CN114966612A - Laser radar scanning system based on grating - Google Patents
Laser radar scanning system based on grating Download PDFInfo
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- CN114966612A CN114966612A CN202210633239.7A CN202210633239A CN114966612A CN 114966612 A CN114966612 A CN 114966612A CN 202210633239 A CN202210633239 A CN 202210633239A CN 114966612 A CN114966612 A CN 114966612A
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- laser
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- raster
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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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model provides a laser radar scanning system based on grating, belongs to laser radar technical field, includes: a transmitting system for generating pulsed laser light; the receiving system is used for converging the laser returned by the measured object; the transmitting system comprises a tunable laser, a collimating lens and a grating which are sequentially arranged according to a laser transmitting path; the tunable laser is used for generating continuous sweep laser; the collimating lens is used for collimating the laser generated by the tunable laser; the grating is used for receiving the collimated laser and carrying out dispersion vertical scanning; according to the invention, the vertical scanning resolution in the laser radar scanning mechanism is improved through the chromatic dispersion of the grating, and meanwhile, the volume of the rotating part is effectively reduced, and the service life of the laser radar is prolonged.
Description
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to a laser radar scanning system based on a grating.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. In terms of working principle, the radar antenna has no fundamental difference from microwave radar: the method comprises the steps of transmitting a detection signal (laser beam) to a target, comparing a received signal (target echo) reflected from the target with the transmitted signal, and after proper processing, obtaining relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, thereby detecting, tracking and identifying the target such as an airplane, a missile and the like.
Radars operating in the infrared and visible bands and using laser as the operating beam are known as lidar. The laser changes the electric pulse into optical pulse and emits it, and the optical receiver restores the reflected optical pulse from the target into electric pulse and sends it to the display.
There are representative mechanical rotary radars available on the market today, generally 16 lines/32 lines/64 lines, that is, how many laser transmitters in the vertical direction and how many receivers there are. The scheme has the defects that the more the number of lines of the laser is, the more the laser is required, the more the arrangement difficulty is, and the volume reduction is not facilitated; the cost increase is also obvious and belongs to linear increase.
Disclosure of Invention
The present invention is directed to a laser radar scanning system based on a grating, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a grating-based lidar scanning system comprising:
a transmitting system for generating pulsed laser light;
the receiving system is used for converging the laser returned by the measured object;
the transmitting system comprises a tunable laser, a collimating lens and a grating which are sequentially arranged according to a laser transmitting path;
the tunable laser is used for generating continuous sweep laser;
the collimating lens is used for collimating the laser generated by the tunable laser;
and the grating is used for receiving the collimated laser to carry out dispersive vertical scanning.
Preferably, the system further comprises a main control system, wherein the main control system is electrically connected with a display unit, and is respectively electrically connected with the transmitting system and the receiving system.
Preferably, the main control system comprises an FPGA unit and an embedded unit electrically connected to the FPGA unit, the embedded unit is electrically connected to the display unit, and the FPGA unit is electrically connected to the main control system and the receiving system.
Preferably, the receiving system comprises a receiving lens and a photoelectric detector which are sequentially arranged according to a return path of the laser, and the photoelectric detector is electrically connected with the FPGA unit.
Preferably, the emission system further includes a beam expanding system and/or a beam contracting system for changing a scanning angle of the laser, and the beam expanding system and/or the beam contracting system are disposed on a light emitting end side of the grating according to an emission path of the laser.
Preferably, the beam expanding system and/or the beam reducing system comprise a plurality of lenses, and the plurality of lenses are arranged at intervals, or the beam expanding system and/or the beam reducing system comprise a plurality of prisms, and the plurality of prisms are arranged at intervals.
Preferably, the tunable laser includes an optical fiber coupler and N DFB lasers with different wavelengths, output ends of the N DFB lasers are electrically connected to the optical fiber coupler, the optical fiber coupler is electrically connected to the main control system, and an output end of the optical fiber coupler is disposed on one side of an incident end of the collimating lens.
Preferably, the DFB lasers with N different wavelengths operate simultaneously, wavelength division multiplexing is realized by the fiber coupler, and N point light sources operating simultaneously are formed in the longitudinal scanning mechanism.
Preferably, the grating is one of a reflective grating or a transmissive grating.
Preferably, the device further comprises a rotating shaft, a rotating table is fixedly arranged at the upper end of the rotating shaft, a mounting base is arranged on the rotating table, a transmitting area and a receiving area are respectively arranged on the mounting base, the transmitting system is arranged in the transmitting area, and the receiving system is arranged in the receiving area.
Compared with the prior art, the technical scheme has the following effects:
(1) compared with the conventional laser radar scanning system which is realized by stacking lasers or Chinese patent of AWG-based laser radar scanning system with application number of 2021106086082, the invention realizes multi-channel scanning, improves the vertical scanning resolution in the laser radar scanning mechanism by the dispersion of gratings,
(2) laser emission system is simpler, through the form that adopts the grating, effectively reduces the rotating part volume, improves laser radar life-span.
Drawings
FIG. 1 is a schematic diagram of the overall framework of the present invention;
FIG. 2 is a schematic diagram of a frame of a transmitting system in a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a frame of a transmitting system in a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a frame of a transmitting system in a third embodiment of the present invention;
FIG. 5 is a schematic diagram of the beam expanding system of the present invention;
FIG. 6 is a schematic view of the overall structure of the present invention;
fig. 7 is a schematic diagram of the angular relationship between the reflection grating and the incident light in the third embodiment of the present invention.
In the figure: 1-a master control system; 100-an embedded unit; 101-an FPGA unit; 2-a transmitting system; 200-a tunable laser; 2000-DFB array; 2001-fiber optic couplers; 201-a collimating lens; 202-a grating; 2020-transmission grating; 2021-reflective grating; 2022-mirror; 203-a regulation system; 3-a receiving system; 300-receiving a lens; 301-a photodetector; 10-a turntable; 11-mounting a base.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below in detail and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
1-6, a raster-based lidar scanning system, comprising:
a transmitting system 2 for generating pulsed laser light;
the receiving system 3 is used for converging the laser returned by the measured object;
and the main control system 1 is used for processing the current signal returned by the receiving system 3, outputting corresponding data to the display unit, and controlling the transmitting system 2 to work according to the set mode.
The main control system 1 includes an FPGA unit 101 and an embedded unit 100 electrically connected to the FPGA unit 101, where the embedded unit 100 is electrically connected to the display unit, and herein, the embedded unit 100 is a signal transmission unit and the display unit is a PC.
The receiving system 3 comprises a receiving lens 300, wherein a photoelectric detector 301 is arranged at an output end of the receiving lens 300, in the invention, the photoelectric detector 301 is an IGA 128-APD model, the photoelectric detector 301 is electrically connected with the FPGA unit 101 and is used for converting an optical signal into an electric signal and inputting the electric signal into the FPGA unit 101 for processing and calculation, and the time difference between the emission and the receiving of the two signals is mainly realized, so that the detected distance is determined.
The transmitting system 2 is sequentially provided with the following components according to a laser transmitting path:
a tunable laser 200 for generating a continuous sweep laser;
a collimating lens 201 for collimating the laser light generated by the tunable laser 200;
a grating 202 for receiving the collimated laser light and performing dispersive vertical scanning;
in a practical application scenario, in order to change the scanning angle, an adjusting system 203 is arranged on the light outgoing side of the grating 202, and the adjusting system 203 is a beam expanding system and/or a beam contracting system.
It should be noted that the beam expanding system and/or the beam contracting system are composed of a plurality of light adjusting members for changing the light path, the plurality of light adjusting members are arranged at intervals, in the present invention, the light adjusting member is one of a spherical mirror or a prism, the arrangement mode is as shown in fig. 5, specifically, the beam expanding system is taken as an example to describe, wherein, the number of the light adjusting members is two, which are respectively a first light adjusting member 2030 and a second light adjusting member 2031, the focal length of the first light adjusting member 2030 is f1, the focal length of the second light adjusting member 2031 is f2, and the exit surface of the grating 202 is an entrance pupil surface, that is, the focal position of f1, the light beam diverges after passing through f1, the focal point of f2 is also placed on the exit surface of the grating 202, and it can be known by referring to the formula:
the beam expansion ratio is f2/f 1;
the expanded beam total length d is f 2-f 1;
by adopting the arrangement, the purpose of integral light weight can be realized.
The grating 202 in the emission system 2 adopts one of a transmission grating 2020 or a reflection grating 2021;
in the first and second embodiments, the grating 202 adopts a transmission grating 2020, and in the second embodiment, the tunable laser 200 includes a DFB array unit 2000, an output of the DFB array unit 2000 is electrically connected to a fiber coupler 2001, specifically, the DFB array unit 2000 is composed of N DFB lasers with different wavelengths, the N DFB lasers with different wavelengths operate simultaneously, wavelength division multiplexing is realized by the fiber coupler, and N point light sources operating simultaneously are formed in a longitudinal scanning mechanism; in addition, the optical fiber coupler 2001 in the present embodiment mainly functions to combine a plurality of signal wavelengths in one optical fiber for transmission. At the transmitting end, N DFB lasers operate at N different wavelengths, respectively, with appropriate spacing between the N wavelengths, denoted λ 1, λ 2.. λ N, respectively. The N light waves are respectively modulated by signals as carrier waves to carry signals, the light carrier signals with different wavelengths are combined and coupled into a single-mode optical fiber, and the light carrier signals with different wavelengths can be regarded as mutually independent (when the nonlinearity of the optical fiber is not considered), so that the multiplexing transmission of multi-path light signals can be realized in one optical fiber.
In the third embodiment, the grating 202 adopts a reflection grating 2021, and in order to ensure that the laser can complete the measurement purpose, a reflection mirror 2022 is arranged at the reflection end of the reflection grating 2021, and the light emitting end of the reflection mirror 2022 is connected with the optical path of the adjustment system;
it should be noted that the laser light is collimated by the collimating lens 201 to form a straight light path, the light path irradiates the reflection grating 2021 mentioned in this embodiment at a certain angle, the reflection grating 2021 is a blazed grating, light with different wavelengths exits at different angles, the incident angle is required to be as shown in fig. 7, it is known that the period (the distance between two connected grooves) of the blazed grating is D, and the included angle θ between the groove surface and the grating plane C is θ 0 (blaze angle) for a beam incident at angle psi, the single groove plane diffraction principal maximum is in the B direction; and the interference main maximum condition is as follows:
in order to enable the m-order interference principal maximum to be in the direction of the single-groove surface diffraction principal maximum B, according to the angle relation:
α＝θ 0 -ψ；β＝θ-θ 0 ；
the B direction is the direction of the single-groove surface diffraction principal maximum: α ═ β;
so theta 0 -ψ＝θ-θ 0 ；
The following can be obtained: psi + theta 2 theta 0 ；θ-ψ＝2α；
Thus: 2Dsin theta 0 cos α ═ m λ; with m, lambda, psi and D known, theta can be determined 0 (blaze angle), whereas, given the remaining values, the angle of incidence ψ can be determined.
The device using the scanning system structurally comprises a rotary table 10, wherein a rotating shaft (not shown in the figure) is fixedly arranged on the lower end face of the rotary table 10, a mounting base 11 is fixedly arranged on the upper end face of the rotary table 10, a transmitting area and a receiving area are arranged on the mounting base 11, the transmitting system is arranged in the transmitting area, and the receiving system is arranged in the receiving area.
In the description of the present invention, it is to be understood that the terms "central," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the figures, which are based on the orientations and positional relationships shown in the figures, and are used for convenience in describing the invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. Furthermore, the term "comprises" and any variations thereof are intended to cover non-exclusive inclusions.
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 (10)
1. A grating-based lidar scanning system comprising:
a transmitting system for generating pulsed laser light;
the receiving system is used for converging the laser returned by the measured object;
the method is characterized in that: the transmitting system comprises a tunable laser, a collimating lens and a grating which are sequentially arranged according to a laser transmitting path;
the tunable laser is used for generating continuous sweep laser;
the collimating lens is used for collimating the laser generated by the tunable laser;
and the grating is used for receiving the collimated laser to carry out dispersive vertical scanning.
2. A raster-based lidar scanning system as recited in claim 1, wherein: the remote control system is characterized by further comprising a master control system, wherein the master control system is electrically connected with the display unit and is respectively and electrically connected with the transmitting system and the receiving system.
3. A raster-based lidar scanning system as recited in claim 2, wherein: the main control system comprises an FPGA unit and an embedded unit electrically connected with the FPGA unit, the embedded unit is electrically connected with the display unit, and the FPGA unit is electrically connected with the main control system and the receiving system.
4. A raster-based lidar scanning system of claim 3, wherein: the receiving system comprises a receiving lens and a photoelectric detector which are sequentially arranged according to a return path of the laser, and the photoelectric detector is electrically connected with the FPGA unit.
5. A raster-based lidar scanning system as recited in claim 1, wherein: the transmitting system further comprises a beam expanding system and/or a beam contracting system which are used for changing the laser scanning angle, and the beam expanding system and/or the beam contracting system are arranged on one side of the light emitting end of the grating according to the transmitting path of the laser.
6. The raster-based lidar scanning system of claim 5, wherein: the beam expanding system and/or the beam contracting system comprise a plurality of light adjusting pieces used for adjusting the light path, and the light adjusting pieces are arranged at intervals.
7. A raster-based lidar scanning system as recited in claim 1, wherein: the tunable laser comprises an optical fiber coupler and N DFB lasers with different wavelengths, the output ends of the N DFB lasers are electrically connected to the optical fiber coupler, the optical fiber coupler is electrically connected with the master control system, and the output end of the optical fiber coupler is arranged on one side of the incident end of the collimating lens.
8. The raster-based lidar scanning system of claim 7, wherein: the DFB lasers with N different wavelengths work simultaneously, wavelength division multiplexing is realized through the optical fiber coupler, and N point light sources working simultaneously are formed in the longitudinal scanning mechanism.
9. A raster-based lidar scanning system as recited in claim 1, wherein: the grating is one of a reflective grating or a transmissive grating.
10. A raster-based lidar scanning system as recited in claim 1, wherein: the device is characterized by further comprising a rotating shaft, a rotating table is fixedly arranged at the upper end of the rotating shaft, a mounting base is arranged on the rotating table, a transmitting area and a receiving area are respectively arranged on the mounting base, the transmitting system is arranged in the transmitting area, and the receiving system is arranged in the receiving area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210633239.7A CN114966612A (en) | 2022-06-01 | 2022-06-01 | Laser radar scanning system based on grating |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210633239.7A CN114966612A (en) | 2022-06-01 | 2022-06-01 | Laser radar scanning system based on grating |
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| CN114966612A true CN114966612A (en) | 2022-08-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116299339A (en) * | 2023-05-25 | 2023-06-23 | 西安炬光科技股份有限公司 | Laser transmitting device, laser receiving device and laser radar |
| 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 |
-
2022
- 2022-06-01 CN CN202210633239.7A patent/CN114966612A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN116299339A (en) * | 2023-05-25 | 2023-06-23 | 西安炬光科技股份有限公司 | Laser transmitting device, laser receiving device and laser radar |
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