CN113960570A - All-solid-state laser radar scanning device and method based on wavelength tuning - Google Patents
All-solid-state laser radar scanning device and method based on wavelength tuning Download PDFInfo
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- CN113960570A CN113960570A CN202111355341.7A CN202111355341A CN113960570A CN 113960570 A CN113960570 A CN 113960570A CN 202111355341 A CN202111355341 A CN 202111355341A CN 113960570 A CN113960570 A CN 113960570A
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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
Abstract
The invention discloses an all-solid-state laser radar scanning device and method based on wavelength tuning. The collimating unit and the grating are arranged on a laser light path emitted by the laser output unit, the laser output unit sequentially emits laser with different wavelengths, the laser is collimated and incident into the grating to be diffracted after passing through the collimating unit, the diffracted laser is focused by the focusing unit and then incident onto the emitting unit, and the diffracted laser is emitted into collimated beams in different directions through the emitting unit and then irradiates to a scanning direction to be scanned in a large range. The laser radar large-range scanning device which adopts the laser output unit and combines the optical system and the grating to realize the all-solid-state laser radar large-range scanning device without moving parts has the advantages of high stability, small size, light weight, small loss, large scanning range, high scanning speed and the like.
Description
Technical Field
The invention relates to a radar scanning device, in particular to an all-solid-state laser radar scanning device and method based on wavelength tuning.
Background
Compared with microwave radars, laser radars have many advantages of high resolution, small size, light weight and the like, and the current types comprise atmospheric laser radars, marine laser radars, vehicle-mounted laser radars and the like, the application range is very wide, the laser radars are called as eyes of robots, and the market prospect is wide, so that the laser radar becomes a research hotspot in the field as a core technology of the laser radars, namely a laser beam scanning technology.
The scanning technology of the existing laser radar at home and abroad mainly has three forms, namely MEMS galvanometer scanning, optical phased array scanning and traditional mechanical scanning structures. MEMS galvanometer scanning and mechanical scanning technologies do not belong to all-solid-state scanning modes, so that the stability of the modes is inevitably reduced, and the scanning speed of the MEMS galvanometer is limited; optical phased array scanning is not mature at present, mainly because the loss is too high, the scanning precision is limited due to side lobes of a light beam, and a large number of phase controllers are needed to make the processing technology complex; the traditional mechanical scanning is not stable, but also has the defects of large volume, high cost and the like. In addition to the above three methods, there is a scanning method using a switch array in combination with a grating or a lens, and the loss caused by this method is generally high, and the number of scanning points depends on the number of switch arrays, and generally the number of scanning points is small.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an all-solid-state laser radar scanning device and method based on wavelength tuning.
The technical scheme adopted by the invention is as follows:
an all-solid-state laser radar scanning device based on wavelength tuning:
the all-solid-state laser radar scanning device comprises a laser output unit, a collimation unit, a grating, a focusing unit and an emission unit, wherein the collimation unit and the grating are arranged on a laser light path emitted by the laser output unit, the laser output unit sequentially emits lasers with different wavelengths, the lasers are collimated and emitted into the grating after passing through the collimation unit to be diffracted, the diffracted lasers are emitted into the emission unit after being focused by the focusing unit, and then the collimated beams in different directions are emitted through the emission unit to irradiate to a scanning direction to be scanned in a large range.
The laser output unit is a discontinuously tuned or continuously tuned tunable semiconductor laser, and the wavelength tuning range Delta lambda of the laser beam emitted by the tunable semiconductor laser is positively correlated with the scanning range of the collimated beams emitted by the emitting unit in different directions.
The all-solid-state laser radar scanning device further comprises a reflecting unit, wherein the reflecting unit comprises a plurality of aspheric, spherical or planar reflectors, the reflecting unit is arranged on a light beam light path after being focused by the focusing unit and before the transmitting unit, and the light beam focused by the focusing unit is reflected by the reflecting unit for a plurality of times and then irradiates the transmitting unit; the diameter of the light path after multiple reflections is gradually reduced, and the number of the reflectors can be adjusted according to requirements.
The collimating unit/focusing unit/emitting unit may be composed of several aspheric or spherical lenses.
In specific implementation, the collimating unit comprises a plurality of aspheric or spherical collimating lenses; the focusing unit comprises a plurality of aspheric or spherical focusing lenses; the transmitting unit comprises several aspheric or spherical transmitting lenses.
The grating is a blazed grating or a transmission diffraction type grating.
Secondly, an all-solid-state laser radar scanning method based on wavelength tuning comprises the following steps:
the method comprises the following steps:
1) presetting a wavelength tuning range of laser output by a laser output unit in an all-solid-state laser radar scanning device;
2) starting an all-solid-state laser radar scanning device, sequentially emitting laser with different wavelengths in a wavelength tuning range from a laser output unit, collimating the laser into collimated laser after passing through a collimating unit, diffracting the collimated laser into diffracted laser after being incident on a grating, focusing the diffracted laser into focused laser after being incident on a focusing unit through the grating, and finally emitting collimated beams in different directions to scan in a large range through an emitting unit; the collimated light beam emitted by the emitting unit is reflected after irradiating the target object in the scanning direction, and the reflected light beam is received by an external receiving device.
In the step 2), the laser output unit automatically performs continuous wavelength tuning or discontinuous wavelength tuning in the scanning process and continuously emits laser with different wavelengths, the laser with the same wavelength is finally emitted as collimated light beams in the same direction through the emission unit, and the laser with different wavelengths is finally emitted as collimated light beams in different directions through the emission unit.
In the step 2), the formula of the scanning range angle Δ θ formed by the collimated light beams emitted by the emission unit in different directions continuously in the scanning direction is as follows:
wherein s is the distance between the focus point of the maximum wavelength focused laser and the focus point of the minimum wavelength focused laser on the transmitting unit when the focused laser is incident on the transmitting unit, and f2Is the focal length of the transmitting unit;
when the focused laser light is incident on the transmitting unit, the distance s between the focusing point of the maximum wavelength focused laser light and the focusing point of the minimum wavelength focused laser light on the transmitting unit is represented by the following formula:
wherein f is1The focal length of the focusing unit is shown, gamma is the diffraction angle of the diffracted laser, and delta gamma is the diffraction angle range of the diffracted laser;
diffraction angle range Deltay of diffracted laser light is about
Wherein the content of the first and second substances,
the angle dispersion of the diffracted laser is shown, lambda is the wavelength of the laser emitted by the laser output unit, and delta lambda is the wavelength tuning range of the laser emitted by the laser output unit;
the grating adopts blazed grating, diffraction angle gamma and angular dispersion of diffraction laser
The formula is as follows:
a(sini+sinγ)＝mλ
wherein a is the grating period of the grating, i is the incident angle of the collimated laser to the grating, and m is the diffraction order of the grating.
From the above formula, the scanning range angle Δ θ and the diffraction angle range Δ γ of the all-solid-state lidar scanning device are in positive correlation.
The invention has the beneficial effects that:
the invention adopts a structure without moving parts to realize the large-range scanning of the laser beam and improve the stability of the system.
The invention adopts the wavelength tuning mode to control the scanning of the laser beam in different directions, and the scanning speed is equal to the wavelength tuning speed, so that the scanning speed is greatly improved.
The invention realizes the large-scale scanning effect by combining the multi-lens, the reflecting mirror and the grating, so that the transmitting device of the laser radar has low cost, light weight and small size.
Drawings
FIG. 1 is a schematic diagram of the inventive structure and laser;
FIG. 2 is a schematic view of an embodiment of the present invention;
FIG. 3 is a diffraction diagram of a blazed grating;
FIG. 4 is a schematic diagram of an extended architecture of the present invention;
in the figure: 1. laser output unit, 2, collimation unit, 3, grating, 4, focusing unit, 5, emission unit, 6, reflection unit.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, the all-solid-state lidar scanning device comprises a laser output unit 1, a collimation unit 2, a grating 3, a focusing unit 4 and an emission unit 5; the laser output unit 1 is a discontinuously tuned or continuously tuned tunable semiconductor laser, and the wavelength tuning range delta of the laser beam emitted by the tunable semiconductor laser is in positive correlation with the scanning ranges of the collimated beams emitted by the emission unit 5 in different directions; the collimating unit 2/focusing unit 4/emitting unit 5 may be composed of a plurality of aspheric or spherical lenses, in specific implementation, the collimating unit 2 includes a plurality of aspheric or spherical collimating lenses, the focusing unit 4 includes a plurality of aspheric or spherical focusing lenses, and the emitting unit 5 includes a plurality of aspheric or spherical emitting lenses; the grating 3 is a blazed grating or a transmission diffraction type grating.
The collimating unit 2 and the grating 3 are arranged on a laser light path emitted by the laser output unit 1, the laser output unit 1 sequentially emits lasers with different wavelengths, the lasers are collimated and incident into the grating 3 to be diffracted after passing through the collimating unit 2, the diffracted lasers are focused by the focusing unit 4 and then incident onto the emitting unit 5, and the diffracted lasers are emitted into collimated beams in different directions through the emitting unit 5 and then irradiated to a scanning direction to be scanned in a large range.
As shown in fig. 2, the all-solid-state lidar scanning device further includes a reflection unit 6, the reflection unit 6 includes a plurality of aspheric, spherical, or planar mirrors, the reflection unit 6 is disposed on a light path of the light beam focused by the focusing unit 4 and before the emission unit 5, and the light beam focused by the focusing unit 4 is reflected by the reflection unit 6 for a plurality of times and then irradiates the emission unit 5; the diameter of the light path after multiple reflections is gradually reduced, and the number of the reflectors can be adjusted according to requirements.
The method comprises the following steps:
1) presetting a wavelength tuning range of laser output by a laser output unit 1 in the all-solid-state laser radar scanning device;
2) starting an all-solid-state laser radar scanning device, sequentially emitting laser with different wavelengths in a wavelength tuning range from a laser output unit 1, collimating the laser into collimated laser after passing through a collimating unit 2, diffracting the collimated laser into diffracted laser after being incident on a grating 3, focusing the diffracted laser into focused laser after being incident on a focusing unit 4 through the grating 3, and emitting collimated beams in different directions to the scanning direction through an emitting unit 5 to perform large-range scanning; the collimated light beam emitted from the emitting unit 5 is reflected after being irradiated to a target object in the scanning direction, and the reflected light beam is received by an external receiving device.
The laser output unit 1 automatically performs continuous wavelength tuning or discontinuous wavelength tuning in the scanning process, and continuously emits laser with different wavelengths, the laser with the same wavelength is finally emitted as collimated light beams in the same direction through the emitting unit 5, and the laser with different wavelengths is finally emitted as collimated light beams in different directions through the emitting unit 5.
The formula of the scanning range angle Δ θ formed by collimated light beams in different directions emitted by the emission unit 5 continuously in the scanning direction is as follows:
where s is a distance between a focusing point of the maximum wavelength focused laser light and a focusing point of the minimum wavelength focused laser light on the emitting unit 5 when the focused laser light is incident on the emitting unit 5, and f2Is the focal length of the emitting unit 5;
when the focused laser light is incident on the emitting unit 5, the formula of the distance s between the focal point of the maximum wavelength focused laser light and the focal point of the minimum wavelength focused laser light on the emitting unit 5 is as follows:
wherein f is1Is the focal length of the focusing unit 4, gamma is the diffraction angle of the diffracted laser light, and delta gamma is the diffraction angle range of the diffracted laser light;
diffraction angle range Deltay of diffracted laser light is about
Wherein the content of the first and second substances,
λ is the wavelength of the laser emitted by the laser output unit 1, and Δ λ is the wavelength tuning range of the laser emitted by the laser output unit 1;
the grating 3 adopts a blazed grating, and diffracts the diffraction angle gamma and the angular dispersion of the laser
The formula is as follows:
a(sini+sinγ)＝mλ
where a is the grating period of the grating 3, i is the incident angle of the collimated laser beam incident on the grating 3, and m is the diffraction order of the grating 3.
From the above formula, the scanning range angle Δ θ and the diffraction angle range Δ γ of the all-solid-state lidar scanning device are in positive correlation.
The specific embodiment is as follows:
as shown in fig. 2, in a specific implementation, a tunable semiconductor laser is used as the laser output unit 1, a collimating lens is used as the collimating unit 2, a blazed grating is used as the grating 3, a focusing lens is used as the focusing unit 4, and an emitting lens is used as the emitting unit 5; the reflecting unit 6 may also be arranged on the light path of the light beam after being focused by the focusing unit 4 and before the emitting unit 5, and the reflecting unit 6 may employ a mirror.
The wavelength tuning range delta lambda of laser emitted by the tunable semiconductor laser is 1530nm-1570nm, the grating period a of the blazed grating is 1.667 mu m, the blazed angle of the blazed grating is 28.68 degrees, and the focal length f of the focusing lens is1Is 100mm, the focal length f of the emitting lens2Is 3.1 mm.
In order to maximize the angular dispersion of the diffracted laser light, according to the formula of the angular dispersion, when the diffraction order m is fixed to the grating constant a of the blazed grating, the larger the diffraction angle γ of the diffracted laser light, the larger the angular dispersion.
According to the diffraction principle of the blazed grating, as shown in fig. 3, the blazed direction of the blazed grating and the incident direction of the collimated laser incident on the blazed grating are symmetric with respect to the normal of the etched surface of the blazed grating, and according to the formula of the diffraction angle γ of the diffracted laser, the diffraction formula of the blazed grating is as follows:
a*[sin(28.68°+α)+sin(28.68°-α)]＝mλ
wherein alpha is an included angle between the blazed direction of the blazed grating and the normal of the etched surface of the blazed grating.
When the diffraction order m is 1 and the wavelength λ of laser light emitted by the tunable semiconductor laser is 1.55 μm, the following diffraction formula is obtained: α is 14.36 °, and the diffraction angle γ of diffracted laser is 28.68 ° + α is 28.68 ° +14.36 ° -43.04 °.
According to the angular dispersion formula, the following formula is obtained:
diffraction angle range Deltay of diffracted laser light is about
According to the formula of the distance s between the focus point of the maximum wavelength focused laser and the focus point of the minimum wavelength focused laser on the transmitting lens when the focused laser is incident on the transmitting lens, the distance s is obtained:
the formula of the scanning range angle delta theta formed by the collimated light beams in different directions emitted by the emitting lens in the scanning direction is as follows:
compared with laser scanning only through grating dispersion, the laser radar scanning device enlarges the scanning range angle by nearly 30 times, and the direction change of the collimated light beams finally and continuously emitted by the laser radar scanning device can reach 20000 times change per second, so that high-efficiency scanning is realized.
As shown in fig. 4, when the requirement on the collimation degree of the finally emitted collimated light beams in different directions is not high, the collimating unit (2) may also be removed, the laser emitted by the laser output unit (1) is focused by the focusing unit (4) and then transmitted to the grating (3) for diffraction, the diffracted laser is then incident to the emitting unit (5), and the laser is emitted as the collimated light beams in different directions by the emitting unit (5) and then irradiated to the scanning direction for scanning, so that an approximate scanning emission effect can also be achieved.
The present invention has been described in terms of embodiments, and several variations and modifications can be made to the device without departing from the principles of the present invention. It should be noted that all the technical solutions obtained by means of equivalent substitution or equivalent transformation, etc., fall within the protection scope of the present invention.
Claims (8)
1. The utility model provides an all solid-state laser radar scanning device based on wavelength tuning which characterized in that:
all solid-state laser radar scanning device includes laser output unit (1), collimation unit (2), grating (3), focus cell (4) and transmitting element (5), collimation unit (2) and grating (3) arrange on the laser light path of laser output unit (1) transmission, laser output unit (1) launches the laser of different wavelengths in proper order, the collimation is incided and takes place the diffraction in grating (3) after collimation unit (2), the laser of diffraction is incided transmitting element (5) after focus cell (4) is focused on, emit for the collimated light beam of equidirectional and then shine to scanning direction and scan through transmitting element (5) again.
2. The all-solid-state lidar scanning device based on wavelength tuning of claim 1, wherein:
the laser output unit (1) is a discontinuously tuned or continuously tuned tunable semiconductor laser.
3. The all-solid-state lidar scanning device based on wavelength tuning of claim 1, wherein:
the all-solid-state laser radar scanning device further comprises a reflecting unit (6), the reflecting unit (6) comprises a plurality of aspheric surfaces, spherical surfaces or plane reflecting mirrors, the reflecting unit (6) is arranged on a light beam light path after the focusing unit (4) focuses and before the transmitting unit (5), and light beams focused by the focusing unit (4) are reflected for a plurality of times by the reflecting unit (6) and then irradiate onto the transmitting unit (5).
4. The all-solid-state lidar scanning device based on wavelength tuning of claim 1, wherein:
the collimating unit (2)/the focusing unit (4)/the emitting unit (5) is composed of a plurality of aspheric or spherical lenses.
5. The all-solid-state lidar scanning device based on wavelength tuning of claim 1, wherein:
the grating (3) is a blazed grating or a transmission diffraction type grating.
6. A scanning method of the all-solid-state lidar scanning device of any of claims 1-5, wherein:
the method comprises the following steps:
1) presetting a wavelength tuning range of laser output by a laser output unit (1) in the all-solid-state laser radar scanning device;
2) the all-solid-state laser radar scanning device is started, lasers with different wavelengths in a wavelength tuning range are sequentially emitted from the laser output unit (1), the lasers are collimated into collimated lasers after passing through the collimating unit (2), the collimated lasers are diffracted into diffracted lasers after being incident on the grating (3), the diffracted lasers are incident on the focusing unit (4) through the grating (3) and then are focused into focused lasers, the focused lasers are incident on the emitting unit (5), and finally collimated beams in different directions are emitted towards the scanning direction through the emitting unit (5) to be scanned.
7. A scanning method according to claim 6, characterized in that:
in the step 2), the laser output unit (1) automatically performs continuous wavelength tuning or discontinuous wavelength tuning in the scanning process and continuously emits laser with different wavelengths, the laser with the same wavelength is finally emitted as collimated light beams in the same direction through the emitting unit (5), and the laser with different wavelengths is finally emitted as collimated light beams in different directions through the emitting unit (5).
8. A scanning method according to claim 6, characterized in that:
in the step 2), the formula of the scanning range angle delta theta formed by the collimated light beams in different directions emitted by the emission unit (5) in the scanning direction in succession is as follows:
wherein s is the distance between the focus point of the maximum wavelength focused laser light and the focus point of the minimum wavelength focused laser light on the emitting unit (5) when the focused laser light is incident on the emitting unit (5), f2Is the focal length of the transmitting unit (5);
when focused laser light is incident on the emitting unit (5), the formula of the distance s between the focal point of the maximum wavelength focused laser light and the focal point of the minimum wavelength focused laser light on the emitting unit (5) is as follows:
wherein f is1Is the focal length of the focusing unit (4), gamma is the diffraction angle of the diffracted laser, and delta gamma is the diffraction angle range of the diffracted laser;
diffraction angle range Deltagamma of diffracted laser light is
Wherein the content of the first and second substances,
lambda is the wavelength of the laser emitted by the laser output unit (1), and delta lambda is the wavelength tuning range of the laser emitted by the laser output unit (1) for the angular dispersion of the diffracted laser;
diffraction angle gamma and angular dispersion of diffracted laser
The formula is as follows:
a(sini+sinγ)＝mλ
wherein a is the grating period of the grating (3), i is the incident angle of the collimated laser to the grating (3), and m is the diffraction order of the grating (3).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115184904A (en) * | 2022-09-09 | 2022-10-14 | 北京摩尔芯光半导体技术有限公司 | Laser radar and design method thereof |
| CN115995756A (en) * | 2023-03-23 | 2023-04-21 | 苏州长光华芯半导体激光创新研究院有限公司 | Wavelength locking system and wavelength locking method |
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2021
- 2021-11-16 CN CN202111355341.7A patent/CN113960570A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115184904A (en) * | 2022-09-09 | 2022-10-14 | 北京摩尔芯光半导体技术有限公司 | Laser radar and design method thereof |
| WO2024051677A1 (en) * | 2022-09-09 | 2024-03-14 | 北京摩尔芯光半导体技术有限公司 | Lidar and design method therefor |
| CN115995756A (en) * | 2023-03-23 | 2023-04-21 | 苏州长光华芯半导体激光创新研究院有限公司 | Wavelength locking system and wavelength locking method |
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