CN112596043B - High-angle resolution laser radar and detection method - Google Patents
High-angle resolution laser radar and detection method Download PDFInfo
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- CN112596043B CN112596043B CN202011427452.XA CN202011427452A CN112596043B CN 112596043 B CN112596043 B CN 112596043B CN 202011427452 A CN202011427452 A CN 202011427452A CN 112596043 B CN112596043 B CN 112596043B
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- 239000013307 optical fiber Substances 0.000 claims abstract description 45
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- 239000000835 fiber Substances 0.000 claims description 44
- 238000000034 method Methods 0.000 claims description 6
- 239000004065 semiconductor Substances 0.000 claims description 6
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Classifications
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
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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
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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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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a high-angle-resolution laser radar and a detection method, which overcome the problem that the radar measurement angle resolution in the prior art is limited, can greatly increase the emission frequency of a light source, and remarkably improve the distribution density of a point cloud when detection is performed, thereby realizing the high-angle-resolution. The system comprises a main control and data resolving system, wherein a zoom laser emission system, a laser scanning system and a laser receiving system are respectively connected with the main control and data resolving system; the zoom laser emission system comprises a high-repetition frequency high-power optical fiber laser, an optical fiber beam splitter, an optical fiber delay device, an optical fiber beam combiner and an optical fiber collimator which are sequentially arranged; the laser receiving system comprises a laser receiving optical system and a photoelectric detector. The laser scanning system is a two-dimensional MEMS micro-scanning mirror and adopts a non-resonant scanning mode.
Description
Technical field:
the invention belongs to the technical field of laser detection, and relates to a high-angle resolution laser radar and a detection method.
The background technology is as follows:
the laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and consists of a laser transmitter, an optical receiver, an information processing system and the like. The working principle is that a laser beam is emitted to a target, and then the received signal reflected from the target is compared with the emitted signal, and after proper processing, the related information of the target, such as parameters of the distance, the azimuth, the altitude, the speed, the gesture, the shape and the like of the target, can be obtained.
When the laser radar performs long-distance detection, the light spot of the laser becomes larger along with the distance, and when the detected object is smaller than the light spot size, the position of the object is deviated, because the radar is used for calibrating the position of the detection target and is determined by the laser emission direction and the echo time, so that the small target appears at any position in the light spot, the obtained directions are the same, the measurement error is brought, and the error is increased along with the increase of the distance.
The invention comprises the following steps:
the invention aims to provide a high-angle-resolution laser radar and a detection method, which solve the problem that the radar measurement angle resolution is limited in the prior art, can greatly increase the emission frequency of a light source, and remarkably improve the distribution density of the point cloud when detection is performed, thereby realizing the high angle resolution.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a high angular resolution lidar, characterized by: the system comprises a main control and data resolving system, and a zooming laser emission system, a laser scanning system and a laser receiving system are respectively connected with the main control and data resolving system; the zoom laser emission system comprises a high-repetition frequency high-power optical fiber laser, an optical fiber beam splitter, an optical fiber delay device, an optical fiber beam combiner and an optical fiber collimator which are sequentially arranged; the laser receiving system comprises a laser receiving optical system and a photoelectric detector.
The laser scanning system is a two-dimensional MEMS micro-scanning mirror and adopts a non-resonant scanning mode.
The high-repetition-frequency high-power pulse fiber laser is a MOPA mode pulse fiber laser, the seed source is a narrow linewidth VCSEL, and the gain medium is a doped gain fiber; the high repetition frequency high power pulse fiber laser is a variable pulse laser, the output peak power is 1 KW-8 KW, the average power is 1W-20W, the output pulse width is 3 ns-15 ns, the output repetition frequency is 100 KHz-2 MHz, the output pulse energy is 8 mu J-15 mu J, and the divergence angle is 0.5-2 mrad.
The optical fiber beam splitter is a 1*N beam splitter, and the beam splitting number N is related to the accuracy and the detection distance requirement of target detection.
The optical fiber delay device consists of N paths of optical fiber delay structures, the time of each path of optical fiber delay is limited by N and the pulse period T of the pulse laser, and the time interval of each path of optical fiber delay is T/N.
The light spot size after the collimation of the optical fiber collimator is not more than 2mm.
The focus of the laser receiving optical system is positioned on the surface of the photoelectric detector; the photoelectric detector is a semiconductor device capable of converting light waves into current, and the semiconductor material used by the photoelectric detector is related to radar emitted laser waves.
A detection method of a high-angle resolution laser radar is characterized in that: the method comprises the following steps:
the method comprises the steps that a main control and data resolving system is adopted, pulse light emitted by a high-repetition frequency high-power pulse fiber laser is divided into N paths of pulse light in an average mode through a 1*N fiber light splitter, each path of pulse light is connected with a fiber light delay device to delay, delayed light beams enter an N1 fiber light beam combiner along optical fibers to be combined, the combined pulse light is collimated through an optical fiber collimator and then enters a two-dimensional scanning device to be scanned, when the light beams are scanned in space, reflected echoes are received through a detector and compared with an initial signal to obtain the flight time of each pulse light, and therefore the distance of a target is determined.
The main control and data resolving system controls the scanning speed and the scanning angle of the MEMS micro-scanning mirror;
the program flow is as follows: the main control and data resolving system stores a transmitting sequence waveform and a scanning waveform of the two-dimensional MEMS micro-mirror; when scanning is performed, the main control and data resolving system enables the laser transmitting end to transmit a pulse sequence according to fixed frequency on one side, and the other side transmits deflection data instructions to the MEMS driving plate through communication to control the two-dimensional MEMS micro mirror to perform quasi-static scanning.
The main control and data resolving system processes the point cloud data to obtain a spatial three-dimensional distribution profile of the target;
the program flow is as follows: firstly, the master control and data resolving system performs point cloud filtering and point cloud registration processing on the obtained original target point cloud data, and then performs grid subdivision and grid splicing on the target point cloud data to obtain a three-dimensional reconstruction map of the point cloud data.
Compared with the prior art, the invention has the following advantages and effects:
1. according to the invention, each pulse light emitted by the laser source of the laser radar is averagely divided into multiple paths of pulse lasers through the optical fiber spectroscope, the multiple paths of pulse lasers respectively enter the multiple paths of optical fiber delay devices for delay, the delayed multiple paths of laser beams are combined into one path through sequencing, at the moment, the laser beam combining beam comprises multiple pulses, the emission frequency of the laser is greatly improved, and the detected point cloud density can be remarkably improved when scanning is carried out, so that the detection angle resolution of the radar is improved.
2. The invention has no mechanical parts and high reliability.
Description of the drawings:
FIG. 1 is a schematic diagram of a radar system of the present invention;
fig. 2 is a schematic diagram of the radar structure and the optical path according to the present invention.
In the figure, a 101-zoom laser emission system, a 102-laser scanning system, a 103-laser receiving system, a 104-master control and data resolving system, a 201-high-repetition frequency high-power fiber laser, a 202-fiber beam splitter, a 203-fiber delay device, a 204-fiber beam combiner, a 205-fiber collimator, a 206-two-dimensional MEMS micro-scanning mirror, a 207-computer, a 208-photodetector, a 209-laser receiving optical system, a 301-narrow linewidth VCSEL and a 302-gain fiber are shown.
The specific embodiment is as follows:
the present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention relates to a long-distance high-resolution laser radar and a detection method, which are characterized in that the light of a radar light source is split, each path of light is delayed and then combined, and the emission frequency of the radar light source can be increased by times, so that the point cloud density of radar scanning is increased, and the radar angular resolution is improved. Referring to fig. 1, the zoom laser emission system 101, the laser scanning system 102 and the laser receiving system 103 are respectively connected with the master control and data resolving system 104, and comprise the master control and data resolving systems 104. Referring to fig. 2, the zoom laser emission system 101 includes a high-repetition-frequency high-power fiber laser 201, a fiber splitter 202, a fiber delay 203, a fiber combiner 204, and a fiber collimator 205, which are disposed in this order. The laser light receiving system 103 includes a laser light receiving optical system 209 and a photodetector 208. The laser scanning system 102 employs a two-dimensional MEMS micro-mirror 206.
Examples:
fig. 1 shows a schematic diagram of the structure of the present invention, and the specific structure includes a zoom laser emitting system 101, a laser scanning system 102, a laser receiving system 103, and a master control and data resolving system 104. The zoom laser emission system 101, the laser scanning system 102 and the laser receiving system 103 are respectively connected with the master control and data resolving system 104,
as shown in fig. 2, the zoom laser emission system 101 includes a high-repetition-frequency high-power fiber laser 201, a fiber splitter 202, a fiber delay 203, a fiber combiner 204, and a fiber collimator 205, which are sequentially disposed. The laser scanning system 102 is a two-dimensional MEMS micro-mirror 206, and adopts a non-resonant scanning mode. The laser light receiving system 103 includes a laser light receiving optical system 209 and a photodetector 208. The high-repetition-frequency high-power pulse fiber laser 201 is a MOPA type pulse fiber laser, the seed source is a narrow linewidth VCSEL301, and the gain medium is a doped gain fiber 302. The high repetition frequency high power pulse fiber laser 201 is a variable pulse laser, the output peak power is 1 KW-8 KW, the average power is 1W-20W, the output pulse width is 3 ns-15 ns, the output repetition frequency is 100 KHz-2 MHz, the output pulse energy is 8 mu J-15 mu J, and the divergence angle is 0.5-2 mrad. The optical fiber beam splitter 202 is a 1*N beam splitter, the number of paths of beam splitting N is related to the accuracy of target detection and the detection distance requirement, and theoretically, the greater N is, the higher the detection accuracy is, and the closer the detection distance is. The optical fiber delay 203 is composed of N optical fiber delay structures, and each optical fiber delay time of the N optical fiber delay structures is not arbitrary, and each optical fiber delay time is limited by N and the pulse period T of the pulse laser, so that the time interval of each optical fiber delay is required to be T/N. The optical fiber combiner 204 may combine N laser beams into one beam, and the optical fiber combiner 204 is coupled to the optical fiber collimator 205. The optical fiber collimator 205 may perform beam expansion and collimation on the laser beam of the optical fiber beam combiner 204, and the light spot size after the collimation of the optical fiber collimator 205 is not greater than 2mm. The light beam emitted from the fiber collimator 205 is incident on the two-dimensional scanning mirror 206. The two-dimensional scanning mirror 206 employs a MEMS micro-scanning mirror, and the two-dimensional scanning mirror 206 employs a non-resonant scanning mode. The laser receiving system 103 comprises a laser receiving optical system 209 and a photoelectric detector 208, wherein the focal point of the laser receiving optical system 209 is positioned on the surface of the photoelectric detector 208. The photodetector 208 is a semiconductor device that converts light waves into electrical current, and the semiconductor material used for the photodetector 208 is related to the designed radar-emitting laser wave.
The detection method of the high-angle resolution laser radar comprises the following steps:
the main control and data resolving system 104 is adopted, pulse light emitted by the high-repetition frequency high-power pulse fiber laser 201 is divided into N paths of pulse light in an average mode through the 1*N fiber beam splitter 202, each path of pulse light is connected with a fiber delay device 203 to delay, the delayed light beams enter the N x 1 fiber beam combiner 204 along the fiber to be combined, the combined pulse light is collimated through the fiber collimator 204 and then enters a two-dimensional scanning device to be scanned, when the light beams are scanned in space, the reflected echo is reflected by a target, the reflected echo is received by a detector, the flight time of each pulse light is obtained after the reflected echo is compared with an initial signal, and therefore the distance of the target is determined.
The master control and data resolution system 104 controls the scanning speed and scanning angle of the MEMS micro-mirror 206. The program flow comprises the following steps: the master control and data resolution system 104 stores transmit sequence waveforms and scan waveforms of the two-dimensional MEMS micromirrors 206. During scanning, the master control and data resolving system 104 controls the two-dimensional MEMS micro-mirror 206 to perform quasi-static scanning by transmitting a pulse sequence at a fixed frequency to the laser transmitting end and transmitting a deflection data command to the MEMS driving board by communication.
The master control and data resolving system 104 processes the point cloud data to obtain a spatial three-dimensional distribution profile of the target. The program flow comprises the following steps: firstly, the master control and data resolving system 104 performs point cloud filtering and point cloud registration processing on the obtained original target point cloud data, and then performs grid subdivision and grid splicing on the target point cloud data to obtain a three-dimensional reconstruction map of the point cloud data.
The above-described embodiments are merely illustrative of the principles of the present invention and its effectiveness, and it will be apparent to those skilled in the art that numerous modifications and improvements can be made without departing from the inventive concept.
Claims (5)
1. A high angular resolution lidar, characterized by: the system comprises a main control and data resolving system (104), and a zoom laser emission system (101), a laser scanning system (102) and a laser receiving system (103) are respectively connected with the main control and data resolving system (104); the zoom laser emission system (101) comprises a high-repetition frequency high-power optical fiber laser (201), an optical fiber beam splitter (202), an optical fiber delay device (203), an optical fiber beam combiner (204) and an optical fiber collimator (205) which are sequentially arranged; the laser receiving system (103) comprises a laser receiving optical system (209) and a photodetector (208);
the high-repetition-frequency high-power fiber laser (201) is a MOPA mode pulse fiber laser, the seed source is a narrow linewidth VCSEL (301), and the gain medium is a doped gain fiber (302); the high-repetition-frequency high-power fiber laser (201) is a variable pulse laser, the output peak power is 1 KW-8 KW, the average power is 1W-20W, the output pulse width is 3 ns-15 ns, the output repetition frequency is 100 KHz-2 MHz, the output pulse energy is 8 mu J-15 mu J, and the divergence angle is 0.5-2 mrad;
the optical fiber beam splitter (202) is a 1*N beam splitter, and the number N of the split light paths is related to the precision of target detection and the detection distance requirement;
the optical fiber delayer (203) is composed of N paths of optical fiber delay structures, the time of each path of optical fiber delay is limited by N and the pulse period T of the pulse laser, and the time interval of each path of optical fiber delay is T/N.
2. A high angular resolution lidar as claimed in claim 1, wherein: the laser scanning system (102) is a two-dimensional MEMS micro-scanning mirror (206) and adopts a non-resonant scanning mode.
3. A high angular resolution lidar as claimed in claim 2, wherein: the light spot size after the collimation of the optical fiber collimator (205) is not more than 2mm.
4. A high angular resolution lidar according to claim 3, wherein: the focus of the laser receiving optical system (209) is positioned on the surface of the photodetector (208); the photodetector (208) is a semiconductor device capable of converting light waves into electric currents, and the semiconductor material used for the photodetector (208) is related to radar-emitting laser waves.
5. A detection method of a high-angle resolution laser radar is characterized in that: the method comprises the following steps:
the method comprises the steps that a main control and data resolving system (104) is adopted, pulse light emitted by a high-repetition frequency high-power pulse fiber laser passes through a 1*N fiber splitter (202) and is averagely divided into N paths of pulse light, each path of pulse light is connected with a fiber delay device (203) to delay, delayed light beams enter an N1 fiber combiner (204) along optical fibers to combine beams, the combined pulse light is collimated by the fiber collimator (204) and then enters a two-dimensional scanning device to be scanned, when the light beams are scanned in space, reflected echoes are received by a detector and compared with an initial signal to obtain the flight time of each pulse light, so that the distance of a target is determined, the position of the pulse light is determined by a two-dimensional scanning mirror, and the position coordinates of any point cloud can be determined according to the scanning position of the two-dimensional scanning mirror;
the main control and data resolving system (104) controls the scanning speed and the scanning angle of the MEMS micro-scanning mirror (206);
the program flow is as follows: the master control and data resolving system (104) stores a transmission sequence waveform and a scanning waveform of the MEMS micro-scanning mirror (206); when scanning is performed, the main control and data resolving system (104) enables the laser transmitting end to transmit a pulse sequence according to fixed frequency on one side, and transmits a deflection data instruction to the MEMS driving plate through communication on the other side to control the MEMS micro-scanning mirror (206) to perform quasi-static scanning;
the master control and data resolving system (104) processes the point cloud data to obtain a spatial three-dimensional distribution profile of the target;
the program flow is as follows: firstly, the master control and data resolving system (104) performs point cloud filtering and point cloud registration processing on the obtained original target point cloud data, and then performs grid subdivision and grid splicing on the target point cloud data to obtain a three-dimensional reconstruction map of the point cloud data.
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