is divided coupling unit, the light splitting coupling unit receives the primary light that light supply apparatus generates, and the light splitting coupling unit is also
The primary light is divided into the first initial light towards outgoing cell propagation and the second initial light towards collector unit propagation；
The outgoing unit receives at least partly described first initial light, the outgoing unit also according to first initial light with
Form emergent light；The emergent light reflects to form echo light through target to be detected；
The collector unit acquires the echo light to form the signal light propagated towards the light splitting coupling unit；
The laser transmitting-receiving device further include: at least one in the first acting surface and the second acting surface；First acting surface is anti-
The first initial light of part is penetrated to form the first local oscillator light；The second initial light of second acting surface reflective portion is to form second
Shake light；
The light splitting coupling unit also makes at least one in the first local oscillator light and the second local oscillator light and the signal light
Coupling forms the coherent light transmitted towards detection device.
2. laser transmitting-receiving device as described in claim 1, which is characterized in that the light splitting coupling unit includes: the first connection
End, first connecting pin is connected with the light supply apparatus；
Second connection end, the second connection end are connected with the outgoing unit；
Third connecting pin, the third connecting pin are connected with the collector unit；
4th connecting pin, the 4th connecting pin are connected with the detection device.
3. laser transmitting-receiving device as claimed in claim 2, which is characterized in that first acting surface includes: second company
The end face and first initial light for connecing end are projected at least one of the surface of the outgoing unit.
4. laser transmitting-receiving device as claimed in claim 2, which is characterized in that second acting surface includes: that the third connects
The end face and second initial light that connect end are projected at least one of the surface of the collector unit.
5. laser transmitting-receiving device as claimed in claim 2, which is characterized in that further include: the second transfer arm, second transmission
Arm is located between the second connection end and the outgoing unit, and second transfer arm is suitable for transmitting first initial light
With the first local oscillator light；
First acting surface further include: second transfer arm is passed towards the end face of the second connection end and described second
Defeated arm towards it is described outgoing unit at least one of end face.
6. laser transmitting-receiving device as claimed in claim 2, which is characterized in that further include: third transfer arm, the third transmission
For arm between the third connecting pin and the collector unit, the third transfer arm is suitable for transmitting described second initially
Light, the second local oscillator light and the signal light；
Second acting surface further include: the third transfer arm is passed towards the end face of the third connecting pin and described second
Defeated arm is towards at least one of the end face of the collector unit.
7. the laser transmitting-receiving device as described in claim 1~6 any one, which is characterized in that the light splitting coupling unit packet
Include fiber coupler.
8. the laser transmitting-receiving device as described in Claims 1 to 4 any one, which is characterized in that the light splitting coupling unit packet
It includes: beam splitter.
9. laser transmitting-receiving device as claimed in claim 8, which is characterized in that the outgoing unit includes: collimator；The receipts
Collecting unit includes: reception mirror；
The focus for receiving mirror is located on the photosurface of the detection device.
10. laser transmitting-receiving device as claimed in claim 8, which is characterized in that further include: collimation unit, the collimation unit
Between the light supply apparatus and the light splitting coupling unit, the focus of the collimation unit is located at the hair of the light emitting device
In smooth surface；
Convergence unit, the convergence unit is between the light splitting coupling unit and the detection device；The convergence unit
Focus be located on the photosurface of the detection device.
11. laser transmitting-receiving device as described in claim 1, which is characterized in that the light splitting coupling unit and the outgoing are single
Between member, between the light splitting coupling unit and the collector unit, between the light splitting coupling unit and the light supply apparatus
It is realized and is connected by optical fiber between the light splitting coupling unit and the detection device.
12. laser transmitting-receiving device as claimed in claim 11, which is characterized in that the optical fiber is single mode optical fiber.
13. laser transmitting-receiving device as described in claim 1, which is characterized in that first acting surface or second effect
The reflectivity in face is less than 4%.
14. the laser transmitting-receiving device as described in claim 1 or 13, which is characterized in that further include: optically functional film, the light
Functional membrane is learned to be located on the surface of at least one in first acting surface and second acting surface.
15. a kind of laser radar characterized by comprising
Light supply apparatus, the light supply apparatus are suitable for generating primary light；
Laser transmitting-receiving device, the laser transmitting-receiving device is as described in claim 1~14 any one；
Detection device, the detection device are suitable for acquiring coherent light.
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