CN110333500A - A kind of multi-beam laser radar - Google Patents
A kind of multi-beam laser radar Download PDFInfo
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- CN110333500A CN110333500A CN201910520826.3A CN201910520826A CN110333500A CN 110333500 A CN110333500 A CN 110333500A CN 201910520826 A CN201910520826 A CN 201910520826A CN 110333500 A CN110333500 A CN 110333500A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The present invention relates to a kind of multi-beam laser radars comprising light source and laser signal reception device；The light source includes at least two laser emitters, and each laser emitter emits laser beam according to scheduled timing；Signal receiving device has multiple laser pick-off points, to receive the laser signal of measured target reflection；The laser pick-off point is coupled by optical fiber at least two single-photon detectors.The advantage of the invention is that, emit laser beam according to scheduled timing by light source, each single-photon detectors are re-used on time channel, while guaranteeing single photon detection sensitivity, the ability effectively detected to strong optical signal is greatly improved, the extension for the realization scale that the technique and device of existing maturation can be convenient is utilized.During extension, the number of single-photon detectors can increase to 128 or more.
Description
Technical field
The present invention relates to laser radar field, especially a kind of multi-beam laser radar.
Background technique
With the continuous development of laser radar and laser mapping technology, single-photon detecting survey technology has highest as existing
The optical measurement means of sensitivity, are more and more widely used in the system of integrated laser mapping.Due to
Single-photon detecting survey technology has high detectivity (limit detection that can be realized single photon level), can greatly
The measurement distance range for improving mapping system, can also effectively reduce mapping system to the energy requirement of laser light source, this two
Point is all the important bottleneck problem for restricting laser mapping system application.
However, single-photon detecting survey technology also brings some problems while providing high detection sensitivity.For realizing
The most typically device of single photon detection is avalanche photodide single-photon detector (SPAD) and photomultiplier tube (PMT).With
For SPAD, it is realized using avalanche gain of the avalanche photodide under Geiger operating mode to the effective of single photon signal
Detection.Although avalanche gain greatly improves detectivity, but also limit detectable incident optical signal to a certain degree
Intensity dynamic range, that is to say, that there is extraordinary advantage when measuring faint optical signal, but with incident optical signal
Intensity increases avalanche gain and easily reaches saturation, enters detector dead time region in advance, is illustrated in fig. 1 shown below.At this point for
For measurement result, detect between the signal pulse of output and practical incident light pulse that there are apparent time differences (to enter
Penetrate light signal strength it is stronger when, T0 has been become from t0), seriously affected measurement precision.
It is extremely important for mapping system to the light signal strength response of Larger Dynamic range, because of the usual right and wrong of observed object
Cooperation, it may be possible to which soil, forest, water surface etc. differ widely for the reflectivity of optical signal, cause to return to light arteries and veins to be measured
Rushing intensity can be distributed in a biggish dynamic range.A kind of current effective raising detector intensity response dynamic model
The method enclosed is that single-point SPAD device is made into array SPAD device, and incident light pulse spatial distribution is radiated at SPAD array
In multiple pixels, the higher incident optical signal of intensity is enabled adaptation to.However this solution has very big limitation, it is main
If the device technology of SPAD array is not mature enough, cost is very high, it is often more important that the driving of array device and reading electricity
Road size and power consumption are larger, constrain detector miniaturization and reliability.
In the prior art, fraction of laser light radar is worked at the same time in source ends using multiple laser beams, and this multi-beam is simultaneously
Work is one of the main feature of existing multi-beam laser radar mapping system, and the program has apparent advance, still
It is similarly limited to the problem of single-point SPAD part cannot achieve Larger Dynamic range optical signal detection.Multi-beam laser thunder as shown in Figure 2
The working principle reached, light source part are exported in the form of the laser dot-matrix of a 1X4, are returned by tetra- laser constitutions of 1# to 4#
The imaging device of the optical signals mapping system to be measured returned is collected and as the laser dot-matrix that planar imaging is 1X4, number 1#
To 4#.Subsequent 4 road to be measured optical signal is sent into single-point SPAD number A-D respectively via optic fibre guide respectively.When the letter to be measured of return
When number intensity is excessively high, single-point SPAD will encounter situation described in Fig. 1 when detecting, and detection accuracy is caused to reduce.
Summary of the invention
The purpose of the present invention is a kind of multi-beam laser radar is provided, by adopting according to above-mentioned the deficiencies in the prior art
With time channel multiplexing and the multiplexing of multiple single-photon detectors so that laser radar has bigger dynamic range.
The object of the invention realization is completed by following technical scheme:
A kind of multi-beam laser radar comprising light source and laser signal reception device；The light source includes at least two sharp
Optical transmitting set, each laser emitter emit laser beam according to scheduled timing；Signal receiving device has multiple laser pick-ofves
Point, to receive the laser signal of measured target reflection；The laser pick-off point passes through optical fiber and at least two single-photon detectors
Part coupling.
The laser pick-off point is corresponding with the beam of laser that the light source issues.
The single-photon detectors are coupled with the 1 laser pick-off points；For with the same single photon
The laser pick-off point that sensitive detection parts are coupled, between the launch time of laser beam corresponding to each laser pick-off point
Interval is greater than the dead time interval of the single-photon detectors.
It include several reception groups in the laser signal reception device, each reception group includes multiple laser pick-ofves
Point and multiple single-photon detectors；Each reception group is corresponding with several laser beams that the light source issues.
The light source includes diffraction optical element；The laser that the laser emitter issues through the diffraction light sources element at
Reason is converted to multiple laser beam, and each laser beam and the different reception groups are corresponding.
In a reception group, each laser pick-off point passes through optical fiber and each single-photon detectors coupling
It closes.
The laser signal received is dispersed to each and single photon detection by fiber optic splitter by the laser pick-off point
In the optical fiber of device coupling.
The single-photon detectors are coupled by optical-fiber bundling device with the optical fiber from each laser pick-off point；Or
Person, the optical fiber from each laser pick-off point form fiber array, search coverage of the direct-coupling in the single-photon detectors.
The laser pick-off point is located at the picture plane of the signal receiving device.
The type of the single-photon detectors includes single-point SPAD, PMT device, SPAD array device.
The invention has the advantages that emitting laser beam according to scheduled timing by light source, so that each single-photon detectors can
To be re-used on time channel, while guaranteeing single photon detection sensitivity, greatly improves and strong optical signal is effectively visited
The ability of survey utilizes the extension for the realization scale that the technique and device of existing maturation can be convenient.It is single during extension
The number of photon detecting element can increase to 128 or more.
Detailed description of the invention
Fig. 1 is the input-output characteristic schematic diagram of SPAD device in the prior art；
Fig. 2 is a kind of schematic diagram of laser radar in the prior art；
Fig. 3 is the schematic diagram of laser radar in the embodiment of the present invention one；
Fig. 4 is the input-output characteristic schematic diagram of single-photon detectors in the present invention；
Fig. 5 is the schematic diagram of laser radar in the embodiment of the present invention two.
Specific embodiment
Feature of present invention and other correlated characteristics are described in further detail by embodiment below in conjunction with attached drawing, so as to
In the understanding of technical staff of the same trade:
As shown in Figs. 1-5,1-9 is marked to respectively indicate in figure are as follows: light source 1, laser emitter 3, swashs at laser signal reception device 2
Optical receiver point 4, single-photon detectors 5, fiber optic splitter 6, optical fiber 7, reception group 8, optical diffraction device 9.
Embodiment one: as shown in Figure 3,4, the multi-beam laser radar of the present embodiment includes that light source 1 and laser signal connect
Receiving apparatus 2.Light source 1 includes multiple laser emitters 3, and light source 1 is for emitting laser to form laser beam.Each laser emitter 3
It is in array-like arrangement, each laser beam that light source 1 generates is distributed according to certain spatial homing, so that each laser beam is through tested
Laser signal reception device 2 is exposed to after target reflection.
Laser signal reception device 2 includes imaging system, and imaging system generally includes heavy caliber autocollimator or big
Bore lens.Laser signal reception device 2 as being provided with multiple laser pick-off points 4 in plane.Measured target is reflected every
A laser beam has a corresponding laser pick-off point 4 on as plane.Laser corresponding to the laser beam that light source 1 issues connects
The position of sink 4 is only dependent upon the spatial distribution of laser beam, and the multiple beam property mainly emitted by light source 1 determines, measured target
Shape, reflectivity properties, distance and transmission medium (usually outdoor air) are basic only influences to swash as plane is received
The brightness of light is strong and weak.Therefore there are one between the laser beam that light source 1 issues and the laser pick-off point 4 of laser signal reception device 2
One-to-one correspondence.
It include multiple laser pick-off points 4 and multiple single-photon detectors 5, each laser in laser signal reception device 2
Receiving point 4 is located at the picture plane of laser signal reception device 2.Laser pick-off point 4 passes through optical fiber and multiple single-photon detectors 5
It is coupled.Received laser signal is couple each single-photon detectors 5 by laser pick-off point 4.Specifically, each swash
Optical receiver point 4 is connected separately with an optical fiber, and laser pick-off point 4 is coupled by the optical fiber with fiber optic splitter 6, fiber optic splitter
The laser signal that laser pick-off point 4 receives is dispersed into more parts by 6, be respectively sent to more for output optical fiber 7, be respectively used for
The optical fiber 7 of output is coupled with a single-photon detectors 5 respectively, after the detection dispersion of single-photon detectors 5
Laser signal.The optical fiber of each 6 output end of fiber optic splitter connection can pass through optical-fiber bundling device and the light from each laser pick-off point
Fibre is coupled；Alternatively, the optical fiber composition fiber array connecting with 6 output end of fiber optic splitter, direct-coupling is in corresponding list
The search coverage of photon detecting element 5.
After laser signal dispersion, intensity is substantially reduced, and can be effectively prevented from single-photon detectors because of signal strength mistake
Prematurely enter dead time region greatly.Further, since single photon can not divide again, it, also can be by certain even if only single photon is incident
A single-photon detectors 5 are captured, so that the sensitivity of whole system is unaffected.By the way that laser signal is dispersed, and
Multiple single-photon detectors 5 are coupled to, the dynamic range of system can be increased while guaranteeing system sensitivity, so that swashing
The measurement result of optical radar is more accurate.By the number for increasing the single-photon detectors 5 coupled with single laser pick-off point 4
Mesh can increase the dynamic range for further increasing laser radar.
There are a variety of coupled modes between single-photon detectors 5 and laser pick-off point 4.For example, each single photon detection
Device 5 can be coupled only with a laser pick-off point 4, and laser pick-off point 4 each in this way can receive laser signal simultaneously；Each
Single-photon detectors 5 can also be coupled at least two single-photon detectors 5, need light source using this coupled modes
1 issues laser beam according to scheduled timing, so that the laser pick-off point 4 being coupled with the same single-photon detectors 5, respectively
Interval between the launch time of laser beam corresponding to laser pick-off point 4 is greater than the dead time interval of single-photon detectors 5,
Restore normal in the dead time avalanche gain that can once detect so as to each single-photon detectors 5 in the past after.
Coupled modes between the single-photon detectors 5 chosen in the present embodiment and laser pick-off point 4 are as follows: each laser
Receiving point 4 is coupled with each single-photon detectors 5, this laser signal meeting that each laser pick-off point 4 is received
In all single-photon detectors 5 of distributing.
Specifically, there are four laser emitters 3 for the tool of light source 1 in the present embodiment, it is respectively used to four beam laser beams of transmitting；Swash
Have and the one-to-one four laser pick-ofves point 4 of laser beam in light signal receiving 2；Each laser signal reception device 2
There are four single-photon detectors 5 for tool.Each laser signal reception device 2 passes through optical fiber and all single-photon detectors 5
It is coupled.Four laser emitters 3 emit laser beam according to identical frequency, the laser beam that each laser emitter 3 emits
Time difference between launch time is greater than the dead time interval of single-photon detectors 5, so that each single-photon detectors 5
There can be time enough to restore normal from the dead time after last avalanche gain.
In the present embodiment, each laser emitter 3 (is the quantity for emitting laser beam, rather than laser according to the frequency of 1kHz
Frequency of light wave) transmitting laser beam, between the launch time of two laser beams that successively luminous laser emitters 3 emit when
Between difference be taken as 10 μ s.In the present embodiment, single-photon detectors 5 are carried out it is time-multiplexed, can be in the transmitting of laser emitter 3
Single-photon detectors 5 are made full use of in the limited situation of frequency, reduce the use number of single-photon detectors 5.
As shown in figure 4, Fig. 4 is the input-output characteristic and existing skill of a single-photon detectors 5 in the present embodiment
The contrast schematic diagram of laser radar in art.It can be seen that the laser signal received is dispersed to respectively by each laser pick-off point 4
Single-photon detectors 5 are located at single so that the intensity for the optical signal that each single-photon detectors 5 receive becomes a quarter
Within the dynamic range of photon detecting element 5, so that the testing result of single-photon detectors 5 can reflect out laser letter
Number time of day.Very easily detection and result can be compensated in subsequent processing, to be reduced into original
Intuitive measurement data.
The type of single-photon detectors 5 includes single-point SPAD(avalanche photodide single-photon detector), PMT device
(photomultiplier tube) and SPAD array device.The single-photon detectors 5 that the present embodiment uses is SPAD.
As shown in Figure 3,4, the present embodiment further relates to a kind of measurement method that the time channel for laser radar is multiplexed, should
Method the following steps are included:
(1) each laser emitter 3 of light source 1 issues laser beam according to scheduled timing.
Each laser emitter 3 in light source 1 launches outward laser every predetermined period to form laser beam；Each Laser emission
Phase difference between the predetermined period and predetermined period of device 3 makes the launch time of any two laser emitter 3 in light source 1
Interval is greater than the dead time interval of single-photon detectors 5, so that each laser beam can utilize single-photon detector with timesharing
Part.Predetermined period in the present embodiment is 1000 μ s(1kHz), and the phase difference between predetermined period is 10 μ s.What predetermined period referred to
The not instead of laser frequency of laser beam, the time interval between two beam laser of laser transmitter projects.
(2) laser beam is transmitted to corresponding laser pick-off point 4 in laser signal reception device 2 after measured target reflects.
(3) laser signal received is coupled at least two single-photon detectors 5 by laser pick-off point 4；Laser letter
Number reception device 2 detects the launch time of each laser beam and the time difference of receiving time according to single-photon detectors 5；Wherein swash
The launch time of light beam obtains from light source 1.Laser signal reception device 2 can launch time according to each laser beam and receiving time
Time difference carry out ranging, imaging or generate point a cloud.
In the present embodiment, laser signal is couple four single-photon detectors 5 by laser pick-off point 4, in coupling process
In, laser pick-off point 4 couples fiber optic splitter for laser signal by optical fiber；If laser signal is dispersed to by fiber optic splitter
In dry optical fiber 7, and single-photon detectors are couple for the laser signal after dispersion by each optical fiber 7.
For some single-photon detectors 5, each fiber optic splitter 6 passes through optical fiber and the single photon by an output end
Sensitive detection parts 5 couple.Specific coupled modes are as follows: be connected to the output end of fiber optic splitter and coupled with each laser pick-off point 4
Optical fiber 7 be coupled to an optical-fiber bundling device, laser signal is passed through fiber optic conduction a to single photon detection by optical-fiber bundling device
Device 5, each optical-fiber bundling device are corresponding with a single-photon detectors 5.Alternatively, being coupled with some single-photon detectors 5
Optical fiber 7 form fiber array, direct-coupling is radiated in the search coverage of the single-photon detectors 5 corresponding to it.
Embodiment two: as shown in figure 5, the main distinction of the present embodiment and embodiment one is that the light source of the present embodiment can be same
When emit multiple laser beam；There are multiple reception groups 8, each reception group 8 includes that multiple laser connect in laser signal reception device 2
Sink 4 and single-photon detectors 5.It is a branch of in multiple laser beam of each reception group 8 for receiving while emitting respectively.
Specifically, including four laser pick-off points 4 and four single-photon detectors 5, Mei Gejie in each reception group 8
In receipts group 8, the coupled modes between single-photon detectors 5 and laser pick-off point 4 are identical as the coupled modes of embodiment one kind.
Embodiment one is equivalent to an only reception group 8.
In the present embodiment, the reason of light source 1 can emit multiple laser beam simultaneously, is, light source 1 includes diffraction optical device 9
(DOE).Beam of laser can be become multiple laser by diffraction optical device 9.In the present embodiment, diffraction optical device 9 can be right
Light beam is handled, and one laser beam is become three beams of laser beam, therefore laser signal reception device 2 has corresponding three
A reception group 8.The laser beam projected from diffraction optical device 9 is corresponding with a reception group 8 respectively.Using diffraction optics device
Part 9 can increase the quantity of wave beam, while adjust the spatial distribution of wave beam, and then increase the detection efficient of laser radar.
The present embodiment for laser radar time channel be multiplexed measurement method the following steps are included:
(1) each laser emitter 3 of light source 1 issues laser beam according to scheduled timing, and diffraction optical device 9 is by each Laser emission
Device 3 issue laser be converted to parallel three beams of laser beam, per each laser beam respectively with one in laser signal reception device 2
Reception group 8 is corresponding.Each reception group 8 is also corresponding with several laser beams that light source 1 issues.Each laser beam has different
Spatial position, therefore there are one-to-one relationships with each laser pick-off point 4 for each laser beam.In the present embodiment, each Laser emission
Device 3 emit laser beam timing be the same as example 1, which makes in any one reception group 8, corresponding to laser
Time difference in beam between the launch time of any two beams laser beam is greater than the dead time interval of single-photon detectors.
(2) laser beam is transmitted to corresponding laser pick-off point 4 in laser signal reception device 2 after measured target reflects.
(3) the multiple laser beam that each reception group 8 receives while emitting respectively, each laser beam are corresponding there are one
Laser pick-off point, for each laser beam being simultaneously emitted by, corresponding to laser pick-off point 4 be located at different reception groups 8
It is internal.The laser signal received is coupled at least two single-photon detectors 5 by laser pick-off point 4；Laser signal receives
Device 2 detects the launch time of each laser beam and the time difference of receiving time according to single-photon detectors 5；Wherein laser beam
Launch time obtains from light source 1.Laser signal reception device 2 can be according to the launch time of each laser beam and the time of receiving time
Difference carries out ranging, imaging or generates point cloud.In the present embodiment, inside a reception group 8, laser pick-off point 4 and single photon
Coupled modes and coupling step between sensitive detection parts 5 are the same as example 1.
Although above embodiments elaborate the object of the invention conception and embodiment referring to attached drawing, ability
Domain those of ordinary skill will recognize, still can be to this in the case where no disengaging claim limits the precondition of range
Various modifications and variations are made in invention, therefore will not repeat them here.
Claims (10)
1. a kind of multi-beam laser radar, which is characterized in that including light source and laser signal reception device；The light source includes
At least two laser emitters, each laser emitter emit laser beam according to scheduled timing；Signal receiving device has more
A laser pick-off point, to receive the laser signal of measured target reflection；The laser pick-off point is single by optical fiber and at least two
Photon detecting element coupling.
2. a kind of multi-beam laser radar according to claim 1, which is characterized in that the laser pick-off point and the light
The beam of laser that source issues is corresponding.
3. a kind of multi-beam laser radar according to claim 2, which is characterized in that the single-photon detectors with extremely
Few two laser pick-off point couplings；For the laser pick-off being coupled with the same single-photon detectors
Point, the interval between the launch time of laser beam corresponding to each laser pick-off point are greater than the single-photon detectors
Dead time interval.
4. a kind of multi-beam laser radar according to claim 3, which is characterized in that in the laser signal reception device
Including several reception groups, each reception group includes multiple laser pick-off points and multiple single-photon detectors；
Each reception group is corresponding with several laser beams that the light source issues.
5. a kind of multi-beam laser radar according to claim 4, which is characterized in that the light source includes diffraction optics member
Part；The laser that the laser emitter issues handles through the diffraction light sources element and is converted to multiple laser beam, each laser
Beam and the different reception groups are corresponding.
6. a kind of multi-beam laser radar according to claim 4, which is characterized in that in a reception group, often
A laser pick-off point is coupled by optical fiber with each single-photon detectors.
7. according to claim 1 to any a kind of multi-beam laser radar in 6, which is characterized in that the laser pick-off
The laser signal received is dispersed in each optical fiber coupled with single-photon detectors by point by fiber optic splitter.
8. according to claim 1 to any a kind of multi-beam laser radar in 6, which is characterized in that the single-photon detecting
Device is surveyed to be coupled by optical-fiber bundling device with the optical fiber from each laser pick-off point；Alternatively, from each laser pick-off point
Optical fiber forms fiber array, search coverage of the direct-coupling in the single-photon detectors.
9. according to claim 1 to any a kind of multi-beam laser radar in 6, which is characterized in that the laser pick-off
Point is located at the picture plane of the signal receiving device.
10. according to claim 1 to any a kind of multi-beam laser radar in 6, which is characterized in that the single-photon detecting
The type for surveying device includes single-point SPAD, PMT device, SPAD array device.
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| CN113167870A (en) * | 2020-04-03 | 2021-07-23 | 深圳市速腾聚创科技有限公司 | Laser receiving and transmitting system, laser radar and automatic driving equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113167870A (en) * | 2020-04-03 | 2021-07-23 | 深圳市速腾聚创科技有限公司 | Laser receiving and transmitting system, laser radar and automatic driving equipment |
| CN113167870B (en) * | 2020-04-03 | 2023-11-24 | 深圳市速腾聚创科技有限公司 | Laser receiving and transmitting system, laser radar and automatic driving equipment |
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