CN110161483A - Laser radar system - Google Patents
Laser radar system Download PDFInfo
- Publication number
- CN110161483A CN110161483A CN201910307753.XA CN201910307753A CN110161483A CN 110161483 A CN110161483 A CN 110161483A CN 201910307753 A CN201910307753 A CN 201910307753A CN 110161483 A CN110161483 A CN 110161483A
- Authority
- CN
- China
- Prior art keywords
- laser
- signal
- shoot
- signals
- radar system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of laser radar systems.The laser radar system includes transmitting module, optical transmitting system, detecting module and signal processing module.Transmitting module is used to generate and be emitted the shoot laser signal of Amplitude Modulation Continuous Wave.Optical transmitting system is for being split processing to the shoot laser signal, so that the entire search coverage of shoot laser signal uniform illumination of beam splitting processing.Detecting module is converted into reflection electric signal for receiving the reflected laser signals, and by the reflected laser signals, wherein the reflected laser signals are the laser signal that the object reflection that the shoot laser signal is detected in region generates.Signal processing module obtains the phase pushing figure of the shoot laser signal and the reflected laser signals according to the reflection electric signal for receiving the reflection electric signal, and the absolute distance of the object in the search coverage is calculated according to the phase pushing figure.
Description
Technical field
The present invention relates to Radar Technology fields, more particularly to a kind of laser radar system.
Background technique
Laser radar is by transmitting specific wavelength and the laser in direction to realize that the features such as the position to target, speed are believed
Cease detection system, be widely used at present range-measurement system, the tracking measurement of low flying target, weapon guidance, atmospheric monitoring,
The fields such as mapping, early warning, traffic administration.
According to the difference of the light beam control method of laser radar, existing laser radar can substantially be divided into four classes.First
Kind is that the deflection scanning of light beam is realized using mechanical organ, and advantage is that design is simple at low cost, the disadvantage is that scanning accuracy is by machine
Influences such as tool precision, vibration coupling and service life is not grown, volume is larger, heavy；Second is to utilize MEMS galvanometer
It is scanned, it is a kind of solid-state laser radar, and advantage is small in size low in energy consumption, the disadvantage is that processing work there are still mechanical movement
Skill component difficulty is high；The third is to carry out light beam deflection using optical phased array, still falls within a kind of solid-state radar, without machinery
Movement, precision and service life all greatly improve, the disadvantage is that scanning range is limited, scanning speed is lower.
In order to be adapted to three-dimensional imaging detection, the laser beam that laser radar is launched needs to cover detection as big as possible
Field of view, and the signal echo in all search coverages can be received, then all directions are obtained by detector array
Echo information.The echo information of all directions is obtained by beam emissions to all search coverages and using receiver array simultaneously,
This laser radar is the 4th kind, i.e. flash of light (Flash) laser radar.It belongs to a kind of non-scanning type radar, passes through pulse
Or continuous wave captures entire scene, rather than with laser beam point by point scanning.Advantage is that emission system does not have mechanical movement, can be quick
Entire scene is recorded, target or the mobile various interference of bring of laser radar in scanning process are avoided.
Traditional Flash radar is based on pulse time-of-flight (Time of Flight, TOF) range measurement principle, ranging
Precision be limited to the accuracy calculated the flight time, therefore it is more demanding to the circuit system of rear end, cause higher cost.
And when the design of Flash laser radar, do not consider to be split transmitting light beam, generallys use defocus transmitting or expanded by cylindrical mirror
Beam divergence angle is opened up, beam spread is allowed to be emitted, the veiling glare crosstalk of all directions is serious when this method receives, and is unable to reach higher
Spatial resolution.In addition, the receiving end of Flash radar generally uses the face battle array of Pixel-level to receive reflected laser signals, vulnerable to outer
The influence of boundary's environmental background light or both stray signal light, causes noise poor, low measurement accuracy.
Summary of the invention
Based on this, it is necessary at high cost in traditional flash radar, measurement accuracy be low and poor anti jamming capability is asked
Topic, provides a kind of laser radar system.
The present invention provides a kind of laser radar systems, comprising:
Transmitting module, for generating and being emitted the shoot laser signal of Amplitude Modulation Continuous Wave；
Optical transmitting system, for being split processing to the shoot laser signal so that beam splitting processing it is described go out
Penetrate the entire search coverage of laser signal uniform illumination；And
Detecting module is used for the reflected laser signals, and the reflected laser signals is converted into reflection electric signal,
Described in reflected laser signals be the shoot laser signal be detected region in object reflection generate laser signal；And
Signal processing module obtains the outgoing according to the reflection electric signal and swashs for receiving the reflection electric signal
The phase pushing figure of optical signal and the reflected laser signals, and calculated in the search coverage according to the phase pushing figure
The absolute distance of object.
The transmitting module includes: in one of the embodiments,
Laser, for being emitted the laser beam of preset wavelength；
Amplitude modulator, for being modulated using carrier signal to the laser beam for setting wavelength, described in generating
Shoot laser signal；And
Collimating mirror, for collimating the shoot laser signal.
The optical transmitting system includes Darman raster in one of the embodiments, described in the shoot laser process
After Darman raster diffraction, the laser beam array comprising the equal shoot laser beamlet of multiple light intensity is formed.
The laser radar system further includes receiving optics in one of the embodiments, the reception optical system
System carries out convergence and Shape correction for receiving the reflected laser signals, and to the reflected laser signals, so that described anti-
The spot size for penetrating laser signal adapts to the receiving plane size of the detecting module
The receiving optics includes focus lamp and shaping mirror in one of the embodiments, and the focus lamp is used for
The reflected laser signals are assembled, the shaping mirror is used to carry out Shape correction to the reflected laser signals after convergence
The detecting module includes detector array in one of the embodiments, and the detector array includes multiple
Detector, luminous point distribution and the detection through the optical transmitting system beam splitting treated the shoot laser at far field
The number of device is consistent, and the detector receives the reflected laser signals corresponding with the luminous point, and will described in
Reflected laser signals are converted into the reflection electric signal.
The detector is avalanche photodide in one of the embodiments,
The detecting module further includes filter array in one of the embodiments, and the filter array includes more
A filter, the filter and the detector correspond, and for being filtered to the reflection electric signal, obtain
The filtered reflection electric signal, and it is sent to the signal processing module.
The detecting module further includes filter array in one of the embodiments, the filter array with it is described
Detecting module and signal processing module electrical connection, for being filtered to the reflection electric signal, are filtered
Reflection electric signal afterwards, and it is sent to the signal processing module.
The filter is passive filter in one of the embodiments,.
The pass of the absolute distance of the phase pushing figure and the object in the search coverage in one of the embodiments,
System is
Wherein, the d is the absolute distance of the object in the search coverage, and c is the light velocity, and f is shoot laser letter
Number modulating frequency,For the phase pushing figure.
Above-mentioned laser radar system divides the shoot laser signal for being emitted to search coverage by optical transmitting system
Beam processing, so that the entire search coverage of shoot laser signal uniform illumination of beam splitting processing, the luminous energy of each detection direction after beam splitting
In quantity set, farther detection range can be reached, and echo will not generate all directions interchannel cross-interference issue, reduce reflection and swash
Interference optical signal in optical signal improves the signal-to-noise ratio of the reflection electric signal, to improve measurement accuracy and image quality.Its
It is secondary, the absolute distance of the object in the search coverage is calculated according to phase pushing figure, compared to by directly measuring the flight time
It more easily realizes, reduces the complexity of back-end circuit, to reduce manufacturing cost.In addition, Amplitude Modulation Continuous Wave signal goes out
The modulation of laser signal is penetrated relative to impulse modulation, the droop due to caused by environment light is eliminated, improves measurement accuracy.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of laser radar system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another laser radar system provided in an embodiment of the present invention；
Fig. 3 is the measuring principle schematic diagram using shoot laser signal measurement distance.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Please also refer to Fig. 1 and Fig. 2, the embodiment of the invention provides a kind of laser radar system, the laser radar system
System includes transmitting module 100, optical transmitting system 200, detecting module 300 and data processing module 400.
The transmitting module 100 is for generating and being emitted Amplitude Modulation Continuous Wave (Amplitude Modulated
Continuous Wave, AMCW) shoot laser signal.
The optical transmitting system 200 is for being split processing to the shoot laser signal, so that beam splitting was handled
The entire search coverage of shoot laser signal uniform illumination.
The reflected laser signals are converted into instead by the detecting module 300 for receiving the reflected laser signals
Electric signal, wherein the reflected laser signals are swashing for the object reflection generation that the shoot laser signal is detected in region
Optical signal.
Signal processing module 400 obtains the outgoing for receiving the reflection electric signal, according to the reflection electric signal
The phase pushing figure of laser signal and the reflected laser signals, and calculated in the search coverage according to the phase pushing figure
Object absolute distance.
It is appreciated that being split place to the shoot laser signal for being emitted to search coverage by optical transmitting system 200
Reason, so that the entire search coverage of shoot laser signal uniform illumination of beam splitting processing, the luminous energy quantity set of each detection direction after beam splitting
In, farther detection range can be reached, and echo will not generate all directions interchannel cross-interference issue, reduce reflection laser letter
Interference optical signal in number improves the signal-to-noise ratio of the reflection electric signal, to improve measurement accuracy and image quality.Secondly,
The absolute distance that the object in the search coverage is calculated according to phase pushing figure more holds compared to by the directly measurement flight time
It easily realizes, the complexity of back-end circuit is reduced, to reduce manufacturing cost.In addition, the outgoing of Amplitude Modulation Continuous Wave signal swashs
The modulation of optical signal eliminates the droop due to caused by environment light, improves measurement accuracy relative to impulse modulation.
The transmitting module 100 includes laser 110, amplitude modulator 120 and collimation in one of the embodiments,
Mirror 130.
The laser 110 is used to be emitted the laser beam of preset wavelength.In the present embodiment, due to the work of radar system
Principle therefore is emitted light source and not needed using FM laser based on AMCW mechanism, it is only necessary to guarantee the certain wave of selection
Long light source has suitable line width.Therefore, can be used but be not limited to using laser be distributed feedback laser
(Distributed Feedback Laser, DFB Laser), laser diode (Laser Diode, LD), optical fiber laser
With vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL) etc..
The amplitude modulator 120 is modulated the laser beam for setting wavelength using carrier signal, to generate
State shoot laser signal.
It is appreciated that the amplitude modulator 120 carries out line using laser beam of the carrier signal to the preset wavelength
Property modulation, to be emitted the shoot laser signal.It is noted that during modulation, what frequency generated variation is not
The laser beam of the preset wavelength is modulated, but to its carrier wave, i.e., the described carrier signal is modulated, the carrier wave
The frequency of signal is much smaller than the frequency of the laser beam of the preset wavelength, therefore is easier to realize modulation, reduces modulation
Difficulty.
In the present embodiment, the amplitude modulator 120 is double parallel phase-modulator.Double parallel phase-modulator microwave light
Sublink uses 2 phase-modulators, is π by the phase shift difference of amplitude of accommodation modulator, 2 road phase modulated signals is made to exist
It will not cancel out each other when the beat frequency of receiving end, realize that microwave signal phase modulates direct detection.Further, it is also possible to pass through mechanical
Change cavity length to change output optical frequency.The present embodiment is not particularly limited the modulation system of laser source, as long as energy
Enough guarantee the linear continuous light of light source output.
The collimating mirror 130 is coaxially disposed with the transmitting module 100, for collimating the shoot laser signal.This reality
It applies in example, is transmission-type collimating mirror for maintaining the collimating mirror 130 of collimation of the shoot laser signal, generally uses selenizing
Zinc lens are used as transmission-type collimating mirror.The shoot laser signal is after collimating mirror collimation, then by described
The beam splitting processing that optical transmitting system 200 carries out, is then incident on the object in the search coverage.
The transmitting optical system 200 includes Darman raster in one of the embodiments, described in the shoot laser process
After Darman raster diffraction, the laser beam array comprising the equal shoot laser beamlet of multiple light intensity is formed.
It is appreciated that not only may be implemented to be split the incident shoot laser signal using Darman raster, shape
At the laser beam array comprising the equal shoot laser beamlet of multiple light intensity, so that the shoot laser signal uniform illumination is whole
A search coverage, while itself and the identical property of former incident light can also be kept, reduce the decaying of spacial ability, is conducive to
Improve conventional flash radar because of the closer problem of detection range caused by outgoing spherical wave (character of energy damping).Also, it passes through
Detection light after crossing the Damman raster splitting beam is discrete in far field luminous point, helps to acquire information to each spot orientation, reduce
Interchannel crosstalk.It is noted that the beam splitting number of Darman raster and the number for the detector for receiving reflected laser signals should be kept
Unanimously, the distribution of Darman raster far field luminous point and the distribution of detector should be consistent.
The laser radar system further includes receiving optics 500 in one of the embodiments, the reception optics
System 500 carries out convergence and Shape correction for receiving the reflected laser signals, and to the reflected laser signals, so that institute
State the size of the size adaptation and the receiving plane phase of the detecting module 300 of the hot spot of reflected laser signals.
The receiving optics 500 includes focus lamp 510 and shaping mirror 520 in one of the embodiments, described poly-
Burnt mirror 510 for assembling the reflected laser signals, the shaping mirror 520 be used for the reflected laser signals after convergence into
Row Shape correction.In the present embodiment, the focus lamp 510 assembles reflected laser signals, the reflection laser letter after convergence
Number pass through 520 Shape correction of shaping mirror, so that the spot size of the reflected laser signals adapts to the detecting module 300
Receiving plane size, and direct irradiation is on the surface of receiving module in the form of almost plane wave for reflected laser signals, to eliminate
Because of the difference of search coverage difference and illumination pixel caused by different, to improve image quality.
The detecting module 300 includes detector array 310, the detector array 310 in one of the embodiments,
Including multiple detectors, through 200 beam splitting of optical transmitting system treated luminous point of the shoot laser at far field point
Cloth is consistent with the number of the detector, and the detector receives the reflection laser letter corresponding with the luminous point
Number, and the reflected laser signals are converted into reflection electric signal.
In the present embodiment, Damman raster splitting beam number is consistent with the number of the detector, i.e., the described Darman raster is in far field
The luminous point distribution at place is consistent with the number of the detector, and a detector receives the reflection laser letter that a luminous point is formed
Number, it avoids reflected laser signals from generating the cross-interference issue of all directions interchannel, reduces the interference optical signal in reflected laser signals.
In one of the embodiments, the detector be avalanche photodide (Avalanche Photo Diode,
APD).In the present embodiment, the reflection electric signal can also be amplified using avalanche photodide, to improve the spirit of detection
Sensitivity.Furthermore the detector can also be charge-coupled device or complementary metal oxide semiconductor sensor.Charged Couple
Device, avalanche photodide and complementary metal oxide semiconductor sensor, which all have, converts optical signals to reflection electric signal
Function, therefore using charge-coupled device, avalanche photodide and complementary metal oxide semiconductor sensor conduct
The reflected laser signals are converted into the reflection electric signal by detector.Further, it is also possible to have using other by optical signal
The device for being converted to the function of reflection electric signal is used as detector, and the present invention does not do the implementation of the detector
It is specific to limit
The detecting module 300 further includes real time processing system 330 in one of the embodiments, the real-time processing
System 330 is electrically connected with the detector array 310, reverse biased is provided for the detector array 310, to control the spy
Survey the working condition of device array 310.In the present embodiment, applied by the real time processing system to the avalanche photodide
Reverse biased, control the working condition of the avalanche photodide, with guarantee avalanche photodide judgement output and
The reception of new pulse is synchronous to be carried out.
The detecting module 300 further includes filter array 320, the filter array in one of the embodiments,
320 include multiple filters, and the filter and the detector correspond, for being filtered to the reflection electric signal
Processing, obtains the filtered reflection electric signal, and be sent to the signal processing module 400.It is appreciated that by the spy
Survey flip-flop and noise signal comprising common mode in the reflection electric signal that device array 310 exports, it is therefore desirable to by described
Filter array 320 is filtered the reflection electric signal, eliminates the straight of the common mode in the reflection electrical signal
Ingredient and high-frequency signal are flowed, to improve the signal-to-noise ratio of the reflection electric signal.
The filter is passive filter in one of the embodiments,.It is appreciated that passive filter is also known as LC filter
Wave device is the filter circuit constituted using the Combination Design of inductance, capacitor and resistance, can filter out certain primary or multiple harmonic, and
Have many advantages, such as that of simple structure and low cost, operational reliability is higher, operating cost is lower, therefore uses nothing in the present embodiment
Source filter is conducive to the structure design for simplifying the laser radar system, reduces production cost.It is appreciated that the filtering
Device can also be active filter, and the type of the not described filter of the present embodiment is defined.
In current mature TOF chip, it is integrated with detector array 310, filter array 320 and signal processing circuit
400, therefore can be realized by TOF chip and receive the reflected laser signals, and the reflected laser signals are converted into instead
Electric signal, and it is inclined according to the phase that the reflection electric signal obtains the shoot laser signal and the reflected laser signals
Shifting amount, and calculate according to the phase pushing figure absolute distance of the object in the search coverage.Therefore, in actual design mistake
Cheng Zhong realizes the Miniaturization Design of laser radar system, using TOF to reduce the design complexities of laser radar system
Chip realizes the function of above-mentioned detecting module 310 and signal processing module 400, i.e., substitutes above-mentioned detecting module using TOF chip
310 and signal processing module 400.
The laser radar system that any of the above-described embodiment provides, basic functional principle are as follows: the Amplitude Modulation Continuous Wave goes out
The phase pushing figure for penetrating laser signal Yu the reflected laser signals, with the object and the detecting module 300 in search coverage
Distance it is directly proportional, therefore the absolute distance of the object in the search coverage can be calculated according to the phase pushing figure.It please join
See that Fig. 3, Fig. 3 are the measuring principle schematic diagram using shoot laser signal measurement distance.
Assuming that the shoot laser signal of the Amplitude Modulation Continuous Wave is sine wave signal, the specific object measured in search coverage
Absolute distance it is as follows:
Assuming that sine wave signal s (t) amplitude of transmitting is a, modulating frequency is f, the signal received after time delay Δ t
To receive r (t), the amplitude after decaying is A, and strength offsets (being caused by environment light) are B.Between N number of (for 4) sampling time
It is T/4 every equal, T is the period of the sinusoidal signal s (t), following equations group can be listed according to the above-mentioned sampling time:
S (t)=a (1+sin (2 π ft))
If t0=0,
Then have
ri=r (ti)=A (1+sin (2 π f (ti-Δt)))+(A+B)
Wherein,
According to above-mentioned formula, phase pushing figure can be calculated
The absolute distance of the object in the search coverage is calculated according to the phase pushing figure
Wherein, the d is the absolute distance of the object in the search coverage, and c is the light velocity.
After the absolute distance for calculating the object in the search coverage, according to the vibration after the absolute distance, decaying
The strength offsets of width and reflected laser signals can also calculate the measurement accuracy of the laser radar system, specific to calculate
Process is as follows:
Amplitude after decaying is
Strength offsets are
Then the measurement accuracy of the laser radar system is
Wherein, the σdIndicate the measurement accuracy of the laser radar system.
Above-mentioned laser radar system divides the shoot laser signal for being emitted to search coverage by optical transmitting system
Beam processing, so that the entire search coverage of shoot laser signal uniform illumination of beam splitting processing, the luminous energy of each detection direction after beam splitting
In quantity set, farther detection range can be reached, and echo will not generate all directions interchannel cross-interference issue, reduce reflection and swash
Interference optical signal in optical signal improves the signal-to-noise ratio of the reflection electric signal, to improve measurement accuracy and image quality.Its
It is secondary, the absolute distance of the object in the search coverage is calculated according to phase pushing figure, compared to by directly measuring the flight time
It more easily realizes, reduces the complexity of back-end circuit, to reduce manufacturing cost.In addition, Amplitude Modulation Continuous Wave signal goes out
The modulation of laser signal is penetrated relative to impulse modulation, the droop due to caused by environment light is eliminated, improves measurement accuracy.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of laser radar system characterized by comprising
Transmitting module, for generating and being emitted the shoot laser signal of Amplitude Modulation Continuous Wave；
Optical transmitting system, for being split processing to the shoot laser signal, so that the outgoing of beam splitting processing swashs
The entire search coverage of optical signal uniform illumination；And
Detecting module is converted into reflection electric signal for receiving the reflected laser signals, and by the reflected laser signals,
Described in reflected laser signals be the shoot laser signal be detected region in object reflection generate laser signal；And
Signal processing module obtains the shoot laser according to the reflection electric signal and believes for receiving the reflection electric signal
Phase pushing figure number with the reflected laser signals, and the object in the search coverage is calculated according to the phase pushing figure
Absolute distance.
2. laser radar system as described in claim 1, which is characterized in that the transmitting module includes:
Laser, for being emitted the laser beam of preset wavelength；
Amplitude modulator, for being modulated using carrier signal to the laser beam for setting wavelength, to generate the outgoing
Laser signal；And
Collimating mirror, for collimating the shoot laser signal.
3. laser radar system as claimed in claim 2, which is characterized in that the optical transmitting system includes Darman raster,
The shoot laser forms the laser comprising the equal shoot laser beamlet of multiple light intensity after the Darman raster diffraction
Beam array.
4. laser radar system as described in claim 1, which is characterized in that it further include receiving optics, the reception light
System carries out convergence and Shape correction for receiving the reflected laser signals, and to the reflected laser signals, so that institute
The spot size for stating reflected laser signals adapts to the receiving plane size of the detecting module.
5. laser radar system as claimed in claim 4, which is characterized in that the receiving optics includes focus lamp and whole
Shape mirror, the focus lamp are used for for assembling the reflected laser signals, the shaping mirror to the reflection laser after convergence
Signal carries out Shape correction.
6. laser radar system as described in claim 1, which is characterized in that the detecting module includes detector array, institute
Stating detector array includes multiple detectors, through the optical transmitting system beam splitting treated the shoot laser at far field
Luminous point distribution it is consistent with the number of the detector, the detector receive and the luminous point it is corresponding it is described instead
Laser signal is penetrated, and the reflected laser signals are converted into the reflection electric signal.
7. laser radar as claimed in claim 6, which is characterized in that the detector is avalanche photodide.
8. laser radar system as claimed in claims 6 or 7, which is characterized in that the detecting module further includes filter battle array
Column, the filter array include multiple filters, and the filter and the detector correspond, for the reflection
Electric signal is filtered, and obtains the filtered reflection electric signal, and be sent to the signal processing module.
9. laser radar system as claimed in claim 7, which is characterized in that the filter is passive filter.
10. laser radar system as described in claim 1, which is characterized in that the phase pushing figure and the search coverage
The relationship of the absolute distance of interior object is
Wherein, the d is the absolute distance of the object in the search coverage, and c is the light velocity, and f is the shoot laser signal
Modulating frequency,For the phase pushing figure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910307753.XA CN110161483A (en) | 2019-04-17 | 2019-04-17 | Laser radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910307753.XA CN110161483A (en) | 2019-04-17 | 2019-04-17 | Laser radar system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110161483A true CN110161483A (en) | 2019-08-23 |
Family
ID=67639380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910307753.XA Pending CN110161483A (en) | 2019-04-17 | 2019-04-17 | Laser radar system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110161483A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433564A (en) * | 2020-03-06 | 2021-09-24 | 上海禾赛科技有限公司 | Laser radar and method for measuring distance by using laser radar |
| CN113447933A (en) * | 2020-03-24 | 2021-09-28 | 上海禾赛科技有限公司 | Detection unit of laser radar, laser radar and detection method thereof |
| WO2021197065A1 (en) * | 2020-03-30 | 2021-10-07 | 华为技术有限公司 | Interference suppression method and detection device |
| CN116466328A (en) * | 2023-06-19 | 2023-07-21 | 深圳市矽赫科技有限公司 | Flash intelligent optical radar device and system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103018735A (en) * | 2012-12-13 | 2013-04-03 | 中国科学院上海光学精密机械研究所 | Synthetic aperture laser imaging radar large-visual-field heterodyne detection device |
| CN103837870A (en) * | 2014-03-20 | 2014-06-04 | 华侨大学 | Frequency modulated continuous wave laser radar frequency modulation nonlinear response coefficient measuring method and device |
| CN103954955A (en) * | 2014-04-25 | 2014-07-30 | 南京先进激光技术研究院 | Synthetic-aperture laser imaging radar sending and receiving coaxial optical antennas |
| CN107272014A (en) * | 2017-08-05 | 2017-10-20 | 广州市杜格数控设备有限公司 | The two-dimension scanning laser radar and its scan method of a kind of solid-state |
| CN108226945A (en) * | 2018-01-15 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| CN108226899A (en) * | 2018-01-17 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| CN108614275A (en) * | 2018-04-24 | 2018-10-02 | 清华大学 | Pseudo- two-dimension scanning laser radar installations and detection method |
| US20190018137A1 (en) * | 2017-07-14 | 2019-01-17 | Microsoft Technology Licensing, Llc | Optical projector having switchable light emission patterns |
| CN109581323A (en) * | 2017-09-29 | 2019-04-05 | 北京万集科技股份有限公司 | A kind of micro electronmechanical laser radar system |
-
2019
- 2019-04-17 CN CN201910307753.XA patent/CN110161483A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103018735A (en) * | 2012-12-13 | 2013-04-03 | 中国科学院上海光学精密机械研究所 | Synthetic aperture laser imaging radar large-visual-field heterodyne detection device |
| CN103837870A (en) * | 2014-03-20 | 2014-06-04 | 华侨大学 | Frequency modulated continuous wave laser radar frequency modulation nonlinear response coefficient measuring method and device |
| CN103954955A (en) * | 2014-04-25 | 2014-07-30 | 南京先进激光技术研究院 | Synthetic-aperture laser imaging radar sending and receiving coaxial optical antennas |
| US20190018137A1 (en) * | 2017-07-14 | 2019-01-17 | Microsoft Technology Licensing, Llc | Optical projector having switchable light emission patterns |
| CN107272014A (en) * | 2017-08-05 | 2017-10-20 | 广州市杜格数控设备有限公司 | The two-dimension scanning laser radar and its scan method of a kind of solid-state |
| CN109581323A (en) * | 2017-09-29 | 2019-04-05 | 北京万集科技股份有限公司 | A kind of micro electronmechanical laser radar system |
| CN108226945A (en) * | 2018-01-15 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| CN108226899A (en) * | 2018-01-17 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| CN108614275A (en) * | 2018-04-24 | 2018-10-02 | 清华大学 | Pseudo- two-dimension scanning laser radar installations and detection method |
Non-Patent Citations (3)
| Title |
|---|
| BERNHARD BÜTTGEN ,ET AL: "Robust Optical Time-of-Flight Range Imaging Based on Smart Pixel Structures", 《IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—I: REGULAR PAPERS》 * |
| 底杉: "应用于TOF三维测距的CMOS图像传感器研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 马宏等: "《光电仪器设计》", 31 August 2007, 北京：兵器工业出版社 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433564A (en) * | 2020-03-06 | 2021-09-24 | 上海禾赛科技有限公司 | Laser radar and method for measuring distance by using laser radar |
| CN113433564B (en) * | 2020-03-06 | 2023-05-23 | 上海禾赛科技有限公司 | Laser radar and method for ranging using laser radar |
| CN113447933A (en) * | 2020-03-24 | 2021-09-28 | 上海禾赛科技有限公司 | Detection unit of laser radar, laser radar and detection method thereof |
| WO2021197065A1 (en) * | 2020-03-30 | 2021-10-07 | 华为技术有限公司 | Interference suppression method and detection device |
| CN116466328A (en) * | 2023-06-19 | 2023-07-21 | 深圳市矽赫科技有限公司 | Flash intelligent optical radar device and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110161483A (en) | Laser radar system | |
| CN108897003B (en) | Dual-mode control phased array laser radar system and method | |
| CN110133615A (en) | A kind of laser radar system | |
| CN100394211C (en) | Multi-frequency synchronous modified large range high precision fast laser ranging method and apparatus | |
| CN208672797U (en) | A kind of laser radar coaxial optical system and laser radar | |
| CN109031244A (en) | A kind of laser radar coaxial optical system and laser radar | |
| US8605147B2 (en) | Device for recording images of an object scene | |
| CN110133617A (en) | A kind of laser radar system | |
| CN106597468B (en) | A kind of dual-mode laser imaging system and imaging method | |
| CN110133616B (en) | Laser radar system | |
| KR20130130358A (en) | Three dimensional scanning system and three dimensional image acqusition method using the same | |
| CN111123239A (en) | Receiving device, transmitting/receiving device, and laser radar | |
| CN113030911A (en) | Laser radar system | |
| CN109444850A (en) | Phased-array laser radar | |
| CN111708004A (en) | Novel laser ranging method and laser radar system | |
| CN112346068A (en) | Device and method for improving angular resolution of laser radar | |
| CN211236245U (en) | Laser rangefinder and three-dimensional laser scanner | |
| CN115267822A (en) | High-uniformity scanning type single photon laser three-dimensional radar imaging system and imaging method | |
| CN110471081A (en) | 3D imaging device and electronic equipment based on synchronous ToF discrete point cloud | |
| CN111610510A (en) | Laser radar system | |
| CN112639514B (en) | Laser receiving device, laser radar and intelligent induction equipment | |
| CN210835244U (en) | 3D imaging device and electronic equipment based on synchronous ToF discrete point cloud | |
| CN110456371A (en) | A kind of laser radar system and relevant measurement method | |
| CN110865354A (en) | Flash radar and detection method | |
| CN209590262U (en) | Phased-array laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |