CN111337901A - Laser radar for remote detection and detection method thereof - Google Patents
Laser radar for remote detection and detection method thereof Download PDFInfo
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- CN111337901A CN111337901A CN202010261437.6A CN202010261437A CN111337901A CN 111337901 A CN111337901 A CN 111337901A CN 202010261437 A CN202010261437 A CN 202010261437A CN 111337901 A CN111337901 A CN 111337901A
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
Abstract
The invention relates to the technical field of laser radars, and provides a laser radar for long-distance detection and a detection method thereof. The laser device 2 in the laser radar is fixed on the inner surface of a laser radar main body 1, and the laser device 2 transmits light energy to an emergent light spot converter 4 through a single-mode fiber 3; the emergent light spot converter 4 is used for converting the emergent light spots into circular light spots; the light path component 5 is used for coupling the emergent light spot converter 4, the receiving detector 6 and the light path emitting and emitting component 9, so that emergent light of the emergent light spot converter 4 reaches the light path emitting and emitting component 9 through the light path component 5; and the optical signal received back from the optical path transmission-reception assembly 9 can be transmitted to the reception detector 6 through the optical path assembly 5. The invention adds a light spot conversion system to convert the elliptical light spots into circular light spots, and is easy to realize uniform detection in all directions of space.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of laser radars, in particular to a laser radar for long-distance detection and a detection method thereof.
[ background of the invention ]
The laser radar can be used for acquiring two-dimensional or three-dimensional point cloud parameters of a target environment, and has wide application in many fields. The detection light source of the laser radar is selected, and three parameters are mainly considered, namely the size of a light emitting surface, the divergence angle of the light source and the power of the light source. At present, the detection light source of the laser radar mainly comprises a semiconductor laser and a solid laser, wherein the size of the light emitting surface of the semiconductor laser is large, the divergence angle of the light source is large, the power of the light source is not high, but the cost is low, and the laser radar is mainly used in the detection application field with short distance and low cost. The solid laser has small size of a light emitting surface, small divergence angle of a light source, high power of the light source and high cost, is mainly applied to the field of remote detection application with high cost, but has overlarge size of the whole module, and cannot be popularized and applied in a large scale.
In addition to the above two detection light sources, the industry also uses optical fibers as the light source emitting portion. The general technical scheme is that the light energy of the semiconductor laser is coupled into the multimode optical fiber, and the multimode optical fiber is used for realizing the uniform output of the light energy, so that the problem of non-uniform light energy of the semiconductor laser is solved, but the technical requirement of short-distance measurement can only be met.
In view of the above, overcoming the drawbacks of the prior art is an urgent problem in the art.
[ summary of the invention ]
The invention aims to solve the technical problem of providing a laser radar based on a single-mode fiber laser, which can be used for long-distance detection and has the characteristics of small size and high cost performance.
The invention adopts the following technical scheme:
in a first aspect, the present invention provides a laser radar for remote detection, including a laser radar main body 1, a fiber laser 2, a single-mode fiber 3, an emergent light spot converter 4, a light path component 5 in the laser radar main body, a receiving detector 6, and a light path in-out component 9, specifically:
the optical fiber laser 2 is fixed on the inner surface of the laser radar main body 1, and the optical fiber laser 2 transmits light energy to the emergent light spot converter 4 through the single-mode optical fiber 3;
the emergent light spot converter 4 is used for converting the emergent light spots into circular light spots;
the light path component 5 is used for coupling the emergent light spot converter 4, the receiving detector 6 and the light path emitting and emitting component 9, so that emergent light of the emergent light spot converter 4 reaches the light path emitting and emitting component 9 through the light path component 5; and the optical signal received back from the optical path transmission-reception assembly 9 can be transmitted to the reception detector 6 through the optical path assembly 5.
Preferably, the single mode fiber 3 is a small bend radius fiber; wherein the small bending radius optical fiber is used so as to occupy a small installation fixing space in the laser radar body 1 without losing light energy when performing optical fiber winding.
Preferably, the radius of the fiber core of the single-mode fiber 3 is 9 +/-1 um, and the divergence angle of the light spot is 8 +/-1 degree; wherein the small bending radius is 7.5 mm-10 mm.
Preferably, the emergent light spot converter 4 comprises an oblique angle optical fiber emergent contact pin 4-1 and an oblique angle optical fiber compensating prism 4-2; the oblique-angle optical fiber outgoing contact pin 4-1 is obtained by embedding an oblique-angle end face of a single-mode optical fiber 3 into a ceramic material or a semiconductor material to manufacture an oblique-angle die, and then obtaining the optical fiber outgoing contact pin 4-1; the oblique angle optical fiber compensation prism 4-2 is used for adjusting the elliptical light spot coming out of the oblique angle optical fiber emergent insertion pin 4-1 into a circular light spot.
Preferably, the end face of the single mode optical fiber 3 is ground to an oblique angle of 8 ± 1 degrees, thereby obtaining an oblique end face of the single mode optical fiber 3.
Preferably, the oblique-angle optical fiber compensation prism 4-2 is specifically configured such that one end coupled with the oblique-angle optical fiber outgoing pin 4-1 is an oblique angle, and the light emitting surface at the other end is a flat angle, so as to play a role in converting an elliptical light spot coming out of the oblique-angle optical fiber outgoing pin 4-1 into a circular light spot.
Preferably, the optical path assembly 5 includes an exit optical lens 51, an optical path folding mirror 52, an optical path folding prism 53, a filter 54, and a receiving optical lens 55, specifically:
the divergent circular light spot transformed by the emergent light spot transformer 4 is transformed into a collimated circular light spot by the emergent optical lens 51, the light is output in parallel forwards after passing through the emergent optical lens 51, and after passing through the light path folding reflector 52, the light is transmitted to the light path folding prism 53 and is reflected to the light path in-out component 9;
after being reflected back from the target object, the light is transmitted to the filter 54 through the optical path incident and exiting component 9, and is focused by the receiving optical lens 55, and then is collected by the receiving detector 6.
Preferably, the optical path folding prism 53 and the filter 54 are bonded together; the size of the light path folding prism 53 is set according to the size of the light spot reflected by the light path folding mirror 52, so that the difference between the size of the light spot reflected by the light path folding mirror 52 and the size of the reflection surface of the light path folding prism 53 is smaller than a preset distance.
Preferably, the optical path light incident and exiting component 9 includes a rotating motor 91, a rotating mirror 92, a compensation lens 93 and an arc light emitting surface 94, specifically:
the rotary reflector 92 and the compensation lens 93 are fixed together through a connecting piece, and then are installed and fixed on the rotary motor 91, and synchronous rotation of the rotary reflector 92 and the compensation lens 93 is realized through control of the motor; the driving circuit of the rotating motor 91 is electrically connected with the main control circuit board 8;
the compensation lens 93 is a concave-convex cylindrical structure with a convex light exit surface and a concave light entrance surface, wherein the light path is compensated in the horizontal direction and enters and exits the light spot divergence effect caused by the arc light exit surface 94 in the emitting component 9, and the compensation lens is used as a parallel glass plate in the vertical direction, so that the normal transmission of the light path is ensured.
In a second aspect, the present invention further provides a method for detecting a long-range detection lidar, which uses the long-range detection lidar of the first aspect, wherein the lidar further comprises a signal receiving circuit board 7 and a main control circuit board 8; the optical fiber laser 2 and the signal receiving circuit board 7 are respectively and electrically connected with the main control circuit board 8; the signal receiving circuit board 7 is used for analyzing and receiving the optical signals in the detector 6 and sending the analysis result to the main control circuit board 8; the main control circuit board 8 is further configured to control the working power of the fiber laser 2 according to the obtained analysis result, and the method includes:
the master control circuit board 8 controls the fiber laser 2 to work according to a preset initial state;
the main control circuit board 8 controls the rotating motor 91 to drive the rotating reflector 92 and the compensating lens 93 to rotate, and obtains an analysis result in real time, wherein the analysis result is transmitted by the receiving detector 6 and the signal receiving circuit board 7;
and adjusting the working power of the optical fiber laser 2 according to the analysis result, and controlling the rotating motor 91 to finish the detection process of the target object.
Compared with the prior art, the invention has the beneficial effects that:
the invention adds a light spot conversion system to convert the elliptical light spots into circular light spots, and is easy to realize uniform detection in all directions of space.
In a preferred embodiment of the present invention, a fiber laser based on a single-mode fiber is used as a detection light source of a laser radar, and the detection light source has a small size of a light emitting surface (for example, 9um of a fiber core), a small divergence angle of the light source (for example, a numerical aperture of about 0.14), a high power of the light source, a small size of a light source part, can realize long-distance target detection, and has a high spatial resolution and a small size of an entire module.
The laser radar of the invention adopts the optical design of the common optical axis of the transmitting optical system and the receiving optical system, and only the scanning reflector needs to be rotated when the space rotation detection is carried out, so the dynamic balance of the system is easier to realize, and the rotation is more stable.
The exit window in the preferred scheme of the invention adopts a cylindrical shape, so that the divergence effect on the integral light spot is achieved, and the divergence angle of the optical system can be increased; the invention adopts the compensation lens to carry out reverse compensation on the light divergence of the emergent light port, thereby compressing the divergence angle of the light spot.
[ description of the drawings ]
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a principle of a laser radar based on a single-mode fiber laser according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an emergent light spot converter according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a laser radar detection method for long-distance detection according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a cylinder of an optical path transmission assembly according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing the comparison of the shapes of the light spots before and after transformation according to the embodiment of the present invention;
fig. 6 is a schematic diagram showing comparison of transmission optical wavelength bandwidths of a fiber laser and a filter provided in an embodiment of the present invention;
wherein:
1: a laser radar main body; 2: a fiber laser; 3: a single mode optical fiber; 4: an emergent light spot converter; 5: an optical path component; 6: receiving a detector; 7: an optical signal receiving circuit board; 8: a main control circuit board; 9: an optical path entrance and exit component; 4-1: an oblique angle optical fiber emergent insertion pin; 4-2: a bevel optical fiber compensation prism; 51: an exit optical lens; 52: an optical path folding mirror; 53: an optical path folding prism; 54: a filter plate; 55: a receiving optical lens; 91: a rotating electric machine; 92: rotating the reflector; 93: a compensation lens; 94: an arc light-emitting surface.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are for convenience only to describe the present invention without requiring the present invention to be necessarily constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1:
embodiment 1 of the present invention provides a laser radar for remote detection, which, as shown in fig. 1, includes a laser radar main body 1, a fiber laser 2, a single-mode fiber 3, an emergent light spot converter 4, a light path component 5 in the laser radar main body, a receiving detector 6, and a light path in-out component 9, and specifically:
the optical fiber laser 2 is fixed on the inner surface of the laser radar main body 1, and the optical fiber laser 2 transmits light energy to the emergent light spot converter 4 through the single-mode optical fiber 3;
the emergent light spot converter 4 is used for converting the emergent light spots into circular light spots;
the light path component 5 is used for coupling the emergent light spot converter 4, the receiving detector 6 and the light path emitting and emitting component 9, so that emergent light of the emergent light spot converter 4 reaches the light path emitting and emitting component 9 through the light path component 5; and the optical signal received back from the optical path transmission-reception assembly 9 can be transmitted to the reception detector 6 through the optical path assembly 5.
The light outlet of the optical fiber laser is an optical fiber head with inclination, the emergent light spot is an elliptical light spot, and when full-angle scanning measurement is carried out, the detection resolution in each direction is inconsistent; the invention adds a light spot conversion system to convert the elliptical light spots into circular light spots, and is easy to realize uniform detection in all directions of space.
In the embodiment of the invention, the fiber laser based on the single mode fiber is used as the detection light source of the laser radar, the size of the light emitting surface is small (the fiber core is 9 +/-1 um), the divergence angle of the light source is small (the numerical aperture is about 0.14), the power of the light source is high, the size of the light source part is small, the long-distance target detection can be realized, the spatial resolution is high, and the size of the whole module is small, so that the preferred implementation scheme exists in the embodiment of the invention, and the single mode fiber 3 is the small bending radius fiber; wherein the small bending radius optical fiber is used so as to occupy a small installation fixing space in the laser radar body 1 without losing light energy when performing optical fiber winding. For example, the core radius of the single-mode fiber 3 is 9um, the numerical aperture is about 0.14, and the light spot divergence angle is 8 degrees; the small bending radius is a single-mode optical fiber with a bending radius of 7.5 mm-10 mm.
In the embodiment of the invention, in consideration of the problem of optical signal reflection, the light outlet of the optical fiber laser is preferably a fiber head with a slope, however, the emergent light spot generated by the technical operation is an elliptical light spot, and the detection resolution in each direction is inconsistent when the full-angle scanning measurement is carried out. Therefore, an alternative is also provided in connection with embodiments of the present invention to improve the problem of detecting resolution inconsistencies. Specifically, as shown in fig. 2, the emergent light spot converter 4 comprises an oblique-angle optical fiber emergent contact pin 4-1 and an oblique-angle optical fiber compensating prism 4-2; the oblique-angle optical fiber outgoing contact pin 4-1 is obtained by embedding an oblique-angle end face of a single-mode optical fiber 3 into a ceramic material or a semiconductor material to manufacture an oblique-angle die, and then obtaining the optical fiber outgoing contact pin 4-1; the oblique angle optical fiber compensation prism 4-2 is used for adjusting the elliptical light spot coming out of the oblique angle optical fiber emergent insertion pin 4-1 into a circular light spot. The manufacturing process of the oblique end face comprises the steps of grinding the end face of the single-mode optical fiber 3 into an oblique angle which is 8 +/-1 degrees, so that the oblique end face of the single-mode optical fiber 3 is obtained.
The oblique-angle optical fiber compensation prism 4-2 is specifically characterized in that one end coupled with the oblique-angle optical fiber emergent contact pin 4-1 is an oblique angle, and the light emergent surface at the other end is a flat angle, so that the effect of converting an elliptical light spot coming out of the oblique-angle optical fiber emergent contact pin 4-1 into a circular light spot is achieved; optionally, the material for manufacturing the oblique-angle optical fiber compensating prism 4-2 may be a glass material or other semiconductor material with high light transmittance.
In the embodiment of the present invention, as shown in fig. 1, a feasible implementation is given to the optical path component 5, which includes an exit optical lens 51, an optical path folding mirror 52, an optical path folding prism 53, a filter 54, and a receiving optical lens 55, specifically:
the divergent circular light spot transformed by the emergent light spot transformer 4 is transformed into a collimated circular light spot by the emergent optical lens 51, the light is output in parallel forwards after passing through the emergent optical lens 51, and after passing through the light path folding reflector 52, the light is transmitted to the light path folding prism 53 and is reflected to the light path in-out component 9;
after being reflected back from the target object, the light is transmitted to the filter 54 through the optical path incident and exiting component 9, and is focused by the receiving optical lens 55, and then is collected by the receiving detector 6.
It will be appreciated by those skilled in the art that the optical path folding mirror 52 may not be necessary because of the different directions of the light outlets, such as the arrangement of the light outlet of the emergent spot changer 4 directly in the form of horizontally emitting onto the optical path folding prism 53, so that the derivation scheme after the adaptation based on the exemplary optical path structure shown in fig. 1 also falls within the protection scope of the present invention.
In the embodiment of the present invention, the optical path folding prism 53 and the filter 54 are bonded together. In the embodiment of the present invention, the optical path folding prism 53 and the filter 54 are combined to be used as a component in the light-emitting channel of the optical fiber laser 2, and also as a component in the light-receiving channel of the receiving detector 6, so that a problem that part of the received light is blocked by the folding prism 53 may be caused, and therefore, in consideration of the fact that the core radius of the light-emitting side is 9 ± 1um, and the corresponding numerical aperture is 0.14, the optical path folding prism 53 may be made as small as possible, and for the detection light reflected by the target object (i.e., the received light), the combination of the compensation lens 93 and the arc-shaped light-emitting surface 94 is used to enlarge the effective light area when the reflected detection light passes through the filter 54, so as to reduce the detection light loss caused by the optical path folding prism 53 and reflected by the target object.
Based on the above analysis, as shown in fig. 1, an embodiment of the present invention further provides an implementation manner of the light path exit/entrance assembly 9, which includes a rotating motor 91, a rotating mirror 92, a compensation lens 93, and an arc-shaped light exit surface 94, specifically:
the rotary reflector 92 and the compensation lens 93 are fixed together through a connecting piece, and then are installed and fixed on the rotary motor 91, and synchronous rotation of the rotary reflector 92 and the compensation lens 93 is realized through control of the motor; the driving circuit of the rotating motor 91 is electrically connected with the main control circuit board 8;
the compensation lens 93 is a concave-convex cylindrical structure with a convex light exit surface and a concave light entrance surface, wherein the light path is compensated in the horizontal direction and enters and exits the light spot divergence effect caused by the arc light exit surface 94 in the emitting component 9, and the compensation lens is used as a parallel glass plate in the vertical direction, so that the normal transmission of the light path is ensured.
In combination with the embodiment of the present invention, there is also a preferred implementation scheme, where the laser radar further includes a signal receiving circuit board (7) and a main control circuit board (8); the optical fiber laser (2) and the signal receiving circuit board (7) are respectively and electrically connected with the main control circuit board (8); the signal receiving circuit board (7) is used for analyzing and receiving the optical signals in the detector (6) and sending the analysis result to the main control circuit board (8); and the main control circuit board (8) is also used for controlling the working power of the optical fiber laser (2) according to the obtained analysis result.
Example 2:
an embodiment of the present invention further provides a method for detecting a laser radar for remote detection, where the laser radar for remote detection described in embodiment 1 is used, and as shown in fig. 3, the method includes:
in step 201, the main control circuit board 8 controls the fiber laser 2 to enter into operation according to a preset initial state.
In step 202, the main control circuit board 8 controls the rotating motor 91 to drive the rotating mirror 92 and the compensating lens 93 to rotate, and obtains the analysis result transmitted by the receiving detector 6 and the signal receiving circuit board 7 in real time.
In step 203, the working power of the fiber laser 2 is adjusted according to the analysis result, and the rotating motor 91 is controlled to complete the detection process of the target object.
According to the embodiment of the invention, the elliptical light spot is converted into the circular light spot by adding the light spot conversion system, so that the uniform detection in each direction of the space is easy to realize. The data collected in the execution process of the detection method is easier to analyze and process by a computer, and the implementation efficiency of the method is improved.
Since the core improvement point of the embodiment of the present invention is to improve the detection optical signal, the details of the specific detection method can be implemented by referring to the related prior art, and are not described herein again. However, as will be understood by those skilled in the art, due to the structural improvement proposed in embodiment 1 of the present invention, the improvement of the efficiency and accuracy of the final detection method can be correspondingly brought about, which can be further derived from the principle mechanism described in the following embodiment 3.
Example 3:
the embodiment of the present invention will further explain an implementation mechanism of the embodiment of the present invention from an implementation principle level by combining specific technical solution combinations related in embodiment 1.
As shown in fig. 1, a schematic diagram of the principle of the laser radar based on the single mode fiber laser according to the present invention is shown, in which the fiber laser 2 is fixed on the inner surface of the laser radar body 1 by a thermal conductive glue, because the fiber laser emits a large amount of heat during high frequency scanning, the fiber laser needs to be fixed on the surface of the housing by the thermal conductive glue, and the heat can be transmitted to the surface of the housing while being fixed, in order to improve the installation stability, the fiber laser 2 also needs to be fixed and fixed on the inner surface of the laser radar body 1 by screws, the fiber laser 2 outputs light energy through the single mode fiber 3, in order to reduce the size of the whole module, the single mode fiber 3 preferably uses a small bending radius fiber, and when performing fiber winding, the fiber laser can be installed and fixed in a smaller laser radar module without losing light energy, the fiber core radius of the single mode fiber is about 9um, which is reduced by two orders of magnitude compared with the light emitting area of 220um × 10um of the semiconductor laser, the numerical value is about 0.14, the spot divergence angle is about 8 degrees, which is 30 degrees of the divergence angle of × 10 degrees compared with the fiber, and the light emitting area of the semiconductor laser, so that the single mode laser can.
The excident spot converter 4 mainly comprises two parts, as shown in fig. 2, an oblique angle optical fiber excident pin 4-1 and an oblique angle optical fiber compensating prism 4-2. If the emergent end face is a plane, Fresnel reflection exists on the plane of the optical fiber, part of optical power can be reflected back to the optical fiber laser host, interference is generated on laser excitation, and output optical power fluctuates. To solve this problem, the fiber end face needs to be ground to an oblique end face, which is generally inclined at 8 degrees, so that the return light from the fiber end face does not affect the laser excitation. But the angle of the end face of the fiber causes the excident spot to become elliptical as shown in figure 5. When the laser radar is used for actual scanning measurement, the spatial resolution in different directions is inconsistent, and the test result is influenced. According to the emergent light spot converter 4 provided by the invention, firstly, the oblique-angle end face optical fiber is manufactured into the oblique-angle optical fiber emergent contact pin 4-1, and then the corresponding oblique-angle optical fiber compensating prism 4-2 is designed through theoretical calculation according to the ellipticity of the emergent light spot, so that the emergent light spot can be converted into the circular light spot, as shown in figure 5.
The circular light spot converted by the emergent light spot converter 4 is converted into a collimated circular light spot by the emergent optical lens 51 and is output in parallel forwards. After passing through the optical path folding mirror 52, the light is transmitted to the optical path folding prism 53, and is reflected to the compensation lens 93. The optical path folding prism 53 and the filter 54 are bonded together. The laser radar of the present invention adopts a coaxial optical design of the transmitting and receiving optical systems, and requires that the central axis of the transmitted beam coincide with the central axis of the received beam, so that the center of the optical path folding prism 53 coincides with the central position of the filter 54. The filter 54 and the receiving optical lens 55 need to be fixed together by an additional connecting piece (here, it is not shown), and the processing precision of the additional connecting piece needs to reach higher precision, so as to ensure that the central optical axes of the two coincide, and realize the optical design of the common optical axis.
The invention adopts a cylindrical light path outgoing and incoming component 9, belongs to a rotationally symmetric optical element, and can realize 360-degree scanning detection, as shown in figure 1. The arc-shaped light-emitting surface 94 of the light path entrance and exit component 9 needs to be coated with an optical antireflection film to improve the transmittance of light energy. In the embodiment of the present invention, in addition to the arc light emitting surface 94 disposed in the local area as shown in fig. 1, the entire housing of the optical path light entering and exiting assembly 9 may be made of glass or translucent silicon material into the cylindrical optical path light entering and exiting assembly 9 as shown in fig. 4 (wherein, other components of the optical path light entering and exiting assembly 9, including the rotating mirror 92 and the compensating lens 93, are disposed in the cavity as shown in fig. 4), which may also change the optical path structure, and the effect is similar to a concave cylindrical lens, therefore, the optical path light entering and exiting assembly 9 may generate a divergent effect on the emergent light spot, and needs to perform inverse compensation, that is, a convex cylindrical lens is added in the optical path for compensation. The compensation lens 93 adopts a concave-convex cylindrical surface design, the z-axis direction compensates the light spot divergence effect (i.e., divergence of the arc-shaped light emitting surface 94 in the z-axis direction) caused by the light path entering and exiting component 9, the x-axis direction is equivalent to adding a parallel glass plate in the light path, and the effect of light path transmission cannot be influenced (i.e., the arc-shaped light emitting surface 94 has no divergence effect in the y-axis direction). The meniscus design is used because the compensation lens 93 also needs to scan for full 360 degree compensation of the divergence of the light exiting the entrance assembly 9. The design of the concave-convex cylindrical surface is favorable for judging the direction of the cylindrical lens when the cylindrical lens is bonded and fixed, and the divergence direction is effectively compensated. The compensated light beam is reflected by the rotating mirror 92, passes through the light path entrance and exit component 9, and is transmitted to the detection target 18. The rotary mirror 92 and the compensation lens 93 are fixed together by a connecting piece (not shown here), and then fixed on the rotary motor 91, and synchronous rotation of the rotary mirror 92 and the compensation lens 93 is realized by the control of the motor. Here, all rotating elements must be designed to be dynamically balanced to ensure the stability of the rotation detection.
The optical signal reflected by the detection target 11 passes through the optical path entrance/exit component 9, the rotary mirror 92 and the compensation lens 93 in sequence, and is transmitted to the filter 54. Unlike the conventional lidar, the filter 54 according to the embodiment of the present invention is installed in front of the receiving optical lens 55, and the conventional technical solution basically installs the filter behind the receiving optical lens 55 and in front of the receiving detector 14. The filter design has the following advantages: (1) the filter only needs to support the light incidence angle within a small angle range, so that the coating process design and implementation are facilitated, meanwhile, stray light scattered by large angles is effectively eliminated, and the signal-to-noise ratio of a receiving part is improved. (2) The filter plate is designed into a middle transition element conveniently, and the common optical axis design of the emitting optical system and the receiving optical system is realized. The technical scheme of the invention is based on a single-mode fiber laser, the wavelength band of output light is narrow, the full width at half maximum bandwidth is basically less than 2nm, and the influence of external environment temperature change on wavelength drift is eliminated through temperature control, so that the full width at half maximum bandwidth of the filter 54 can be designed to be narrow, the full width at half maximum bandwidth can meet the requirement only by being 2-3 nm wider than the output wavelength bandwidth, as shown in fig. 6, a dotted line represents the transmission bandwidth of the output wavelength of the fiber laser, and a dotted line represents the transmission bandwidth of the filter 54. Narrower filter transmission bandwidth is more favorable to getting rid of the disturbing of disturbing wavelength, improves receiving system's SNR, can let laser radar more can use outdoor application environment's application scene.
The receiving optical lens 55 focuses the return signal light into the receiving detector 14, and in order to reduce system aberration and improve the receiving efficiency of optical power, the receiving optical lens 55 adopts an aspheric optical lens, which can achieve a focusing effect of approximate diffraction limit, focus more optical energy on the surface of the detector for receiving, and convert the optical signal into an electrical signal. The signal receiving circuit board 15 performs processing such as filtering and amplification on the received electric signal, and transmits the processing result to the signal analyzing circuit board 16, and calculates distance information between the target and the probe point in combination with the optical transmission information (not shown here) returned from the fiber laser 2. The obtained distance information is transmitted to the main control circuit board 17, and the corresponding angle and distance information is analyzed and calculated by combining the angle information (here, omitted) returned by the rotating motor 91. Through the scanning measurement of the fine angle of 360 degrees, the spatial information of a series of small angles can be gathered together, and the spatial point cloud data of the detection target can be obtained.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a long-range laser radar who surveys, its characterized in that includes laser radar main part (1), fiber laser (2), single mode fiber (3), emergent facula converter (4), light path subassembly (5), receiving detector (6) and the light path in the laser radar main part and goes out incident subassembly (9) and constitute, and is specific:
the optical fiber laser (2) is fixed on the inner surface of the laser radar main body (1), and the optical fiber laser (2) transmits light energy to the emergent light spot converter (4) through the single-mode optical fiber (3);
the emergent light spot converter (4) is used for converting the emergent light spots into circular light spots;
the light path component (5) is used for coupling the emergent light spot converter (4), the receiving detector (6) and the light path outgoing and incoming component (9), so that emergent light of the emergent light spot converter (4) reaches the light path outgoing and incoming component (9) through the light path component (5); and the optical signal received back from the optical path entrance and exit component (9) can be transmitted to the receiving detector (6) through the optical path component (5).
2. The long range detection lidar of claim 1, wherein the single mode fiber (3) is a small bend radius fiber; when optical fiber winding is carried out, the small-bending-radius optical fiber is used without losing light energy so as to occupy a small installation and fixing space of the laser radar main body (1).
3. The long range lidar of claim 2, wherein the single mode fiber (3) has a core radius of 9 ± 1um and a spot divergence angle of 8 ± 1 degrees; wherein the small bending radius is 7.5 mm-10 mm.
4. The long range detection lidar of claim 2, wherein the excident spot converter (4) comprises an angled fiber excident pin (4-1) and an angled fiber compensating prism (4-2); the oblique-angle optical fiber outgoing contact pin (4-1) is obtained by embedding an oblique-angle end face of a single-mode optical fiber (3) into a ceramic material or a semiconductor material to manufacture an oblique-angle mold; the oblique angle optical fiber compensation prism (4-2) is used for adjusting the elliptical light spot coming out of the oblique angle optical fiber emergent insertion pin (4-1) into a circular light spot.
5. The distance-detecting lidar of claim 4, wherein the end face of the single-mode fiber (3) is ground to an oblique angle of 8 ± 1 degrees, thereby obtaining an oblique end face of the single-mode fiber (3).
6. The lidar of claim 4, wherein the angled fiber compensating prism (4-2) is embodied such that one end coupled to the angled fiber exit pin (4-1) is angled and the other end has a flat light exit surface, which functions to convert the elliptical light spot coming out from the angled fiber exit pin (4-1) into a circular light spot.
7. The long-range lidar of claim 1, wherein the optical path assembly (5) comprises an exit optical lens (51), an optical path folding mirror (52), an optical path folding prism (53) and a filter (54) and a receiving optical lens (55), in particular:
the divergent circular light spots transformed by the emergent light spot transformer (4) are transformed into collimation circular light spots by the emergent optical lens (51), light rays are output in parallel forwards after passing through the emergent optical lens (51), and are transmitted to the light path folding prism (11) after passing through the light path folding reflector (52), and are reflected to the light path in-out component (9);
after being reflected back from a target object, the light is transmitted to the filter plate (54) through the light path incident and emergent component (9), is focused by the receiving optical lens (55), and is collected by the receiving detector (6).
8. The long-range detection lidar of claim 7, wherein said optical path folding prism (53) and said filter (54) are bonded together; the size of the light path folding prism (53) is set according to the size of a light spot reflected by the light path folding reflecting mirror (52), so that the difference between the size of the light spot reflected by the light path folding reflecting mirror (52) and the size of the light spot reflected by the light path folding reflecting mirror (53) is smaller than a preset distance.
9. The lidar for remote detection according to claim 7, wherein the optical path exit and entrance assembly (9) comprises a rotating motor (91), a rotating mirror (92), a compensating lens (93) and an arc-shaped exit surface (94), in particular:
the rotary reflector (92) and the compensation lens (93) are fixed together through a connecting piece and then are installed and fixed on the rotary motor (91), and synchronous rotation of the rotary reflector (92) and the compensation lens (93) is realized through control of the motor; the drive circuit of the rotating motor (91) is electrically connected with the main control circuit board (8);
the compensating lens (93) is of a concave-convex cylindrical surface structure with a convex light emergent surface and a concave light incident surface, wherein the light spot divergence effect caused by the arc light emergent surface (94) in the compensating light path emergent and incident component (9) in the horizontal direction is realized, and the compensating lens is used as a parallel glass plate in the vertical direction, so that the normal transmission of the light path is ensured.
10. A method for remotely detecting a lidar according to any of claims 1 to 9, wherein the lidar further comprises a signal receiving circuit board (7) and a main control circuit board (8); the optical fiber laser (2) and the signal receiving circuit board (7) are respectively and electrically connected with the main control circuit board (8); the signal receiving circuit board (7) is used for analyzing and receiving the optical signals in the detector (6) and sending the analysis result to the main control circuit board (8); the main control circuit board (8) is also used for controlling the working power of the optical fiber laser (2) according to the obtained analysis result, and the method comprises the following steps:
the master control circuit board (8) controls the fiber laser (2) to work according to a preset initial state;
the main control circuit board (8) controls the rotating motor (91) to drive the rotating reflector (92) and the compensating lens (93) to rotate, and the real-time analysis result is obtained and transmitted by the receiving detector (6) and the signal receiving circuit board (7);
and adjusting the working power of the optical fiber laser (2) according to the analysis result, and controlling the rotating motor (91) to finish the detection process of the target object.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010261437.6A CN111337901A (en) | 2020-04-03 | 2020-04-03 | Laser radar for remote detection and detection method thereof |
| PCT/CN2021/084839 WO2021197403A1 (en) | 2020-04-03 | 2021-04-01 | Lidar for long-distance detection and detection method therefor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010261437.6A CN111337901A (en) | 2020-04-03 | 2020-04-03 | Laser radar for remote detection and detection method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113114358A (en) * | 2021-03-24 | 2021-07-13 | 中航光电科技股份有限公司 | Large-offset optical contact, optical interconnection assembly and long-distance space optical communication system |
| WO2021197403A1 (en) * | 2020-04-03 | 2021-10-07 | 深圳煜炜光学科技有限公司 | Lidar for long-distance detection and detection method therefor |
| CN113777617A (en) * | 2021-09-13 | 2021-12-10 | 广州中海达卫星导航技术股份有限公司 | Scanning device and laser radar system |
| CN115508815A (en) * | 2022-11-21 | 2022-12-23 | 深圳煜炜光学科技有限公司 | Method and system for calibrating laser ranging light path |
| CN115951331A (en) * | 2023-03-13 | 2023-04-11 | 锐驰智光(北京)科技有限公司 | Laser radar with compensation piece |
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| CN113933023B (en) * | 2021-10-15 | 2023-06-27 | 合肥工业大学 | MPO optical fiber power measurement and on-off detection equipment and method thereof |
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| EP3413078A4 (en) * | 2016-02-03 | 2019-03-13 | Konica Minolta, Inc. | Object detection device of optical scanning type |
| US10114111B2 (en) * | 2017-03-28 | 2018-10-30 | Luminar Technologies, Inc. | Method for dynamically controlling laser power |
| CN209673991U (en) * | 2018-12-21 | 2019-11-22 | 宁波傲视智绘光电科技有限公司 | Laser radar optical module |
| CN109738880A (en) * | 2019-03-26 | 2019-05-10 | 深圳市镭神智能系统有限公司 | A kind of laser radar system and laser ranging system |
| CN209542971U (en) * | 2019-03-29 | 2019-10-25 | 潍坊华光光电子有限公司 | A kind of realization semiconductor laser spot shaping and homogenized device |
| CN212321830U (en) * | 2020-04-03 | 2021-01-08 | 深圳煜炜光学科技有限公司 | Laser radar for remote detection |
| CN111337901A (en) * | 2020-04-03 | 2020-06-26 | 深圳煜炜光学科技有限公司 | Laser radar for remote detection and detection method thereof |
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2020
- 2020-04-03 CN CN202010261437.6A patent/CN111337901A/en active Pending
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021197403A1 (en) * | 2020-04-03 | 2021-10-07 | 深圳煜炜光学科技有限公司 | Lidar for long-distance detection and detection method therefor |
| CN113114358A (en) * | 2021-03-24 | 2021-07-13 | 中航光电科技股份有限公司 | Large-offset optical contact, optical interconnection assembly and long-distance space optical communication system |
| CN113114358B (en) * | 2021-03-24 | 2022-03-29 | 中航光电科技股份有限公司 | Large-offset optical contact, optical interconnection assembly and long-distance space optical communication system |
| CN113777617A (en) * | 2021-09-13 | 2021-12-10 | 广州中海达卫星导航技术股份有限公司 | Scanning device and laser radar system |
| CN115508815A (en) * | 2022-11-21 | 2022-12-23 | 深圳煜炜光学科技有限公司 | Method and system for calibrating laser ranging light path |
| CN115951331A (en) * | 2023-03-13 | 2023-04-11 | 锐驰智光(北京)科技有限公司 | Laser radar with compensation piece |
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| WO2021197403A1 (en) | 2021-10-07 |
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