CN113376616A - AWG-based laser radar scanning system - Google Patents
AWG-based laser radar scanning system Download PDFInfo
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- CN113376616A CN113376616A CN202110608608.2A CN202110608608A CN113376616A CN 113376616 A CN113376616 A CN 113376616A CN 202110608608 A CN202110608608 A CN 202110608608A CN 113376616 A CN113376616 A CN 113376616A
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- awg
- scanning system
- longitudinal
- laser radar
- transverse
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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
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention discloses an AWG-based laser radar scanning system, which comprises a transverse rotating platform and a longitudinal scanning mechanism arranged on the transverse rotating platform, wherein the longitudinal scanning mechanism comprises an AWG and a collimator; the transverse rotating platform has small moment of inertia, is convenient to realize high-speed rotation and has long rotating life; the transverse scanning of the laser radar is determined by mechanical rotation, the transverse resolution is high, the longitudinal resolution is determined by AWG, and the resolution can be further improved by adding optical switch multiplexing before or after the AWG; the laser radar can realize cheap large-scale deployment through part multiplexing; the laser radar can realize the increase of the line number by increasing the number of DFB arrays or the number of tunable laser wavelengths.
Description
Technical Field
The invention relates to the field of laser radar technology application, in particular to an AWG-based laser radar scanning system in the fields of advanced driving auxiliary systems, unmanned driving systems, intelligent security systems, rail transit inspection, unmanned aerial vehicle obstacle avoidance and the like.
Background
An Advanced Driver Assistance System (ADAS) is an active safety technology that collects environmental data inside and outside a vehicle at the first time by using various sensors mounted on the vehicle, and performs technical processing such as identification, detection, tracking and the like of static and dynamic objects, so that a Driver can perceive a possible danger at the fastest time to draw attention and improve safety. The ADAS uses sensors, such as cameras, radars, lasers, and ultrasonic waves, which detect light, heat, pressure, or other variables used to monitor the state of the vehicle, and are usually located in the front and rear bumpers, side-view mirrors, and the inside of the steering column or on the windshield of the vehicle. Early ADAS technologies were primarily based on passive warning, which alerts motorists to abnormal vehicle or road conditions when a potential hazard is detected in the vehicle. Proactive intervention is also common with the latest ADAS technologies.
With the development of laser technology, laser scanning technology is more and more widely applied to the fields of measurement, traffic, driving assistance, unmanned aerial vehicles, mobile robots and the like. The existing laser scanning radar generally has high manufacturing cost, more complex structure and short service life, and some laser scanning radars have larger volume and mass, thus being not beneficial to the application of the laser radar in the fields of driving auxiliary systems, unmanned systems, mobile robots and unmanned planes for obstacle avoidance and navigation.
Disclosure of Invention
Based on the above problems, the present invention provides an AWG (arrayed waveguide grating) -based lidar scanning system to alleviate the technical problems of high manufacturing cost, short lifetime, large volume, etc. caused by the mechanical rotation scanning with large weight and complex structure in the prior art.
The purpose of the invention is realized by the following technical scheme: an AWG-based laser radar scanning system comprises a transverse rotating platform and a longitudinal scanning mechanism arranged on the transverse rotating platform, wherein the longitudinal scanning mechanism comprises an AWG and a collimator.
Furthermore, components of the longitudinal scanning mechanism are all passive devices, no other active devices are needed, the longitudinal scanning mechanism does not need to be matched with an electric slip ring for use, and the longitudinal scanning mechanism has the characteristics of low rotational inertia, small size and long service life.
Furthermore, the transverse rotating platform can mechanically rotate for 360 degrees, and the rotating speed needs to meet 10 r/s.
Further, the collimator is composed of a passive device capable of realizing light path collimation, such as a collimating lens.
Further, the N channels of the AWG correspond to N different wavelengths of the tunable laser source.
Furthermore, M AWG multiplexing is adopted, and M times of improvement of the number or the precision of longitudinal scanning lines is realized by matching with a 1M optical switch.
Further, the AWG on the transverse rotating platform is connected with the circulator through the optical fiber slip ring; the optical fiber slip ring is used for solving the problem of continuous transmission of optical fibers between a rotating interface and a static interface; the circulator is used for realizing the transceiving coaxial function.
The tunable laser light source is realized by the following two ways:
firstly, the tunable laser light source is realized by a DFB array, and the DFB array is realized by DFB lasers with N different wavelengths.
Furthermore, the DFB lasers with N different wavelengths work simultaneously, wavelength division multiplexing is realized through MUX coupling of N x 1, and N point light sources working simultaneously are formed in the longitudinal scanning mechanism.
Furthermore, the laser radar adopting the laser radar scanning system further comprises a BPD array, wherein the BPD array is composed of N BPDs with different wavelengths and is used for receiving local reference light and signal light generated by the DFB lasers with the N different wavelengths and realizing information extraction by interfering the local reference light and the signal light.
And the tunable laser source is realized by a tunable laser, and the tunable laser can realize tuning of N different wavelengths.
Further, the tunable laser is time-division multiplexed at N different wavelengths, and N point light sources working in a time-division mode are formed in the longitudinal scanning mechanism.
Furthermore, the laser radar adopting the laser radar scanning system further comprises a BPD, wherein the BPD is used for receiving the local reference light and the signal light generated by the tunable laser and realizing information extraction by interfering the local reference light and the signal light.
According to the technical scheme, the AWG-based laser radar scanning system provided by the invention has at least one of the following beneficial effects:
(1) the longitudinal scanning mechanism consists of an optical chip AWG and a collimator, the AWG is a passive device, and the device is small in size, easy to integrate, light in weight and convenient to rotate;
(2) the transverse rotating platform has small moment of inertia, is convenient to realize high-speed rotation and has long rotating life;
(3) the transverse scanning of the laser radar is determined by mechanical rotation, the transverse resolution is high, the longitudinal resolution is determined by AWG, and the resolution can be further improved by adding optical switch multiplexing before or after the AWG;
(4) the laser radar can realize cheap large-scale deployment through part multiplexing;
(5) the laser radar can realize the increase of the line number by increasing the number of DFB arrays or the number of tunable laser wavelengths.
Drawings
Fig. 1 is a schematic structural diagram of a lidar scanning system employing AWG-based wavelength division multiplexing in embodiment 1 of the present invention;
the main reference symbols in fig. 1 are as follows: 1-DFB array; 2-MUX wavelength division multiplexer; 3-a modulator; 4-an optical fiber splitter; 5-a circulator; 6-optical fiber slip ring; 7-a transverse rotation platform; 7-1-AWG; 7-2-collimating lens; an 8-DEMUX wavelength-division demultiplexer; 9-DEMUX wavelength-division demultiplexer; a 10-BPD array; 11-ADC/PC.
Fig. 2 is a schematic structural diagram of a lidar employing an AWG-based time division multiplexing lidar scanning system in embodiment 2 of the present invention;
the main reference symbols in fig. 2 are as follows: 1A-a tunable laser; 2A-modulator; 3A-an optical fiber splitter; 4A-a circulator; 5A-optical fiber slip ring; 6A-transverse rotating platform; 6-1-AWG; 6-2-collimating lens; 7A-BPD; 8A-ADC/PC.
Detailed Description
The technical solutions in the embodiments of the present invention will be made clear and fully described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
The invention provides an AWG-based laser radar scanning system which comprises a transverse rotating platform and a longitudinal scanning mechanism arranged on the transverse rotating platform, wherein the longitudinal scanning mechanism comprises an AWG and a collimator.
Furthermore, components of the longitudinal scanning mechanism are all passive devices, no other active devices are needed, the longitudinal scanning mechanism does not need to be matched with an electric slip ring for use, and the longitudinal scanning mechanism has the characteristics of low rotational inertia, small size and long service life.
Furthermore, the transverse rotating platform can mechanically rotate for 360 degrees, and the rotating speed needs to meet 10 r/s.
Further, the collimator is composed of a passive device capable of realizing light path collimation, such as a collimating lens.
Further, the N channels of the AWG correspond to N different wavelengths of the tunable laser source.
Furthermore, M AWG multiplexing is adopted, and M times of improvement of the number or the precision of longitudinal scanning lines is realized by matching with a 1M optical switch.
Further, the AWG on the transverse rotating platform is connected with the circulator through the optical fiber slip ring; the optical fiber slip ring is used for solving the problem of continuous transmission of optical fibers between a rotating interface and a static interface; the circulator is used for realizing the transceiving coaxial function.
The tunable laser light source is realized by the following two ways:
firstly, the tunable laser light source is realized by a DFB array, and the DFB array is realized by DFB lasers with N different wavelengths.
Furthermore, the DFB lasers with N different wavelengths work simultaneously, wavelength division multiplexing is realized through MUX coupling of N x 1, and N point light sources working simultaneously are formed in the longitudinal scanning mechanism.
Furthermore, the laser radar adopting the laser radar scanning system further comprises a BPD array, wherein the BPD array is composed of N BPDs with different wavelengths and is used for receiving local reference light and signal light generated by the DFB lasers with the N different wavelengths and realizing information extraction by interfering the local reference light and the signal light.
And the tunable laser source is realized by a tunable laser, and the tunable laser can realize tuning of N different wavelengths.
Further, the tunable laser is time-division multiplexed at N different wavelengths, and N point light sources working in a time-division mode are formed in the longitudinal scanning mechanism.
Furthermore, the laser radar adopting the laser radar scanning system further comprises a BPD, wherein the BPD is used for receiving the local reference light and the signal light generated by the tunable laser and realizing information extraction by interfering the local reference light and the signal light.
Specifically, the AWG and the transverse rotating platform form a two-dimensional scanning structure, i.e. the transverse dimension realizes scanning through mechanical 360-degree rotation, and the longitudinal direction realizes scanning in another dimension through the AWG to form a plurality of point light sources (wavelength division multiplexing) and a single-point light source (tunable laser) with longitudinal periodicity change.
FIG. 1 is a schematic diagram of a lidar scanning system employing AWG-based wavelength division multiplexing in one embodiment; the laser radar includes: a DFB array 1 for outputting laser light of a plurality of wavelengths; the MUX wavelength division multiplexer 2 is used for realizing the beam combination of different wavelengths emitted by the DFB array and realizing the wavelength division multiplexing; a modulator 3 for performing IQ modulation on the output light; the optical fiber splitter 4 is connected with the modulator and is used for splitting input laser into two beams of light beams with different ratios, wherein light with high intensity is used as signal light, and light with low light intensity is used as local reference light; the circulator 5 is used for realizing the coaxial receiving and transmitting function and has three ports, wherein the port a is connected with signal light of the splitter, the port b is connected with the optical fiber slip ring 6, and the port c is connected with the DEMUX wavelength division demultiplexer 8 to realize the inlet and outlet of the port a and the inlet and outlet of the port b; the optical fiber slip ring 6 is used for solving the problem of optical fiber continuous transmission between a rotating interface and a static interface; a transverse rotation platform 7 for rotating the AWG and the collimator to realize 360-degree scanning of transverse dimension, wherein the collimator can be realized by a collimating lens; AWG7-1 for making different wavelength light in the light path exit corresponding to different ports; the collimating lens 7-2 is used for collimating the space light emitted by the AWG; a DEMUX wavelength division demultiplexer 8 and a DEMUX wavelength division demultiplexer 9 for realizing the beam splitting of different wavelengths; a BPD array 10 extracting information of the signal light by interference of the local reference light and the signal light; and the ADC/PC11 is used for converting the analog information into digital information, and further processing and displaying the digital information at the PC side.
More specifically:
the DFB array 1 is composed of N DFB lasers with different wavelengths, and operates simultaneously, and wavelength division multiplexing is implemented by MUX coupling of N × 1, where N is 8 in this embodiment.
The optical fiber splitter 4 is 1 to 2, and in the embodiment, the ratio is 1:9, 10% of light is used as reference light, and 90% of light is used as signal light.
And a longitudinal scanning mechanism is arranged on the transverse rotating platform 7 and comprises an AWG7-1 and a collimating lens 7-2, wherein the AWG is 1 × N and is adaptive to the number of DFB arrays, 8 beams of light are emitted at the same time, and collimation is carried out by using the collimating lens.
The AWG7-1 can achieve an increase in the number of longitudinal scan lines or accuracy by adding 1 × M optical switches before or after it.
The DEMUX8 and DEMUX9 are 1 × N demultiplexers, and correspond to the number of DFB arrays.
The BPD array 10 is composed of N BPDs with different wavelengths, and the BPDs have two input ports, one is connected to the reference light, and the other is connected to the signal light with the same wavelength.
FIG. 2 is a schematic diagram of another embodiment of a lidar scanning system employing an AWG-based time division multiplexed lidar scanning system; the laser radar includes: a tunable laser 1A for outputting a tunable wavelength laser; a modulator 2A for performing IQ modulation on the output light; the optical fiber branching unit 3A is connected with the modulator and is used for dividing the input laser into two beams with different ratios, wherein light with high intensity is used as signal light, and light with low light intensity is used as local reference light; the circulator 4A is used for realizing an optical bidirectional transmission function and has three ports, wherein a port a is connected with signal light of the splitter, a port b is connected with the optical fiber slip ring 5A, and a port c is connected with the BPD to realize that a enters and exits and b enters and exits; the optical fiber slip ring 5A is used for solving the problem of optical fiber continuous transmission between a rotating interface and a static interface; a transverse rotation platform 6A for rotating the AWG and the collimator to realize 360-degree scanning of one dimension, wherein the collimator can be realized by a collimating lens; AWG6-1, which is used to make the different working wavelength light of the tunable laser in the optical path emit corresponding to different ports, and realize the scanning of another dimension; the collimating lens 6-2 is used for collimating the space light emitted by the AWG; a BPD7A extracting information of the signal light by interference of the local reference light and the signal light; and the ADC/PC8A is used for converting the analog information into digital information, and further processing and displaying the digital information at the PC side.
More specifically:
the tunable laser 1A is time-division multiplexed at N different wavelengths, and N point light sources working in time division are formed in the longitudinal scanning mechanism, where N is 96 in this embodiment.
The optical fiber splitter 3A is 1 to 2, and in this embodiment, the ratio is 1:9, 10% of light is used as reference light, and 90% of light is used as signal light.
And a longitudinal scanning mechanism is arranged on the transverse rotating platform 6A and comprises an AWG6-1 and collimating lenses 6-2, wherein the AWG is 1 × N and is adaptive to the number of DFB arrays, 96 beams of light are emitted in a time-sharing mode, and collimation is performed by using the collimating lenses.
The AWG6-1 can achieve an increase in the number of longitudinal scan lines or accuracy by adding 1 × M optical switches before or after it.
The BPD7A is a balanced detector having two input ports, one for the reference light and the other for the signal light.
In some embodiments of the invention, the transverse rotating platform realizes 360-degree mechanical rotation by the combination of the servo motor and the reducer, and the rotating part only has the AWG and the collimator and no other electronic components.
The above description is only a preferred embodiment, and the present invention is not limited to the above embodiment, and the technical effects of the present invention can be achieved by the same means, which are all within the protection scope of the present invention. Within the scope of protection of the present invention, various modifications and variations of the technical solution and/or embodiments thereof are possible.
Claims (10)
1. An AWG-based laser radar scanning system is characterized by comprising a transverse rotating platform and a longitudinal scanning mechanism arranged on the transverse rotating platform, wherein the longitudinal scanning mechanism comprises an AWG and a collimator.
2. An AWG based lidar scanning system according to claim 1 wherein components of said longitudinal scanning mechanism are all passive devices.
3. The AWG based lidar scanning system of claim 1, wherein the transverse rotation platform is capable of 360 degree mechanical rotation.
4. The AWG based lidar scanning system of claim 1, wherein the N channels of the AWG correspond to N different wavelengths of the tunable laser source.
5. An AWG based lidar scanning system according to claim 4, wherein M AWG multiplexing is employed in conjunction with a 1 × M optical switch to achieve M times improvement in the number of longitudinal scan lines or accuracy.
6. An AWG-based lidar scanning system according to claim 4, wherein the tunable laser source is implemented by a DFB array implemented by DFB lasers of N different wavelengths.
7. An AWG based lidar scanning system according to claim 6 wherein N different wavelength DFB lasers are operated simultaneously, wavelength division multiplexing being achieved by N x 1 MUX coupling, forming N simultaneously operating point sources in the longitudinal scanning mechanism.
8. An AWG-based lidar scanning system according to claim 4, wherein the tunable laser light source is implemented by a tunable laser that is tunable for N different wavelengths.
9. An AWG based lidar scanning system according to claim 8 wherein said tunable lasers are time multiplexed at N different wavelengths to form N time-shared point sources of light at the longitudinal scanning mechanism.
10. The AWG based lidar scanning system of claim 1 wherein the AWG on the transverse rotating platform is connected to the circulator by a fiber slip ring; the optical fiber slip ring is used for solving the problem of continuous transmission of optical fibers between a rotating interface and a static interface; the circulator is used for realizing the transceiving coaxial function.
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