CN110333500B - Multi-beam laser radar - Google Patents

Multi-beam laser radar Download PDF

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Publication number
CN110333500B
CN110333500B CN201910520826.3A CN201910520826A CN110333500B CN 110333500 B CN110333500 B CN 110333500B CN 201910520826 A CN201910520826 A CN 201910520826A CN 110333500 B CN110333500 B CN 110333500B
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laser
single photon
photon detection
receiving
light source
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CN110333500A (en
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吴光
潘海峰
陈修亮
李召辉
杨雷
郑天祥
申光跃
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East China Normal University
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East China Normal University
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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
    • 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
    • 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 invention relates to a multi-beam laser radar, which comprises a light source and a laser signal receiving device; the light source comprises at least two laser transmitters, and each laser transmitter transmits laser beams according to a preset time sequence; the signal receiving device is provided with a plurality of laser receiving points to receive laser signals reflected by the measured target; the laser receiving point is coupled with at least two single photon detection devices through optical fibers. The invention has the advantages that the light source emits laser beams according to the preset time sequence, so that each single photon detection device can be multiplexed on a time channel, the single photon detection sensitivity is ensured, the capability of effectively detecting strong light signals is greatly improved, and the scale expansion can be conveniently realized by utilizing the existing mature process and device. During the extension process, the number of single photon detection devices can be increased to more than 128.

Description

Multi-beam laser radar
Technical Field
The invention relates to the field of laser radars, in particular to a multi-beam laser radar.
Background
With the continuous development of laser radar and laser mapping technology, single photon detection technology has been widely applied to integrated laser mapping systems more and more as the existing optical measurement means with the highest sensitivity. The single photon detection technology has extremely high detection sensitivity (can realize limit detection of a single photon level), can greatly improve the measurement distance range of the surveying and mapping system, and can also effectively reduce the energy requirement of the surveying and mapping system on a laser light source, which are important bottleneck problems restricting the application of the laser surveying and mapping system.
However, the single photon detection technique also brings problems while providing high detection sensitivity. The most typical devices for achieving single photon detection are avalanche photodiode single photon detectors (SPADs) and photomultiplier tubes (PMTs). Taking SPAD as an example, it uses avalanche gain of avalanche photodiode in geiger working mode to realize effective detection of single photon signal. Although the avalanche gain greatly improves the detection sensitivity, the avalanche gain limits the intensity dynamic range of the detectable incident light signal to a certain extent, that is, has a very good advantage when measuring a weak light signal, but the avalanche gain is easily saturated as the intensity of the incident light signal increases, and enters a dead time region of the detector in advance, as shown in fig. 1 below. In this case, as for the measurement result, there is a significant time difference between the signal pulse outputted by detection and the actually incident light pulse (when the intensity of the incident light signal is strong, T0 is changed to T0), which seriously affects the measurement accuracy.
The intensity response of the optical signal to a large dynamic range is very important for mapping systems because the observation targets are usually uncooperative, and may be soil, forest, water surface, etc., and the reflectivity of the optical signal is very different, so that the intensity of the optical pulse returning to be measured is distributed in a large dynamic range. At present, an effective method for improving the intensity response dynamic range of a detector is to make a single-point SPAD device into an array SPAD device, and irradiate the incident light pulse space distribution on a plurality of pixels of the SPAD array, so that the method can adapt to the incident light signal with higher intensity. However, this solution has very great limitations, mainly the technology of the SPAD array is not mature enough, the manufacturing cost is very high, and more importantly, the size and power consumption of the driving and reading circuit of the array device are large, which restricts the miniaturization and reliability of the detector.
In the prior art, part of laser radars use a plurality of laser beams to work simultaneously at a light source end, the simultaneous working of multiple beams is one of the main characteristics of the existing multi-beam laser radar mapping system, and the scheme has obvious advancement but is also limited by the problem that a single-point SPAD (spatial adaptive detection) device cannot realize the detection of optical signals with a large dynamic range. As shown in fig. 2, the operating principle of the multibeam lidar is that the light source part is composed of four lasers 1# to 4# and outputs in the form of a 1X4 laser lattice, and the returned light signal to be measured is collected by the imaging device of the mapping system and imaged into the 1X4 laser lattice on the image plane, which is numbered 1# to 4#. And then 4 paths of optical signals to be detected are respectively guided by optical fibers and sent to a single point SPAD to be respectively numbered A-D. When the intensity of the returned signal to be detected is too high, the situation described in fig. 1 is encountered during single-point SPAD detection, which results in the reduction of detection accuracy.
Disclosure of Invention
The present invention provides a multi-beam lidar which has a larger dynamic range by using time channel multiplexing and multiple single photon detector multiplexing, in accordance with the above-mentioned deficiencies of the prior art.
The purpose of the invention is realized by the following technical scheme:
a multibeam laser radar comprises a light source and a laser signal receiving device; the light source comprises at least two laser transmitters, and each laser transmitter transmits laser beams according to a preset time sequence; the signal receiving device is provided with a plurality of laser receiving points to receive laser signals reflected by the measured target; each laser receiving point is coupled with at least two single photon detection devices through optical fibers.
The laser receiving point corresponds to a beam of laser emitted by the light source.
Each single photon detection device is coupled with at least two laser receiving points; for the laser receiving points coupled with the same single photon detection device, the interval between the emission time of the laser beams corresponding to each laser receiving point is larger than the dead time interval of the single photon detection device.
The laser signal receiving device comprises a plurality of receiving groups, and each receiving group comprises a plurality of laser receiving points and a plurality of single photon detection devices; each receiving group corresponds to a plurality of laser beams emitted by the light source.
The light source comprises a diffractive optical element; and laser emitted by the laser emitter is processed by the diffraction light source element and converted into a plurality of laser beams, and each laser beam corresponds to different receiving groups.
In one receiving group, each laser receiving point is coupled with each single photon detection device through an optical fiber.
And the laser receiving point disperses the received laser signals to each optical fiber coupled with the single photon detection device through the optical fiber beam splitter.
The single photon detection device is coupled with optical fibers from all laser receiving points through an optical fiber beam combiner; or the optical fibers from all the laser receiving points form an optical fiber array which is directly coupled in the detection area of the single photon detection device.
The laser receiving point is positioned on the image plane of the signal receiving device.
The single photon detection device comprises a single-point SPAD device, a PMT device and a SPAD array device.
The invention has the advantages that: the laser beam is emitted by the light source according to the preset time sequence, so that each single photon detection device can be multiplexed on a time channel, the single photon detection sensitivity is ensured, the capability of effectively detecting a highlight signal is greatly improved, and the scale expansion can be conveniently realized by utilizing the existing mature process and device. During the extension process, the number of single photon detection devices can be increased to more than 128.
Drawings
FIG. 1 is a schematic diagram of the input-output characteristics of a SPAD device in the prior art;
FIG. 2 is a schematic diagram of a prior art lidar;
FIG. 3 is a schematic diagram of a lidar according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of the input-output characteristics of a single photon detection device in accordance with the present invention;
fig. 5 is a schematic diagram of a lidar according to a second embodiment of the present invention.
Detailed Description
The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings to facilitate understanding by those skilled in the art:
as shown in fig. 1-5, the labels 1-9 are respectively shown as: the device comprises a light source 1, a laser signal receiving device 2, a laser emitter 3, a laser receiving point 4, a single photon detection device 5, an optical fiber beam splitter 6, an optical fiber 7, a receiving group 8 and an optical diffraction device 9.
The first embodiment is as follows: as shown in fig. 3 and 4, the multibeam lidar of the present embodiment includes a light source 1 and a laser signal receiving apparatus 2. The light source 1 comprises a plurality of laser emitters 3, the light source 1 being arranged to emit laser light to form a laser beam. The laser emitters 3 are arranged in an array, and laser beams generated by the light source 1 are distributed according to a certain spatial rule, so that the laser beams are reflected by a measured target and then irradiate the laser signal receiving device 2.
The laser signal receiving device 2 includes an imaging system, which typically includes a large aperture reflective telescope or a large aperture lens. The image plane of the laser signal receiving device 2 is provided with a plurality of laser receiving points 4. Each laser beam reflected by the measured object has a corresponding laser receiving point 4 on the image plane. The position of the laser receiving point 4 corresponding to the laser beam emitted by the light source 1 only depends on the spatial distribution of the laser beam, and is mainly determined by the properties of multiple beams emitted by the light source 1, and the appearance, the reflection properties, the distance and the distance of the measured object and the transmission medium (usually outdoor air) basically only affect the brightness intensity of the laser received by the image plane. Therefore, there is a one-to-one correspondence between the laser beam emitted from the light source 1 and the laser receiving point 4 of the laser signal receiving device 2.
The laser signal receiving device 2 includes a plurality of laser receiving points 4 and a plurality of single photon detectors 5, and each laser receiving point 4 is located on an image plane of the laser signal receiving device 2. The laser receiving point 4 is coupled with a plurality of single photon detection devices 5 through optical fibers. The laser receiving point 4 couples the received laser signal to each single photon detection device 5. Specifically, each laser receiving point 4 is connected with an optical fiber, the laser receiving points 4 are coupled with an optical fiber beam splitter 6 through the optical fiber, the optical fiber beam splitter 6 disperses laser signals received by the laser receiving points 4 into a plurality of parts, the parts are respectively sent to a plurality of optical fibers 7 for output, and each optical fiber 7 for output is coupled with a single photon detection device 5 so that the single photon detection device 5 can detect the dispersed laser signals. The optical fibers connected with the output end of each optical fiber beam splitter 6 can be coupled with the optical fibers from each laser receiving point through the optical fiber beam combiner; or, the optical fibers connected with the output end of the optical fiber beam splitter 6 form an optical fiber array, and are directly coupled in the detection area of the corresponding single photon detection device 5.
After the laser signal is dispersed, the intensity of the laser signal is greatly reduced, and the single photon detection device can be effectively prevented from entering a dead time area prematurely due to overlarge signal intensity. In addition, since a single photon is not resolvable, even if only a single photon is incident, it can be captured by a single photon detection device 5, so that the sensitivity of the whole system is not affected. By dispersing the laser signals and coupling the laser signals to the single photon detection devices 5, the sensitivity of the system can be ensured, and meanwhile, the dynamic range of the system is increased, so that the measurement result of the laser radar is more accurate. By increasing the number of single photon detection devices 5 coupled to a single laser receiver point 4, the dynamic range of the lidar can be further increased.
And multiple coupling modes exist between the single photon detection device 5 and the laser receiving point 4. For example, each single photon detection device 5 can be coupled with only one laser receiving point 4, so that each laser receiving point 4 can receive laser signals simultaneously; each single photon detection device 5 can also be coupled with at least two single photon detection devices 5, and the coupling mode needs the light source 1 to emit laser beams according to a preset time sequence, so that the emission time intervals of the laser beams corresponding to the laser receiving points 4 of the laser receiving points 4 coupled with the same single photon detection device 5 are larger than the dead time interval of the single photon detection device 5, and the single photon detection devices 5 can recover from the dead time after the avalanche gain of the previous detection.
The coupling mode between the single photon detection device 5 and the laser receiving point 4 selected in the embodiment is as follows: each laser receiving point 4 is coupled with each single photon detection device 5, so that the laser signal received by each laser receiving point 4 is distributed in all the single photon detection devices 5.
Specifically, in the present embodiment, the light source 1 has four laser emitters 3, which are respectively used for emitting four laser beams; the laser signal receiving device 2 is provided with four laser receiving points 4 which are in one-to-one correspondence with the laser beams; each laser signal receiving apparatus 2 has four single photon detection devices 5. Each laser signal receiving device 2 is coupled with all the single photon detection devices 5 through optical fibers. The four laser emitters 3 emit laser beams according to the same frequency, and the time difference between the emission time of the laser beams emitted by the laser emitters 3 is larger than the dead time interval of the single photon detection device 5, so that each single photon detection device 5 can have enough time to recover from the dead time after the last avalanche gain.
In the present embodiment, each laser emitter 3 emits a laser beam at a frequency of 1kHz (which is the number of emitted laser beams, not the light wave frequency of the laser), and the time difference between the emission times of the laser beams emitted by two laser emitters 3 that emit light in sequence is taken to be 10 μ s. In this embodiment, the single photon detection devices 5 are time-multiplexed, so that the single photon detection devices 5 can be fully utilized under the condition that the emission frequency of the laser emitter 3 is limited, and the number of the single photon detection devices 5 used is reduced.
As shown in fig. 4, fig. 4 is a schematic diagram showing the input-output characteristics of a single photon detection device 5 in the present embodiment in comparison with the prior art lidar. As can be seen from the figure, each laser receiving point 4 disperses the received laser signal to each single photon detection device 5, so that the intensity of the light signal received by each single photon detection device 5 becomes one fourth and is within the dynamic range of the single photon detection device 5, and further, the detection result of the single photon detection device 5 can reflect the real state of the laser signal. The detection and the result can be compensated conveniently in the subsequent processing, so that the original visual measurement data can be restored.
The types of single photon detection devices 5 include single-point SPAD (avalanche photodiode single photon detector), PMT devices (photomultiplier tubes), and SPAD array devices. The single photon detection device 5 employed in this embodiment is a SPAD.
As shown in fig. 3 and 4, the present embodiment also relates to a time channel multiplexing measurement method for lidar, which includes the following steps:
(1) Each laser emitter 3 of the light source 1 emits a laser beam in accordance with a predetermined timing.
Each laser emitter 3 in the light source 1 emits laser light every predetermined period to form a laser beam; the preset period of each laser emitter 3 and the phase difference between the preset periods enable the emission time interval of any two laser emitters 3 in the light source 1 to be larger than the dead time interval of the single photon detection device 5, and therefore each laser beam can utilize the single photon detection device in a time sharing mode. The predetermined period in this embodiment is 1000 μ s (1 kHz), and the phase difference between the predetermined periods is 10 μ s. The predetermined period refers to not the laser frequency of the laser beam but the time interval between the emission of two laser beams by the laser transmitter.
(2) The laser beam is reflected by the measured target and then transmitted to the corresponding laser receiving point 4 in the laser signal receiving device 2.
(3) The laser receiving point 4 couples the received laser signals to at least two single photon detection devices 5; the laser signal receiving device 2 detects the time difference between the emission time and the receiving time of each laser beam according to the single photon detection device 5; wherein the emission time of the laser beam is obtained from the light source 1. The laser signal receiving device 2 may perform ranging, imaging, or point cloud generation according to a time difference between the emission time and the reception time of each laser beam.
In the embodiment, a laser receiving point 4 couples laser signals to four single photon detection devices 5, and in the coupling process, the laser receiving point 4 couples the laser signals to an optical fiber beam splitter through optical fibers; the optical fiber beam splitter disperses the laser signals into the optical fibers 7 and couples the dispersed laser signals to the single photon detection device through each optical fiber 7.
For a single photon detector 5, each of the fiber beam splitters 6 is coupled to the single photon detector 5 by an output end via an optical fiber. The specific coupling mode is as follows: the optical fibers 7 which are connected to the output end of the optical fiber beam splitter and coupled with the laser receiving points 4 are coupled to an optical fiber beam combiner, the optical fiber beam combiner transmits laser signals to a single photon detection device 5 through the optical fibers, and each optical fiber beam combiner corresponds to one single photon detection device 5. Or, the optical fiber 7 coupled with a single photon detection device 5 forms an optical fiber array, and is directly coupled and irradiated in the detection area of the corresponding single photon detection device 5.
Example two: as shown in fig. 5, the main difference between the present embodiment and the first embodiment is that the light source of the present embodiment can emit a plurality of laser beams simultaneously; the laser signal receiving apparatus 2 has therein a plurality of receiving groups 8, each receiving group 8 including a plurality of laser receiving points 4 and a single photon detecting device 5. Each receiving group 8 is used for respectively receiving one of the multiple laser beams emitted simultaneously.
Specifically, each receiving group 8 includes four laser receiving points 4 and four single photon detection devices 5, and in each receiving group 8, the coupling manner between the single photon detection device 5 and the laser receiving points 4 is the same as that in the first embodiment. The first embodiment corresponds to only one receive group 8.
In the present embodiment, the reason why the light source 1 can emit a plurality of laser beams at the same time is that the light source 1 includes a diffractive optical element 9 (DOE). The diffractive optical device 9 can change one laser beam into a plurality of laser beams. In this embodiment, the diffractive optical element 9 can process the light beam to change one laser beam into three laser beams, so that the laser signal receiving apparatus 2 has three receiving groups 8 corresponding thereto. The laser beams emitted from the diffractive optical element 9 correspond to one receiving group 8, respectively. The number of the beams can be increased by adopting the diffractive optical device 9, and the spatial distribution of the beams can be adjusted at the same time, so that the detection efficiency of the laser radar is increased.
The measuring method for time channel multiplexing of the laser radar of the embodiment comprises the following steps:
(1) The laser emitters 3 of the light source 1 emit laser beams according to a predetermined time sequence, and the diffractive optical element 9 converts the laser emitted by each laser emitter 3 into three parallel laser beams, each of which corresponds to one of the receiving groups 8 in the laser signal receiving device 2. Each receiving group 8 also corresponds to a number of laser beams emitted by the light source 1. Each laser beam has a different spatial position, and therefore each laser beam has a one-to-one correspondence with each laser receiving point 4. In this embodiment, the timing sequence of emitting the laser beams by each laser emitter 3 is the same as that in the first embodiment, and the timing sequence enables the time difference between the emission times of any two laser beams in the corresponding laser beam in any receiving group 8 to be larger than the dead time interval of the single photon detection device.
(2) The laser beam is reflected by the measured target and then transmitted to the corresponding laser receiving point 4 in the laser signal receiving device 2.
(3) The receiving groups 8 respectively receive a plurality of laser beams emitted simultaneously, each laser beam has a corresponding laser receiving point, and the corresponding laser receiving points 4 of the laser beams emitted simultaneously are positioned in different receiving groups 8. The laser receiving point 4 couples the received laser signals to at least two single photon detection devices 5; the laser signal receiving device 2 detects the time difference between the emission time and the receiving time of each laser beam according to the single photon detection device 5; wherein the emission time of the laser beam is obtained from the light source 1. The laser signal receiving device 2 may perform ranging, imaging, or point cloud generation according to a time difference between the emission time and the reception time of each laser beam. In this embodiment, the coupling method and the coupling procedure between the laser receiving point 4 and the single photon detection device 5 in one receiving group 8 are the same as those in the first embodiment.
Although the present invention has been described in detail with reference to the drawings, those skilled in the art will recognize that various changes and modifications can be made therein without departing from the scope of the invention as defined in the appended claims, and therefore, the description thereof is not repeated herein.

Claims (9)

1. The multi-beam laser radar is characterized by comprising a light source and a laser signal receiving device; the light source comprises at least two laser transmitters, and each laser transmitter transmits laser beams according to a preset time sequence; the signal receiving device is provided with a plurality of laser receiving points to receive laser signals reflected by the measured target; each laser receiving point is coupled with at least two single photon detection devices through optical fibers; each single photon detection device is coupled with at least two laser receiving points; for the laser receiving points coupled with the same single photon detection device, the interval between the emission time of the laser beams corresponding to each laser receiving point is larger than the dead time interval of the single photon detection device.
2. The multibeam lidar of claim 1, wherein the laser acceptance point corresponds to a beam of laser light emitted by the light source.
3. The multibeam lidar of claim 1, wherein the laser signal receiving means comprises a plurality of receive groups, each of the receive groups comprising a plurality of laser receive points and a plurality of the single photon detection devices; each receiving group corresponds to a plurality of laser beams emitted by the light source.
4. The multibeam lidar of claim 3, wherein the light source comprises a diffractive optical element; and laser emitted by the laser emitter is processed by the diffraction light source element and converted into a plurality of laser beams, and each laser beam corresponds to different receiving groups.
5. A multi-beam lidar according to claim 3 wherein each of the laser receiver points in a receiver group is coupled to each of the single photon detector devices by optical fibers.
6. A multibeam lidar according to any of claims 1 to 5, wherein the laser receiving points disperse the received laser signals through a fiber splitter into individual fibers coupled to the single photon detection device.
7. A multibeam lidar according to any of claims 1 to 5, wherein the single photon detection device is coupled to the optical fibers from the laser receiving points via a fiber combiner; or the optical fibers from all the laser receiving points form an optical fiber array which is directly coupled in the detection area of the single photon detection device.
8. A multibeam lidar according to any of claims 1 to 5, wherein the laser receiver points are located in an image plane of the signal receiving means.
9. A multibeam lidar according to any of claims 1 to 5, wherein the class of single photon detection devices comprises single-point SPAD, PMT, SPAD array devices.
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CN104122561B (en) * 2014-07-15 2017-03-15 南京理工大学 A kind of non-scanning type 3D laser imaging radar
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