CN111880189B - Continuous optical range gated lidar - Google Patents
Continuous optical range gated lidar Download PDFInfo
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- CN111880189B CN111880189B CN202010804051.5A CN202010804051A CN111880189B CN 111880189 B CN111880189 B CN 111880189B CN 202010804051 A CN202010804051 A CN 202010804051A CN 111880189 B CN111880189 B CN 111880189B
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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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
Abstract
A continuous optical range gating laser radar device can perform laser detection on a target at a certain distance so as to enhance the radar detection effect. The device is characterized in that the front part of a laser light source is provided with an optical part for controlling the polarization angle of a transmitting light source line, and the front part of a receiving device is provided with an optical part only allowing linearly polarized light to pass through, and the deflection angle of the optical polarization can be controlled along with time as required; the linear polarization angle emitted by the laser source and the linear polarization angle characteristic of the receiving device are close to or equal to 90 degrees and rotate or change in the same direction; and the time to rotate 90 degrees is approximately equal to the time for the light to fly to the target and return. According to the invention, the maximum intensity of the scattered light signal of a specific target area can be realized by controlling the deflection speed of the linear polarization optical element, so that the distance gating measurement of targets with different distances is realized, the intensity of the short-distance scattered light is inhibited, the detection effect of the laser radar is enhanced, the measurement can be continuously carried out, and the optical efficiency is higher.
Description
Technical Field
The invention belongs to the technical field of photoelectric detection, and particularly relates to a continuous wave distance gating laser radar which can perform distance gating detection on a target at a certain distance and inhibit short-distance scattered light signals so as to realize the effect of distance gating.
Background
In the field of optoelectronic technology, in order to perform laser radar detection on a target at a distance of interest, a pulsed light source and a time gating switching mode are generally used, and the transmitting time of the transmitting light source and the shutter time of a receiving device are controlled, or the gain multiple of a receiving device is controlled at certain time intervals. Because the time of the range gating is related to the light flight time, the traditional range gating scheme needs a nanosecond-level or even more precise time control circuit to realize the range gating function, each component can be strictly aligned in time, the realization cost is high, the low cost is difficult to realize, and the mode of using the time gating cannot utilize the emission mode of a continuous laser light source, but only can use the measurement mode of a pulse light source and a short-time shutter.
By retrieving the prior art, patent CN106444094B discloses a nanosecond optical switch of pockels cell, which can also implement the range gating function to some extent through proper configuration, but it has the disadvantage that the device can only use a pulsed light source, and only use a certain specific light wavelength, otherwise the function of the polarizing prism will not work, and the range gating cannot be implemented through the optical switch. This solution does not allow the use of a relatively low-cost continuous laser light source. In addition, the invention patents disclosed in CN201911230693.2, CN201910801487.6, CN201910445116.9, CN201910296642.3, etc. are searched, and the functions of the solution disclosed in the present disclosure cannot be realized.
Disclosure of Invention
In order to overcome the defects of the prior art, reduce the cost of realizing the range gating laser radar device and realize the range gating measurement function on continuous light laser radar equipment, the invention provides the continuous light range gating laser radar device, which can inhibit the scattered light of a non-target object in a short distance of a radar by utilizing the polarization principle and can realize the range gating measurement function on the target in a certain distance.
The invention provides a continuous optical range gating laser radar, which comprises a laser emitting device and a scattered light or reflected light receiving device, and is characterized by further comprising the following parts: the laser emitting device is provided with an optical part for controlling the polarization angle of a laser emitting light source line and an optical part which only allows polarized light to pass through and is arranged in front of the receiving device, and the deflection angle of the optical polarization of the two optical parts can be controlled along with time according to requirements.
The polarization deflection angle is controlled by a mechanical rotating optical part, or by a polarization deflection crystal controlled by an electromagnetic control or electric field.
The deflection angle of the optical polarization of the two optical components is characterized in that the polarization angle of the laser emission and the optical polarization angle characteristic of the receiving device are close to or equal to 90 degrees and rotate or change in the same direction.
The deflection angle of the optical polarization can be controlled along with time according to requirements, the time spent on rotating the angle by 90 degrees is close to or equal to 2 times of the flight time of the light of the detection distance of the laser radar, namely the flight time of the light is close to or equal to the time spent on rotating the deflection device by 90 degrees after the linearly polarized laser is transmitted to the detected object and then received by the receiving device.
The optical parts for controlling the linear polarization angle of the laser emitting device can control the rotation of the polarization angle by using a half-wave plate for the laser light source which is already linearly polarized.
The electromagnetic control or electric field control polarization deflection crystal is characterized in that the crystal can control the polarization angle of a light beam through an externally applied electric field or magnetic field, thereby realizing the control of the polarization deflection angle of the light beam through an external signal.
The two optical components for controlling the polarization angle of the optical line can be replaced by one optical component, and are particularly suitable for self-generating and self-receiving optical path systems.
The two optical components for controlling the rotation of the optical linear polarization angle may be switched alternately between two positions of the linear polarization angle controlled at 0 degree and 90 degrees, or may be continuously rotated.
The method has the advantages that the polarization speed of linear polarization of light can be controlled by controlling the polarization element, so that the intensity maximization of scattered light signals in a specific target area is realized, further, the distance gating measurement of targets with different distances is realized, the intensity of short-distance scattered light is inhibited, and the measurement effect of the laser radar is enhanced; another advantageous effect is that the measurement is performed continuously, and if a continuous light laser is used as the laser emitting device, the optical efficiency is higher than in a pulsed or gated range-gated scheme.
Drawings
For further explanation of the technical content of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and examples, in which:
fig. 1 is a general principle schematic of the present invention.
Detailed Description
Fig. 1 is a schematic diagram illustrating the general principle of the present invention.
In fig. 1, 1 is a laser emitting device, 2 is an optical component for controlling the polarization angle of a source line of laser emission light, 3 is the rotation direction of the component No. 2, 4 is the optical polarization direction of the indicated component No. 2, 5 and other arrows indicate the change law of the polarization angle with distance, 6 is a laser emission light beam, 7 is a target region, 8 is scattered light of the target, 9 is an optical component allowing only linearly polarized light to pass through, 10 is the direction of the polarization characteristic No. 9, and 11 is a light receiving device.
The following examples illustrate embodiments of the present invention.
In the common continuous light laser radar system, a laser emitting device 1 and a light receiving device 11 are installed, in addition, an optical component 2 for controlling the linear polarization angle of a laser emitting source and an optical component 9 only allowing linearly polarized light to pass through are additionally arranged, the two components are respectively installed in front of the laser emitting device 1 and the laser emitting device 11, the laser emitted by the laser emitting device 1 is irradiated to a target area 7 through the laser emitting device 2, the backward scattered light passes through the laser emitting device 9 and is received by the light receiving device 11, and the polarization characteristic directions of the laser emitting device 2 and the laser emitting device 9 are 90 degrees. According to the physical common sense, the scattered light 8 of the target contains the light indicated by the optical linear polarization direction 4, and additionally contains a part of the light with a small amount of direction of linear polarization characteristic 10 caused by the scattering depolarization ratio of the target area 7, and the linear polarization directions indicated by 10 and 4 are perpendicular to each other, so that the optical efficiency of the whole radar is low in this way, and another characteristic needs to be introduced: the optical part 2 for controlling the polarization angle of the laser emission light source line and the optical part 9 for allowing the linearly polarized light to pass through.
The rotation of the two optical components refers to the rotation of the polarization characteristic direction, and the rotation can be mechanically driven by the optical components, and the polarization deflection angle can also be controlled by the polarization deflection crystal controlled by electromagnetic control or an electric field. The directions of the linear polarization deflections of 2 and 9 rotate at the same direction and speed. The rotating speed can be determined according to the speed of light and the distance, the time of the laser from 2 to the target area 7 and then returning to 9 is equal to the time of rotating 2 and 9 by 90 degrees, and according to the configuration, when the light ray passing through 2 flies to 7 and flies to 9 in the form of scattered light, the linear polarization characteristic of the light is just consistent with 9, and the highest optical efficiency is achieved; at a position closer to or farther from 7, the polarization direction of the scattered light 8 returning to 9 is inconsistent with the polarization characteristic of 9, and the function of different distance signal intensities shows a distribution rule with a sine value of angle a, and can also be equivalent to a relation function between the scattered light intensity and the distance between the target area 7 and the optical part 9, that is, the signal receiving intensity near 7 is sin (90), and the signal intensity near 9 is sin (0), and the above assumes that a is the rotation angle of the optical parts 2 and 9 when the light is flying, and the result does not consider the back ratio of the target area 7. The above embodiment can be used as a range gating measurement scheme for a laser radar with continuous laser as a light source.
In another embodiment, a linearly polarized light mode in which the optical components 2 and 9 rotate discontinuously can be adopted, that is, the rotation of the optical component 2 for controlling the polarization angle of the source line of the laser emitted light and the optical component 9 for allowing the linearly polarized light to pass through is switched in a 0-90-0-90 mode, the deflection characteristics 4 and 10 between the optical components 2 and 9 are kept at 90 degrees to each other, and the time interval of the switching is consistent with the time length of the light from the optical component 2 to the target area 7 and then back to the optical component 9. The advantage of this embodiment is that the control scheme is simpler and easier to implement, but the suppression of scattered light at close distances is less good than the first embodiment, but also a range gating can be achieved to some extent, which also falls within the scope of the present invention.
The above description is only an embodiment of the present invention, and further details of the objects, technical solutions and advantages of the present invention are not limited to the above description, and all the equivalent structures or equivalent processes performed by utilizing the content of the present invention, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (2)
1. A continuous optical range-gating laser radar device comprises a laser emitting device and a scattered light or reflected light receiving device, and is characterized by further comprising the following parts: the laser emitting device is provided with an optical part for emitting the polarization angle of a light source and an optical part for allowing only polarized light to pass through, and the optical polarization angles of the two optical parts are controlled along with time according to requirements: the time taken for the angle to rotate by 90 degrees is close to or equal to 2 times of the flight time of the light of the detection distance of the laser radar, namely the flight time of the linearly polarized laser light is close to or equal to the time taken for the deflection device to rotate by 90 degrees from the time point of transmitting to the detected object to the time point of receiving by the receiving device.
2. The continuous optical range-gated lidar device of claim 1, further comprising an optical component for emitting a polarization angle of the light source and an optical component for allowing only polarized light to pass therethrough, wherein the polarization deflection angle is controlled by a polarization deflection crystal controlled by an electromagnetic or electric field, thereby controlling the polarization deflection angle of the light beam by an external signal.
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| CN112596066B (en) * | 2021-02-24 | 2021-09-28 | 锐驰智光(北京)科技有限公司 | Laser radar ranging method, ranging device and storage medium |
| CN216622678U (en) * | 2021-11-23 | 2022-05-27 | 奥诚信息科技(上海)有限公司 | Optical measurement system |
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