CN109991623A - A kind of distribution type laser radar - Google Patents
A kind of distribution type laser radar Download PDFInfo
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- CN109991623A CN109991623A CN201910363820.XA CN201910363820A CN109991623A CN 109991623 A CN109991623 A CN 109991623A CN 201910363820 A CN201910363820 A CN 201910363820A CN 109991623 A CN109991623 A CN 109991623A
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- 238000001514 detection method Methods 0.000 claims abstract description 102
- 238000000034 method Methods 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000001427 coherent effect Effects 0.000 claims description 14
- 230000003321 amplification Effects 0.000 claims description 8
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 8
- 230000010287 polarization Effects 0.000 claims description 7
- 239000013307 optical fiber Substances 0.000 claims description 6
- GQYHUHYESMUTHG-UHFFFAOYSA-N lithium niobate Chemical compound [Li+].[O-][Nb](=O)=O GQYHUHYESMUTHG-UHFFFAOYSA-N 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 241000208340 Araliaceae Species 0.000 claims description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 11
- 239000000835 fiber Substances 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 9
- 238000005259 measurement Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 229910052691 Erbium Inorganic materials 0.000 description 1
- 229910052777 Praseodymium Inorganic materials 0.000 description 1
- 229910052769 Ytterbium Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- UYAHIZSMUZPPFV-UHFFFAOYSA-N erbium Chemical compound [Er] UYAHIZSMUZPPFV-UHFFFAOYSA-N 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229910052758 niobium Inorganic materials 0.000 description 1
- 239000010955 niobium Substances 0.000 description 1
- GUCVJGMIXFAOAE-UHFFFAOYSA-N niobium atom Chemical compound [Nb] GUCVJGMIXFAOAE-UHFFFAOYSA-N 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- PUDIUYLPXJFUGB-UHFFFAOYSA-N praseodymium atom Chemical compound [Pr] PUDIUYLPXJFUGB-UHFFFAOYSA-N 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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Classifications
-
- 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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- 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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/4808—Evaluating distance, position or velocity data
Abstract
The invention discloses a kind of distribution type laser radars.This distribution type laser radar includes: that light generates unit, information process unit and multiple detection scanning units；Light generates unit for generating CW with frequency modulation, and by the first beam splitting of CW with frequency modulation to each detection scanning unit；Each detection scanning unit is used for the beam splitting again of the CW with frequency modulation after first beam splitting, form detection light beam and reference beam, it emission detection light beam and receives by the reflected echo beam of target object in target area, and determines according to reference beam and echo beam the relevant information of target area；Information process unit is used to integrate the relevant information of each target area, obtains the point cloud chart of the neighboring area of distribution type laser radar.Technical solution provided in an embodiment of the present invention can enhance the detection real-time to the target object in target area, while improve rate accuracy.
Description
Technical field
The present embodiments relate to technical field of laser detection more particularly to a kind of distribution type laser radars.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target object, speed.Laser
The working principle of radar is: to target object emission detection signal (laser beam), then reflecting the slave target object received
Signal (target echo or echo-signal) back is compared with transmitting signal, can be obtained object as proper treatment
The relevant information of body, such as target range, orientation, height, speed, posture, even shape parameter, to be carried out to target object
Detection, tracking and identification.
Currently, laser radar system is usually pulse lidar, pulse lidar by measurement pulse propagation when
Between measure target object distance.When laser radar is applied in onboard system, the speed of real-time measurement target object is needed
Size and the direction of motion can give vehicle more emergency processing times, reduce accident amount.But existing pulse laser thunder
Up to the general movement velocity for seeking target object by multiframe data, cause the laser radar real-time poor, and rate accuracy
It is lower.
Summary of the invention
The embodiment of the present invention provides a kind of distribution type laser radar, to enhance the detection real-time to target object, simultaneously
Improve rate accuracy.
The embodiment of the present invention proposes a kind of distribution type laser radar, the distribution type laser radar include: light generate unit,
Information process unit and multiple detection scanning units；
The light generates unit for generating CW with frequency modulation, and by the first beam splitting of the CW with frequency modulation to each described
Detection scanning unit；
Each detection scanning unit is used to the CW with frequency modulation beam splitting again after first beam splitting forming detection
Light beam and reference beam, emission detection light beam and receive by the reflected echo beam of target object in target area,
And the relevant information of the target area is determined according to the reference beam and the echo beam；
The information process unit is used to integrate the relevant information of each target area, obtains the distribution type laser thunder
The point cloud chart of the neighboring area reached；
Wherein, the relevant information of the target area includes the orientation, velocity magnitude of target object in the target area
At least one of with the direction of motion.
Further, it includes laser subelement, intensity modulated subelement, continuous frequency modulation signal that the light, which generates unit,
Source and signal amplify subelement；
For the laser subelement for issuing single-frequency light beam, it is single that the single-frequency light beam is incident to intensity modulated
Member；
The intensity modulated subelement is used to carry out the single-frequency light beam under the driving of the continuous frequency modulation signal source
Amplitude modulation forms initial CW with frequency modulation；
The signal amplification subelement is used to improve the power of initial CW with frequency modulation, described before forming first beam splitting
CW with frequency modulation.
Further, the laser subelement includes single-frequency polarization-maintaining laser, and the intensity modulated subelement includes protecting
Inclined lithium niobate intensity modulator, the continuous frequency modulation signal source includes chirp signal source, and the signal amplification subelement includes protecting
Polarisation fiber amplifier.
Further, the detection scanning unit includes that light hair receives unit and control processing unit；
The light hair receives unit and is used to the CW with frequency modulation beam splitting again after first beam splitting forming detection light beam
And reference beam, and emission detection light beam and reception are by the reflected echo beam of target object in target area；
The control processing unit is used to determine the target area according to the reference beam and the echo beam
Relevant information.
Further, the light hair receipts unit includes beam splitting subelement, detectable signal emits subelement, echo-signal connects
It receives subelement and reference signal handles subelement；
The beam splitting subelement is used to the CW with frequency modulation after first beam splitting be detection according to preset strength score
Light beam and reference beam；Wherein, the intensity of the detection light beam is greater than the intensity of the reference beam；
The detectable signal transmitting subelement is used for transmission and emits the detection light beam；
The echo signal reception subelement is for receiving the echo beam；
The reference signal processing subelement is used for the reference beam shift frequency；
The control processing unit is used to determine the mesh according to the reference beam after the echo beam and shift frequency
Mark the relevant information of object.
Further, the optical axis of the optical axis and the echo signal reception subelement of the detectable signal transmitting subelement is same
Axis setting.
Further, the beam splitting subelement includes polarization-maintaining beam splitter, and the reference signal processing subelement includes polarization-maintaining
Acousto-optic frequency shifters；
It further include polarization-maintaining circulator, the polarization-maintaining circulator includes first port, second port and third port；The spy
Surveying signal transmitting subelement includes the optical path between the first port and the second port, and echo signal reception is single
Member includes the optical path between the second port and the third port.
Further, the detectable signal transmitting subelement further includes that beam expander collimation subelement and two-dimensional scanning are single
Member；
The detection beam expander and standard that the beam expander collimation subelement is used to be emitted by the second port
Directly；
The detection light beam after the two-dimensional scanning subelement is used to expand and collimate is flat in the first plane and second
It is deflected on face；First plane intersects with second plane.
Further, the two-dimensional scanning subelement includes combination, rotating prism and the machine of horizon prism and vertical prism
The combination of the micro- galvanometer of tool, the combination of rotating prism and one-dimensional MEMS scanning mirror, one-dimensional MEMS scanning mirror and the one-dimensional micro- galvanometer of machinery
Combination, two dimension MEMS scanning mirror or two-dimentional machinery galvanometer.
Further, the control processing unit includes Coherent processing subelement, photoelectric conversion subelement, analog-to-digital conversion
Unit and acquisition of information subelement；
The Coherent processing subelement exports light to be processed for the echo beam to be mixed with the reference beam
Beam；
The photoelectric conversion subelement is used to the light beam to be processed being converted to analog electrical signal；
The analog-to-digital conversion subelement is used to analog electrical signal being converted to digital electric signal；
The acquisition of information subelement is used to obtain the relevant information of the target object according to the digital electric signal.
Further, the Coherent processing subelement includes polarization-maintaining coupler, and the photoelectric conversion subelement includes balance
Detector, the acquisition of information subelement includes field programmable gate array.
The embodiment of the invention provides a kind of laser radar, which includes that light generates unit, information processing list
First and multiple detection scanning units；Unit is generated for generating CW with frequency modulation by setting light, and will be at the beginning of CW with frequency modulation
Secondary beam splitting is to each detection scanning unit；Each detection scanning is used to form the beam splitting again of the CW with frequency modulation after first beam splitting
Light beam and reference beam are detected, emission detection light beam and reception are by the reflected echo light of target object in target area
Beam, and determine according to reference beam and echo beam the relevant information of target area；Information process unit is for integrating each target
The relevant information in region obtains the point cloud chart of the neighboring area of distribution type laser radar.Based on CW with frequency modulation to target area
In target object real-time detection, it can be achieved that precise measurement to target object；Meanwhile in conjunction with coherent detection mode, utilize
Doppler principle can be accurately obtained the direction of motion and velocity magnitude of target object, so that rate accuracy can be improved.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do one simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of distribution type laser radar provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another distribution type laser radar provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of another distribution type laser radar provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of detection scanning unit in distribution type laser radar provided in an embodiment of the present invention；
Fig. 5 is the structural representation of another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention
Figure；
Fig. 6 is the structural representation of another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention
Figure；
Fig. 7 is the structural representation of another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention
Figure；
Fig. 8 is the structural representation of another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention
Figure.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is a kind of structural schematic diagram of distribution type laser radar provided in an embodiment of the present invention.Referring to Fig.1, the distribution
Formula laser radar 10 includes: that light generates unit 110, information process unit 120 and multiple detection scanning units 130；Light produces
Raw unit 110 is for generating CW with frequency modulation, and by the first beam splitting of CW with frequency modulation to each detection scanning unit 130；Each spy
Scanning element 130 is surveyed to be used to the beam splitting again of the CW with frequency modulation after first beam splitting forming detection light beam and reference beam, transmitting
It detects light beam and receives by the reflected echo beam of target object in target area, and according to reference beam and echo
Light beam determines the relevant information of target area；Information process unit 120 is used to integrate the relevant information of each target area, is divided
The point cloud chart of the neighboring area of cloth laser radar；Wherein, the relevant information of target area includes target object in target area
At least one of orientation, velocity magnitude and the direction of motion.
Wherein, light generates unit 110 and information process unit 120 can be integrally disposed.Illustratively, which is swashed
When optical radar is applied to onboard system, light, which generates unit 110 and information process unit 120, can be integrated into mobile lidar friendship
Change planes 11.
Illustratively, the quantity of detection scanning unit 130 is 4, and the light in mobile lidar interchanger 11 generates
Unit 110 generates CW with frequency modulation, and CW with frequency modulation is divided into four beams, each detection scanning as distribution type laser radar 10
The light source of unit 130；Each detection scanning unit 130 is scanned detection to corresponding target area respectively, and through sweeping
It retouches detection information and is transmitted to mobile lidar interchanger 11；Information process unit 120 in mobile lidar interchanger 11
The relevant information from each detection scanning unit 130 is received, and received relevant information is integrated, to obtain distribution
The point cloud chart of the surrounding enviroment of laser radar 10.
Illustratively, detection scanning process of the detection scanning unit 130 to target area can include: after first beam splitting
CW with frequency modulation is again split into two beams, wherein a branch of as detection light beam, another Shu Zuowei reference beam；Emission detection light beam arrives
Target area includes multiple target objects in target area, is known as by the reflected light beam of target object in target area
Echo beam；It is scanned in target area by the way that light beam will be detected, be can determine according to each reference beam and corresponding echo beam
The relevant information of target area, at least one in quantity, size, orientation, velocity magnitude including target object and the direction of motion
Kind.
It should be noted that target area is interpreted as the region of the detectable scanning of each detection scanning unit 120, object
Body is determined that the embodiment of the present invention is not construed as limiting this by actual environment situation.
It it should be noted that the quantity for showing detection scanning unit 130 merely exemplary in Fig. 1 is 4, but is not pair
The restriction of distribution type laser radar 10 provided in an embodiment of the present invention.It in other embodiments, can be according to distribution type laser thunder
Up to 10 actual demand, the quantity of detection scanning unit 130 is set, the embodiment of the present invention is not construed as limiting this.
Distribution type laser radar 10 provided in an embodiment of the present invention, is detected based on CW with frequency modulation, it can be achieved that mesh
Mark the real―time precision measurment of the relevant information of object；Meanwhile it can be smart in real time using doppler principle in conjunction with coherent detection mode
The really velocity magnitude and the direction of motion of measurement target object；It, can be precisely in real time when the laser radar is applied to onboard system
The surrounding enviroment for monitoring automobile are conducive to improve the safety guarantee in driving conditions.In addition, generating unit by setting light
110 provide light source for multiple detection scanning units 130, and the degree of integration of distribution type laser radar 10 can be improved, and are conducive to reduce and divide
Number of components and overall volume in cloth laser radar 10.
Optionally, Fig. 2 is the structural schematic diagram of another distribution type laser radar provided in an embodiment of the present invention.Referring to figure
2, light generate unit 110 include laser subelement 111, intensity modulated subelement 112, continuous frequency modulation signal source 113 and
Signal amplifies subelement 114；For laser subelement 111 for issuing single-frequency light beam, it is single that single-frequency light beam is incident to intensity modulated
Member 112；Intensity modulated subelement 112 is used to carry out amplitude modulation to single-frequency light beam under the driving of continuous frequency modulation signal source 113,
Form initial CW with frequency modulation；Signal amplifies subelement 114 and is used to improve the power of initial CW with frequency modulation, forms first point
CW with frequency modulation before beam.
Wherein, laser subelement 111 issues single frequency laser beam；It is single that the single frequency laser beam is incident to intensity modulated
Member 112, using continuous frequency modulation signal source 113 to the light intensity of the single frequency laser beam being incident in intensity modulated subelement 112 and
The parameters such as phase are modulated, and obtain initial CW with frequency modulation；The initial CW with frequency modulation is incident on signal amplification subelement
114, signal amplification subelement 114 further increases the intensity of initial CW with frequency modulation, and the frequency modulation before forming first beam splitting connects
Continuous wave, meets subsequent probe demand conducive to it.It should be noted that amplitude herein, power and intensity are positively correlated
Relationship.
Wherein, which generates unit 110 by the way of external modulation, i.e., reloads after single frequency laser beam formation
Modulated signal can effectively overcome combination secondary since there is no the additional frequencies of laser subelement 111 to modulate for external modulation mode
Distortion.
Illustratively, intensity modulated subelement 112 can be based on electrooptic effect, magneto-optic effect, acoustooptical effect or other effects
Single frequency laser beam is modulated, the embodiment of the present invention is not construed as limiting this.
Illustratively, continuous frequency modulation signal source 113 can be linear frequency modulation continuous signal source, i.e. frequency changes linearly over time
Signal.
Optionally, after with continued reference to Fig. 2, laser subelement 111 includes single-frequency polarization-maintaining laser, intensity modulated subelement
112 include polarization-maintaining lithium niobate intensity modulator, and continuous frequency modulation signal source 113 includes chirp signal source, and signal amplifies subelement 114
Including polarization maintaining optical fibre amplifier.
So set, it is advantageously ensured that the polarization state of the light beam of each transmission node in distribution type laser radar 10 is uniform
It causes, it is advantageously ensured that detection accuracy.
Wherein, single-frequency polarization-maintaining laser generates single-frequency polarization-maintaining laser beam, and chirp signal source drives polarization-maintaining lithium niobate intensity
Modulator is modulated single-frequency polarization-maintaining laser beam, forms initial CW with frequency modulation, using shape after polarization maintaining optical fibre amplifier
At the high-power CW with frequency modulation of narrow linewidth.
Illustratively, single-frequency polarization-maintaining laser can for single-frequency polarization-maintaining fiber laser, single-frequency polarization-maintaining semiconductor laser or
Skilled person will appreciate that other kinds of single-frequency polarization-maintaining laser, the embodiment of the present invention is not construed as limiting this.
Illustratively, the wave band of single-frequency polarization-maintaining laser can be that 1.064 μm, 1.55 μm, 2 μm or those skilled in the art can
Its all band known, the embodiment of the present invention are not construed as limiting this.
Illustratively, the signal frequency in chirp signal source changes over time, and generates frequency along due to modulation before and after pulse
Variation, broaden signal spectrum, and with chirp coefficient (also known as line width broadening factor) describe, it is this change can be it is linear,
It can also be nonlinear.
Illustratively, polarization-maintaining lithium niobate intensity modulator carries out amplitude modulation to incipient beam of light using electrooptic effect.
Wherein, the power amplification of initial CW with frequency modulation can be formed the high-power tune of narrow linewidth by polarization maintaining optical fibre amplifier
Frequency continuous wave.Illustratively, which can be erbium-doped fiber amplifier (Erbium Doped Fiber
Amplifier, EDFA), PDFA Praseodymium Doped Fiber Amplifier (praseodymium-doped Fiber amplifier, PDFA), mix niobium
Fiber amplifier (Niobium-Doped Fiber Amplifier, NDFA), ytterbium doped optical fiber amplifier (Ytterbium-Doped
Fiber Amplifier, YDFA) or other kinds of fiber amplifier, the embodiment of the present invention this is not construed as limiting.
In this way, light, which generates unit 110, can realize the generation and amplification of CW with frequency modulation.
Optionally, Fig. 3 is the structural schematic diagram of another distribution type laser radar provided in an embodiment of the present invention.Referring to figure
3, detection scanning unit 130 includes that light hair receives unit 131 and control processing unit 132；Light hair receipts unit 131 is used for will be first
CW with frequency modulation beam splitting again after secondary beam splitting forms detection light beam and reference beam, and emission detection light beam and reception quilt
The reflected echo beam of target object in target area；Processing unit 132 is controlled to be used for according to reference beam and echo
Light beam determines the relevant information of target area.
Wherein, for a detection scanning unit 130, light hair is received unit 131 and after first beam splitting and will be transmitted to
The CW with frequency modulation of the detection scanning unit 130 is divided into two bundles, wherein a branch of as detection light beam, another Shu Zuowei reference light
Beam；Detection light beam is issued by the detection scanning unit 130, is irradiated to target area, and target area includes multiple target objects 20,
The reflected echo beam of target object 20 is sent out receipts unit 131 by light and is received, and is transmitted to control together with reference beam
Processing unit 132；Control processing unit 132 can determine the target object 20 in target area according to echo beam and reference beam
Relevant information, which can be regarded as coherent detection mode.
It should be noted that the quantity for showing detection scanning unit 130 merely exemplary in Fig. 2 and Fig. 3 is 2,
But the restriction to distribution type laser radar 10 provided in an embodiment of the present invention is not constituted.It, can basis in other implementation normal forms
The actual demand of distribution type laser radar 10, is arranged the quantity of detection scanning unit 130, and the embodiment of the present invention does not limit this
It is fixed.
It is illustrated below with reference to structure of Fig. 4-Fig. 8 to detection scanning unit 130.
Optionally, Fig. 4 is a kind of structure of detection scanning unit in distribution type laser radar provided in an embodiment of the present invention
Schematic diagram.Referring to Fig. 4, it includes beam splitting subelement 311, detectable signal transmitting subelement 312, echo letter that light hair, which receives unit 131,
Number receiving subelement 313 and reference signal handle subelement 314；Beam splitting subelement 311 is used for the frequency modulation after first beam splitting
Continuous wave is detection light beam and reference beam according to preset strength score；Wherein, the intensity for detecting light beam is greater than reference beam
Intensity；Detectable signal transmitting subelement 312 is used for transmission and emission detection light beam；Echo signal reception subelement 313 is for connecing
Receive echo beam；Reference signal handles subelement 314 and is used for reference beam shift frequency；It controls processing unit 132 and is used for basis time
Reference beam after glistening light of waves beam and shift frequency determines the relevant information of target object.
Wherein, which uses coherent detection mode, realizes velocity magnitude and fortune to target object 20
The precise measurement in dynamic direction.
Illustratively, the preset strength ratio for detecting light beam and reference beam can be 9:1,8:2 or other proper ratios, meet
Detection and signal processing demand, the embodiment of the present invention are not construed as limiting this.
Optionally, the light shaft coaxle of the optical axis and echo signal reception subelement 313 of detectable signal transmitting subelement 312 is set
It sets.
So set, being conducive to simplify the structure that light hair receives unit 131, conducive to the quantity and saving for reducing optical element
Space to be conducive to the number of elements reduced in detection scanning unit 130 and be taken up space, and then is conducive to reduce distributed
Number of elements in laser radar 10 and space shared by the entirety of distribution type laser radar 10.
Optionally, Fig. 5 is the knot of another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention
Structure schematic diagram.Referring to Fig. 4 and Fig. 5, beam splitting subelement 311 includes polarization-maintaining beam splitter 3111, and reference signal handles subelement 314 and wraps
Include polarization-maintaining acousto-optic frequency shifters 3141；It further include polarization-maintaining circulator 315, polarization-maintaining circulator 315 includes first port 3151, second end
Mouth 3152 and third port 3153；It includes between first port 3151 and second port 3152 that detectable signal, which emits subelement 312,
Optical path, echo signal reception subelement 313 includes optical path between second port 3152 and third port 3153.
Wherein, CW with frequency modulation is divided into two bundles by polarization-maintaining beam splitter 3111 according to preset strength ratio, the higher detection of intensity
Light beam emits after the first port 3151 of polarization-maintaining circulator 315 and second port 3152, reflects by target object 20
Echo beam is incident on polarization-maintaining circulator 315 by second port 3152, and is exported by third port 3153.The relatively low ginseng of intensity
Light beam is examined after polarization-maintaining acousto-optic frequency shifters 3141 (illustrative, polarization-maintaining acousto-optic frequency shifters 3141 are controlled by driver 3142),
It is compared with echo beam in control processing unit 130, to obtain the relevant information of target object 20.
Illustratively, polarization-maintaining circulator 315 can be polarization maintaining fiber ring device, is also possible to polarization splitting prism and adds 1/4
The polarization-maintaining circulator for the space structure that wave plate adds 1/2 wave plate to form, can also be other kinds of polarization-maintaining circulator, and the present invention is real
It applies example and this is not construed as limiting.
Optionally, with continued reference to Fig. 4 and Fig. 5, detectable signal transmitting subelement 313 further includes beam expander collimation subelement
3161 and two-dimensional scanning subelement 3162；The detection that beam expander collimation subelement 3161 is used to be emitted by second port 3152
Beam expander simultaneously collimates；Two-dimensional scanning subelement 3162 is for the detection light beam after expanding and collimating in the first plane and second
It is deflected in plane；First plane intersects with the second plane.
Wherein, beam expander collimation subelement 3161 and two-dimensional scanning subelement 3162 can be collectively referred to as optical system unit
316.The light beam being emitted by the second port 3152 of polarization-maintaining circulator 315 collimates subelement 3161 through beam expander and two dimension is swept
Emit after retouching subelement 3162.
Illustratively, beam expander collimation subelement 3161 may include that beam expanding lens, collimating mirror or those skilled in the art can
Other optical elements known, the embodiment of the present invention are not construed as limiting this.
Optionally, two-dimensional scanning subelement 3162 includes combination, rotating prism and the machinery of horizon prism and vertical prism
The combination of micro- galvanometer, the combination of rotating prism and one-dimensional MEMS scanning mirror, one-dimensional MEMS scanning mirror and the one-dimensional micro- galvanometer of machinery
Combination, two dimension MEMS scanning mirror or two-dimentional machinery galvanometer.
Wherein, horizon prism, vertical prism, rotating prism, mechanical micro- galvanometer and one-dimensional MEMS scanning mirror can be considered
Two one-dimensional scanning microscope groups are closed the scanning, it can be achieved that two-dimensional space by one-dimensional scanning mirror；Or it is directly real using Scan mirror
The scanning of existing two-dimensional space, to obtain the three dimensional space coordinate of target object；It is based on coherent detection and doppler principle simultaneously, it can
Obtain the velocity magnitude and the direction of motion of target object.Thus the five-dimensional information detection to target object can be realized, and anti-interference
Property strong, detection precisely, high sensitivity and when being applied to onboard system, be conducive to higher safety is provided protect to be unmanned
Barrier.
In addition, the optical scanning system of the distribution type laser radar 10 only needs rotating prism or the micro- galvanometer of MEMS or machinery
Galvanometer, Laser emission and reception camera lens and various control circuits are not required to rotate, and are not necessarily to other way to circuit power supply, directly supply
Electricity.Meanwhile coherent detection is carried out using CW with frequency modulation, and the Periodic Rotating of two-dimensional scanning subelement is combined to scan,
The distribution type laser radar 10 can be made to carry out uniform speed scanning to the target area of entire detection scanning, scanning speed is uniformly and the period
Property stablize.
Illustratively, Fig. 6 is another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention
Structural schematic diagram, Fig. 7 are that the structure of another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention is shown
It is intended to, Fig. 8 is the structural schematic diagram of another detection scanning unit in distribution type laser radar provided in an embodiment of the present invention,
The optional optical scanning system of detection scanning unit 130 is shown, which uses coaxial system.
Wherein, which includes that optical fiber 301 (can be regarded as the second port of the polarization-maintaining circulator 315 in Fig. 5
3152) it, collimates and receives camera lens 302 and two-dimensional scanning subelement, in figure 6 and figure 7, two-dimensional scanning subelement includes first
Scanning mirror 303 and the second scanning mirror 304, in fig. 8, two-dimensional scanning subelement includes Scan mirror 305.Collimation and reception mirror
315 output beam of polarization-maintaining circulator is collimated transmitting and assembles received echo beam and be coupled into polarization-maintaining annular by first 302
In device 315.
Illustratively, the first scanning mirror 303 is the first rotating prism in Fig. 6, and the second scanning mirror 304 is the second rotation rib
Mirror.The first rotating prism is rotated, by rotating corner, laser is scanned in the vertical direction, and beat and rotate rib second
On the side (working face) of mirror, the second rotating prism is reflected away laser beam by set angle, by rotation in level side
It is scanned upwards, by two rotating prisms, realization is scanned in vertical and horizontal direction certain angle, forms one
Face battle array.
Illustratively, the first scanning mirror 303 is the micro- galvanometer of MEMS in Fig. 7 or one-dimensional mechanical galvanometer, the second scanning mirror 304 are
Rotating prism.Laser is beaten on the micro- galvanometer of MEMS or one-dimensional mechanical galvanometer, scans laser in the vertical direction, and beat
On the side (working face) of rotating prism, rotating prism is reflected away laser beam by set angle, by rotation in water
It square is scanned upwards, realization is scanned in vertical and horizontal direction certain angle, forms a face battle array.
Illustratively, Scan mirror 305 is two dimension MEMS scanning mirror, two-dimentional machinery galvanometer or art technology in Fig. 8
Scanning both horizontally and vertically can be achieved at the same time in other kinds of Scan mirror known to personnel, the Scan mirror 305,
A face battle array is formed in search coverage.
It should be noted that merely exemplary in Fig. 6 and Fig. 7 show the combination of two kinds of one-dimensional scanning mirrors, but simultaneously
The restriction to distribution type laser radar 10 provided in an embodiment of the present invention is not constituted.In other embodiments, can also according to point
The actual demand of cloth laser radar 10, be arranged skilled person will appreciate that other kinds of one-dimensional scanning microscope group close, with
Realize two-dimensional scanning, the embodiment of the present invention is not construed as limiting this.
Optionally, with continued reference to Fig. 4 or Fig. 5, controlling processing unit 132 includes Coherent processing subelement 321, photoelectric conversion
Subelement 322, analog-to-digital conversion subelement 323 and acquisition of information subelement 324；Coherent processing subelement 321 is used for echo light
Beam is mixed with reference beam, and exports light beam to be processed；Photoelectric conversion subelement 322 is used to light beam to be processed being converted to simulation
Electric signal；Analog-to-digital conversion subelement 323 is used to analog electrical signal being converted to digital electric signal；Acquisition of information subelement 324 is used
In the relevant information for obtaining target object according to digital electric signal.
In this way, reference signal is mixed with echo-signal, and by photoelectric conversion and analog-to-digital conversion and then utilize information
Obtain subelement 324 and carry out corresponding algorithm process, i.e., the two-dimensional coordinate of exportable target object, distance, the direction of motion and
The information such as velocity magnitude realize five dimension detections.
It should be noted that the scanning probe unit 130 of the distribution type laser radar 10 may also include those skilled in the art
Other component or component known to member, such as signal output unit 135, signal output unit 135 can be used for target object
Five-dimensional information is exported to a turn-key system, or output, to a display interface, the embodiment of the present invention is not construed as limiting this.
Optionally, with continued reference to Fig. 4 or Fig. 5, Coherent processing subelement 321 includes polarization-maintaining coupler, and photoelectric conversion is single
Member 322 includes balanced detector, and acquisition of information subelement 324 includes field programmable gate array.
Wherein, echo-signal is mixed in polarization-maintaining coupler with the reference signal after shift frequency and exports again, utilizes balance detection
Device can noise reduction, be conducive to improve detection accuracy and sensitivity；It is sampled afterwards by A/D (i.e. analog-to-digital conversion), utilizes field programmable gate
Array carries out algorithm process, obtains the relevant information of target object.
It should be noted that each component part shown in distribution type laser radar 10 merely exemplary in Fig. 1-Fig. 5
Between signal transmit relationship, but do not constitute the restriction to relative space position.It in other embodiments, can be according to distribution
The actual demand of formula laser radar 10, is arranged the relative position between its each component part, and the embodiment of the present invention does not limit this
It is fixed.
Distribution type laser radar 10 provided in an embodiment of the present invention is based on the detection of CW with frequency modulation laser coherence and Doppler
Principle realizes the real―time precision measurment to the relevant information of the target object in target area；In conjunction with 2-D optical scanning system,
It can be achieved to detect the five-dimensional information of target object；It, can using multiple detection scanning units when as mobile lidar
After obtaining vehicle whole body environmental goals point cloud chart, information process unit is transmitted to by serial ports etc., information process unit is by each spy
The five-dimensional information of vehicle whole body environment can be obtained after the point cloud chart information integration of survey scanning element, and the information accuracy is high, it is real
When property is good, so that the measurement of the high-precision wide field range to vehicle whole body environmental goals can be realized, is conducive in driving conditions
It is middle that higher safety guarantee is provided.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. a kind of distribution type laser radar characterized by comprising light generates unit, information process unit and multiple detections
Scanning element；
The light generates unit for generating CW with frequency modulation, and by the first beam splitting of the CW with frequency modulation to each detection
Scanning element；
Each detection scanning unit is used to the CW with frequency modulation beam splitting again after first beam splitting forming detection light beam
And reference beam, it emission detection light beam and receives by the reflected echo beam of target object in target area, and root
The relevant information of the target area is determined according to the reference beam and the echo beam；
The information process unit is used to integrate the relevant information of each target area, obtains the distribution type laser radar
The point cloud chart of neighboring area；
Wherein, the relevant information of the target area includes the orientation, velocity magnitude and fortune of target object in the target area
At least one of dynamic direction.
2. distribution type laser radar according to claim 1, which is characterized in that it includes laser that the light, which generates unit,
Subelement, intensity modulated subelement, continuous frequency modulation signal source and signal amplify subelement；
For the laser subelement for issuing single-frequency light beam, the single-frequency light beam is incident to the intensity modulated subelement；
The intensity modulated subelement is used to carry out amplitude to the single-frequency light beam under the driving of the continuous frequency modulation signal source
Modulation, forms initial CW with frequency modulation；
The signal amplification subelement is used to improve the power of initial CW with frequency modulation, the frequency modulation before forming first beam splitting
Continuous wave.
3. distribution type laser radar according to claim 2, which is characterized in that the laser subelement includes that single-frequency is protected
Inclined laser, the intensity modulated subelement include polarization-maintaining lithium niobate intensity modulator, and the continuous frequency modulation signal source includes Zhou
It sings signal source, the signal amplification subelement includes polarization maintaining optical fibre amplifier.
4. distribution type laser radar according to claim 1, which is characterized in that the detection scanning unit includes light hair
Receive unit and control processing unit；
The light hair receives unit and is used to the CW with frequency modulation beam splitting again after first beam splitting forming detection light beam and ginseng
Light beam is examined, and emission detection light beam and reception are by the reflected echo beam of target object in target area；
The control processing unit is used to determine the related of the target area to the echo beam according to the reference beam
Information.
5. distribution type laser radar according to claim 4, which is characterized in that it includes beam splitting that the light hair, which receives unit,
Unit, detectable signal transmitting subelement, echo signal reception subelement and reference signal handle subelement；
The beam splitting subelement is used to the CW with frequency modulation after first beam splitting be detection light beam according to preset strength score
And reference beam；Wherein, the intensity of the detection light beam is greater than the intensity of the reference beam；
The detectable signal transmitting subelement is used for transmission and emits the detection light beam；
The echo signal reception subelement is for receiving the echo beam；
The reference signal processing subelement is used for the reference beam shift frequency；
The control processing unit is used to determine the object according to the reference beam after the echo beam and shift frequency
The relevant information of body.
6. distribution type laser radar according to claim 5, which is characterized in that the light of the detectable signal transmitting subelement
The light shaft coaxle of axis and the echo signal reception subelement is arranged.
7. distribution type laser radar according to claim 6, which is characterized in that the beam splitting subelement includes polarization-maintaining beam splitting
Device, the reference signal processing subelement includes polarization-maintaining acousto-optic frequency shifters；
It further include polarization-maintaining circulator, the polarization-maintaining circulator includes first port, second port and third port；The detection letter
Number transmitting subelement includes optical path between the first port and the second port, the echo signal reception subelement packet
Include the optical path between the second port and the third port.
8. distribution type laser radar according to claim 7, which is characterized in that the detectable signal transmitting subelement also wraps
Include beam expander collimation subelement and two-dimensional scanning subelement；
The beam expander collimation subelement is used for the detection beam expander being emitted by the second port and collimates；
The two-dimensional scanning subelement is for the detection light beam after expanding and collimating in the first plane and the second plane
Deflection；First plane intersects with second plane.
9. distribution type laser radar according to claim 8, which is characterized in that the two-dimensional scanning subelement includes level
The combination of prism and vertical prism, the combination of rotating prism and mechanical micro- galvanometer, rotating prism and one-dimensional MEMS scanning mirror group
It closes, combination, two dimension MEMS scanning mirror or the two-dimentional machinery galvanometer of one-dimensional MEMS scanning mirror and the one-dimensional micro- galvanometer of machinery.
10. distribution type laser radar according to claim 4, which is characterized in that the control processing unit includes relevant
Handle subelement, photoelectric conversion subelement, analog-to-digital conversion subelement and acquisition of information subelement；
The Coherent processing subelement exports light beam to be processed for the echo beam to be mixed with the reference beam；
The photoelectric conversion subelement is used to the light beam to be processed being converted to analog electrical signal；
The analog-to-digital conversion subelement is used to analog electrical signal being converted to digital electric signal；
The acquisition of information subelement is used to obtain the relevant information of the target object according to the digital electric signal.
11. distribution type laser radar according to claim 10, which is characterized in that the Coherent processing subelement includes protecting
Inclined coupler, the photoelectric conversion subelement includes balanced detector, and the acquisition of information subelement includes field programmable gate
Array.
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| CN111103575A (en) * | 2019-12-30 | 2020-05-05 | 微源光子(深圳)科技有限公司 | Laser super-continuous sensing system |
| CN112147623A (en) * | 2020-09-03 | 2020-12-29 | 五邑大学 | Multi-region ranging method and system based on chaotic polarization radar |
| CN112444818A (en) * | 2019-09-05 | 2021-03-05 | 华为技术有限公司 | Laser radar |
| CN112748418A (en) * | 2019-10-30 | 2021-05-04 | 北醒（北京）光子科技有限公司 | Laser radar |
| CN112965071A (en) * | 2021-02-02 | 2021-06-15 | 厦门大学 | Detection device and detection system based on laser radar |
| CN116520293A (en) * | 2023-06-30 | 2023-08-01 | 深圳市速腾聚创科技有限公司 | Laser radar detection method and device and laser radar |
| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
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