CN206132985U - Laser radar system based on fiber array - Google Patents
Laser radar system based on fiber array Download PDFInfo
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- CN206132985U CN206132985U CN201621192139.1U CN201621192139U CN206132985U CN 206132985 U CN206132985 U CN 206132985U CN 201621192139 U CN201621192139 U CN 201621192139U CN 206132985 U CN206132985 U CN 206132985U
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Abstract
The utility model discloses a laser radar system based on fiber array, include: laser instrument, the transmission optical system who contains a fiber array and transmission lens, first photoswitch, detector, the receipt optical system who contains the 2nd fiber array and receiver lens, second photoswitch, rotational scanning mechanism and control processing unit. A laser instrument and a fiber array are connected to first photoswitch, detector and the 2nd fiber array are connected to the second photoswitch, the system utilizes the photoswitch, moment of difference with the laser of laser instrument transmission in through a fiber array different optic fibre launch, and in receiving the lasing and transmit it to detector by the optic fibre that corresponds among the 2nd fiber array, carry out rotational scanning through rotational scanning mechanism to the space, control processing unit according to the lasing with received the await measuring distance of object of the time difference measurement of reflecting laser. The utility model discloses utilize fiber array to carry out the lasing and receive the lasing, it is small, with low costs.
Description
Technical field
This utility model belongs to laser radar field, and in particular to a kind of laser radar system based on fiber array.
Background technology
Laser radar technique has years of researches history, is initially applied to the fields such as national defence, Aero-Space.In recent years with
The development of laser technology and the information processing technology, laser radar is unmanned in ground mapping, robot space orientation, automobile
Etc. aspect have increasing application.
Laser radar technique has phase measurement, impulsive mensuration, triangulation etc. in specific technical scheme, its
Middle impulsive mensuration is high due to far measuring distance, certainty of measurement, of great interest.The side of implementing of impulsive mensuration
Formula is：Laser instrument launches laser, after collimation process is radiated at object under test surface, and some laser is in body surface meeting
Reflected, and be received by a detector.According to measurement transmitting laser and receive reflection laser time difference come calculate object under test and
The distance between laser instrument.
Using the laser radar of impulsive mensuration, often sending a pulse signal carries out one-shot measurement, that is, obtain determinand
One positional information of body, in the application such as unmanned of robot space orientation, automobile, to obtain the complete letter of local environment
Breath, needs substantial amounts of environmental measurement data.Existing laser radar technique scheme, typically adopts multithreading e measurement technology, that is, increases
Plus the number of the detector of the laser instrument and reception reflection laser of transmitting laser, increase the efficiency of measurement.It is applied to existing
As a example by 64 line laser radars in the unmanned field of automobile, using 64 laser instrument and 64 detectors.
Problem of the prior art is：
1) cost is very high：Multithreading measurement is needed using large number of laser instrument and detector, and at present laser instrument and
The price of detector is all higher.
2) system bulk is big：Each laser instrument and detector are required for matching circuit, a large amount of laser instrument and detection
The use of device, can cause the bulky of laser radar system.
3) be inconvenient to use：Take up room big, not with disguise, while have very high requirement on fixed installing.
The content of the invention
In terms of the purpose of this utility model is at least one of the problems referred to above and defect for solving prior art presence.
A purpose of the present utility model is to provide a kind of laser radar system, using optical fiber carry out laser transmitting and
Transmission, and optical fiber constitutes fiber array to launch laser using optical fiber the characteristics of have small volume, it is possible to achieve Airborne Lidar
The miniaturization of head.
Another purpose of the present utility model is to provide a kind of laser radar system, using the time division multiplex work(of photoswitch
Can, it is possible to use a laser instrument realizes the transmitting of multi-path laser signal, while multipath reflection signal is sent to same spy
Survey in device.
For achieving the above object, this utility model provides a kind of laser radar system based on fiber array, including：
Laser instrument, launches laser；Detector, detects the laser for reflecting, and by the signal input control for detecting
Reason unit；The laser signal that laser instrument is input into is carried out time division multiplex, connecting laser and the first optical fiber array by the first photoswitch
Row, turn between the different optical fiber of the first fiber array in the laser that laser instrument is launched by the different moment, play one and swash
Light device provides the effect of laser to multiple measurement circuitry；Second photoswitch, connection detector and the second fiber array, different
The optical fiber place circuit for having the laser for reflecting in second fiber array is turned on by the moment with detector, plays a detector
The effect detected by multipath reflection laser；Optical transmitting system, comprising the first fiber array and diversing lens, diversing lens
The laser of different fibre optical transmission in the first fiber array is collimated, and respectively launching with the horizontal different angles
Go；Receiving optics, comprising the second fiber array and receiving lens, receiving lens will reflect back into the laser pick-off for coming, and converge
Gather in corresponding with the optical fiber that the first fiber array is turned on this moment that root optical fiber in the second fiber array；Optical fiber and multichannel
The fibre bundle of optical fiber composition, by the first photoswitch and the second photoswitch respectively with optical transmitting system and receiving optics phase
Connection；Rotary scanning mechanism, by rotarily driving optical transmitting system and receiving optics rotation, makes laser radar to space
Diverse location is scanned measurement, and angle information during rotation is sent to control process unit；Control process unit, control
Laser instrument is launched laser and records launch time, controls the on off state and light path choosing of the first photoswitch and the second photoswitch
Select, control rotary scanning mechanism is rotated, record the time of detector input detectable signal and to carrying out data processing.
Wherein, the first fiber array and the second fiber array are made up of optical fiber；First photoswitch will be swashed at the different moment
Light device transmitting laser turn between the different optical fiber of the first fiber array, and by diversing lens will conducting laser alignment after
To launch with the horizontal different angles；The laser for reflecting converges to the second fiber array through receiving lens
In correspondence optical fiber, the optical fiber place circuit for having the laser for reflecting in the second fiber array is led by the second photoswitch with detector
It is logical；Control process unit launches laser according to the laser instrument that a certain moment controls and detector receives the time of reflection laser
Difference, it can be deduced that the distance of this object under test measured by moment laser radar, according to the angle of this moment rotary scanning mechanism
Information can draw object under test azimuth in the horizontal direction；Control process unit controls the first photoswitch and is input in laser instrument
With multiple-channel output optical fiber, the second photoswitch high speed switch operating between multiple-channel output optical fiber and detector input, while control
Rotary scanning mechanism rotates, and can obtain the space measurement data about object under test.
In this utility model, the laser of laser instrument transmitting is pulse laser, succinct in order to compose a piece of writing, and is below repeated no more.
Laser radar is a kind of survey tool to surrounding, and environment is made up of numerous objects under test, for convenience of table
State, in specific embodiment of the utility model, surrounding is substituted with object under test.
In this utility model, the number of fibers in first fiber array and the second fiber array is more than 2.
In this utility model, the rotary scanning mechanism is motor rotation platform, is rotated in the horizontal direction.By launching light
System and receiving optics are fixed on platform, and the rotation of motor rotation platform will drive optical transmitting system and receiving light
The rotation of system, so that laser radar system carries out rotation sweep measurement in the horizontal direction.
According to the embodiment of another exemplary of the present utility model, in first fiber array and the second fiber array
Number of fibers be any one between 2 to 128.
According to the embodiment of another exemplary of the present utility model, in first fiber array and the second fiber array
Optical fiber into the linear alignment.
According to the embodiment of another exemplary of the present utility model, in first fiber array and the second fiber array
Optical fiber into latticed array.
According to the embodiment of another exemplary of the present utility model, the outgoing end face of optical fiber in first fiber array
On the first focal plane of diversing lens.
According to the embodiment of another exemplary of the present utility model, the incident end face of optical fiber in second fiber array
On the second focal plane of receiving lens.
According to the embodiment of another exemplary of the present utility model, the diversing lens are collimating lens.
According to the embodiment of another exemplary of the present utility model, the receiving lens are plus lens.
According to the embodiment of another exemplary of the present utility model, the optical transmitting system includes the first optical fiber array
Row, the first microlens array and diversing lens, the first microlens array are made up of multiple first lenticulees.
According to the embodiment of another exemplary of the present utility model, first lenticule is collimating lens.
According to the embodiment of another exemplary of the present utility model, the first lenticule in first microlens array
It is one-to-one with the optical fiber in the first fiber array, each first lenticular primary optical axis is flat with the primary optical axis of diversing lens
OK, while by the center of corresponding fiber exit end face.
According to the embodiment of another exemplary of the present utility model, the receiving optics include the second optical fiber array
Row, the second microlens array and receiving lens, the second microlens array are made up of multiple second lenticulees.
According to the embodiment of another exemplary of the present utility model, second lenticule is plus lens.
According to the embodiment of another exemplary of the present utility model, the second lenticule in second microlens array
It is one-to-one with the optical fiber in the second fiber array, each second lenticular primary optical axis is flat with the primary optical axis of receiving lens
OK, while the center of incident end face by corresponding optical fiber.
According to the embodiment of another exemplary of the present utility model, the collimating lens are planoconvex lenss.
According to the embodiment of another exemplary of the present utility model, the plus lens is Kepler telescope.
According to the embodiment of another exemplary of the present utility model, the optical transmitting system, receiving optics and
Rotary scanning mechanism constitutes independent rotation sweep probe, spatially with laser instrument, detector, the first photoswitch, the second light
Switch is separated with control process unit.
This utility model difference with the prior art is：
This utility model carries out time division multiplex design using photoswitch, carries out multi-path laser signal using fiber array
Transmitting and reception, it is only necessary to a laser instrument and a detector, you can realize that multithreading is measured, reduce the cost of system.
This utility model is due to the characteristics of optical fiber has volume tiny so that laser radar system is miniaturized, and reduces body
Product.
This utility model carries out the transmission of laser signal using optical fiber so that optical transmitting system and receiving optics exist
Spatially can separate with laser instrument, detector etc., constitute independent rotation sweep probe.
By below with reference to accompanying drawing to this utility model description, other objects and advantages of the present utility model will
It is clear that and can help be fully understood by this utility model.
Description of the drawings
Fig. 1 shows general structure schematic diagram of the present utility model.
Fig. 2 shows a kind of optical transmitting system structural representation of the embodiment of exemplary of the present utility model.
Fig. 3 shows a kind of receiving optics structural representation of the embodiment of exemplary of the present utility model.
Fig. 4 shows a kind of front view of the fiber array of the embodiment of exemplary of the present utility model.
Fig. 5 shows the right view of the fiber array in Fig. 4.
Fig. 6 shows the A-A sectional views of the fiber array in Fig. 5.
Fig. 7 shows the structural representation of the fiber array of the embodiment of another kind of exemplary of the present utility model.
Fig. 8 shows the diversing lens scheme schematic diagram of the embodiment of another kind of exemplary of the present utility model.
Fig. 9 shows the receiving lens scheme schematic diagram of the embodiment of another kind of exemplary of the present utility model.
Figure 10 shows optical transmitting system fundamental diagram of the present utility model.
Figure 11 shows the fundamental diagram of receiving optics of the present utility model.
Figure 12 shows the general structure schematic diagram of the embodiment of another kind of exemplary of the present utility model.
Figure 13 shows the optical transmitting system structural representation of the embodiment of another kind of exemplary of the present utility model.
Figure 14 shows the receiving optics structural representation of the embodiment of another kind of exemplary of the present utility model.
Specific embodiment
Below by embodiment, and accompanying drawing is combined, the technical solution of the utility model is described in further detail.
In description, same or analogous drawing reference numeral indicates same or analogous part.It is following referring to the drawings to this utility model reality
The explanation for applying mode is intended to explain overall utility model design of the present utility model, and is not construed as to this practicality
A kind of new restriction.
In addition, in the following detailed description, for ease of explaining, elaborate many concrete details to provide to present disclosure
Embodiment comprehensive understanding.It will become apparent, however, that one or more embodiments can also be by the case of no detail
Implement.In other cases, known construction and device diagrammatically embodies to simplify accompanying drawing.
In the embodiment of an exemplary shown in Fig. 1 to Fig. 3, there is provided a kind of laser radar based on fiber array
System, including：
Laser instrument 102, launches laser；Detector 112, detects the laser that reflects, and by the signal input for detecting
Control process unit 101；The laser signal that laser instrument is input into is carried out time division multiplex, when different by the first photoswitch 103
Laser is switched between multiple-channel output optical fiber 110, is played a part of a laser instrument and laser is provided to multiple measurement circuitry；The
Two photoswitches 111, multichannel input optical fibre 114 is connected with detector 112, when different, by a certain input optical fibre 104
Signal turn on detector 112, play a part of a detector and multipath reflection laser detected；Optical transmitting system
105, comprising the first fiber array 201 and diversing lens 203, the multi-channel optical fibre signal that the first photoswitch 103 is exported is carried out into standard
Directly, and to launch with the horizontal different angles；Receiving optics 109, comprising the second fiber array 204 and reception
Lens 206, the laser pick-off that object under test surface is reflected, and focus on the different inputs for converging to the second photoswitch 111
In optical fiber 116；First photoswitch 103 is connected by multichannel input optical fibre 110 with optical transmitting system 105, multiple-channel output optical fiber 114
Second photoswitch 111 is connected with receiving optics 109；Rotary scanning mechanism 113, by rotarily driving optical transmitting system
105 and receiving optics rotation, make laser radar be scanned measurement to space diverse location, and angle during rotation is believed
Breath is sent to control process unit；Control process unit 101, control laser instrument 102 transmitting laser simultaneously record launch time, control
The on off state and light path of the first photoswitch 103 and the second photoswitch 111 is selected, and control rotary scanning mechanism 113 is revolved
Turn, and the detectable signal to the input of detector 112 carries out data processing.
Wherein, the laser that laser instrument 102 was launched at the different moment by the first photoswitch 103 is in the first fiber array 201
Different optical fiber between turn on, and by diversing lens 203 will turn on laser alignment after with the horizontal different angles send out
It is shot out；The laser for reflecting in the corresponding optical fiber that receiving lens 206 converge to the second fiber array 204, the second light
The optical fiber place circuit for having the laser for reflecting in second fiber array 204 and detector 112 are turned on by switch 111；Control
Processing unit 101 launches laser according to the laser instrument 102 that a certain moment controls and detector 112 receives reflection laser 108
Time difference, it can be deduced that the distance of this object under test 107 measured by moment laser radar, according to this moment rotary scanning mechanism
113 angle information can draw the azimuth of object under test 107；Control process unit 101 controls the first photoswitch 103 and is swashing
Light device 102 is input into and multiple-channel output optical fiber 110, and the second photoswitch 111 is in 112 input of multiple-channel output optical fiber 114 and detector
Between high speed switch operating, while control rotary scanning mechanism 113 rotate, substantial amounts of point-to-point measurement data can be obtained, so as to
Obtain the three-dimensional informations such as the size of periphery object under test, shape, distance.
Rotary scanning mechanism 113 is motor rotation platform, is rotated in the horizontal direction.By optical transmitting system and reception optics
System is fixed on platform, and the rotation of motor rotation platform will drive the rotation of optical transmitting system and receiving optics, from
And cause laser radar system to carry out rotation sweep measurement in the horizontal direction.
Control process unit 101 sends signal, drives the transmitting laser of laser instrument 102, the laser of transmitting to open into the first light
Close 103.First photoswitch 103 has multiple output ports, by multiple-channel output optical fiber 110, by the first photoswitch 103 and launching light
System 105 is connected, each output port of photoswitch 103, respectively the first fiber array 201 with optical transmitting system 105
In an optical fiber be connected.
While driving laser instrument 102 to work, the first photoswitch 103 of control works control process unit 101 so that
In certain time interval, 103 only a pair of input-output channels of the first photoswitch are in the conduction state, i.e., at any one time,
The laser of the transmitting of laser instrument 102, a certain optical fiber that can only be turned on in the first fiber array 201.Control process unit 101
Drive the first photoswitch 103 to be operated port to switch successively, make the optical fiber 104 in the first fiber array 201 be to sequentially turn on
's.Every optical fiber 104 in first fiber array 201 in conducting state, laser instrument 102 transmitting laser, all by optical fiber
104 emit, and every optical fiber is all similar to a miniature point source, and the first fiber array 201 is similar to a point source
Array.Under the control of the first photoswitch 103, each point source in this approximate pointolite array is lighted successively.
The number of the optical fiber in the first fiber array 201, i.e., the measurement line number of laser radar in this utility model is by
What the output port number of one photoswitch 103 was determined.According to public information, the photoswitch based on MEMS of optical communication field
Matured product comprising more than 128 output ports has been had at present, therefore one of ordinary skill in the art is not paying wound
On the premise of the property made is worked, laser thunder of the quantity in arbitrary line number of 2 to 128 can be included according to this utility model manufacture
Reach.Especially, the custom according to information processing, the line number of laser radar can be 2,4,8,16,32,64 or
Any one in 128.
To increase the understanding to fiber array in this utility model, it is shown that wrapping in this utility model in Fig. 4 to Fig. 6
Fiber array schematic diagram containing 16 optical fiber.Fig. 4 is shown front view, and Fig. 5 is shown that the right side of fiber array in Fig. 4 regards
Figure, Fig. 6 are shown the A-A directions sectional view of fiber array in Fig. 5.In Fig. 4 to Fig. 6, the optical fiber in fiber array is line
Property arrangement., it should be appreciated that select 16 linear light fibre arrays to be intended merely to make this utility model apparent explanation as schematic diagram and
A kind of exemplary embodiment chosen.
In the embodiment of an exemplary of the present utility model, as shown in figure 5, the optical fiber in fiber array is into wire
Arrangement.
In the embodiment of an exemplary of the present utility model, as shown in fig. 7, the optical fiber in fiber array is into grid
Shape arrangement.
In a kind of embodiment of exemplary of the present utility model, the first fiber array 201 and the second fiber array 204 have
There are identical structure and number of fibers.
Optical fiber in first fiber array and the second fiber array, plays a part of to transmit and launch laser, can be single
Mode fiber, or multimode fibre.
In the embodiment of an exemplary of the present utility model, the single-mode fiber in this utility model is international electric to meet
The optical fiber of letter alliance ITU-T G.652 standards.
In the embodiment of an exemplary of the present utility model, the multimode fibre in this utility model is international electric to meet
The optical fiber of letter alliance ITU-T G.651 standards.
In the embodiment of an exemplary of the present utility model, as shown in Figure 10, the first fiber array 201, wherein
The outgoing end face 301 of included all optical fiber is all on the same plane parallel with diversing lens 203, and is in transmitting
Object focus and the plane perpendicular to lens primary optical axis are crossed () on first focal plane of lens 203.From optically basic theory,
What the arbitrary point source (fiber exit port in the first fiber array 201) on 203 first focal plane of diversing lens was sent swashs
Light, after diversing lens 203, can become directional light, the direction of the launch of this directional light, be fiber end face with this point source
Position on one focal plane is relevant, identical with line (secondary optical axis) direction of the photocentre for connecting this point source and diversing lens 203.
Optical fiber in first fiber array 201, be arranged in order it is in alignment, on 203 first focal plane of diversing lens not
Same position, arranges in vertical direction, therefore the laser of different fibre optical transmission, after diversing lens 203, can with the horizontal
Different angle measuring targets 107 are irradiated, and the size of angle is relevant with the fiber position of launched laser.Therefore,
One fiber array 201 is coordinated with diversing lens, you can realize the function of the multi-thread measurement of laser radar.Meanwhile, rotary scanning mechanism
113 Periodic Rotatings in the horizontal direction, drive optical transmitting system 105 and receiving optics 109 to rotate, cause launching light
Measuring targets carry out periodic scan to the transmitting laser 106 that system 105 sends in the horizontal direction, and by angle during scanning
Information is sent to control process unit.Thus, according to measurement when launch laser optical fiber on 203 first focal plane of diversing lens
Position, laser radar system is obtained object under test 107 at the azimuth of vertical direction；According to rotary scanning mechanism 113
The angle information of the horizontal direction of control process unit 101 is given, the azimuth in the horizontal direction of object under test 107 is obtained；
The distance of object under test 107 can be measured according to transmitting laser and the time difference for receiving laser, according to distance and vertical, horizontal direction
Azimuth, the three-dimensional spatial information of object under test can be drawn.
The laser of fibre optical transmission in first fiber array 201, after diversing lens 203, with the horizontal different
Angle measuring targets 107 are irradiated, and on 107 surface of object under test, some laser can reflect, a part of reflection laser
108 can be received by receiving optics 109.In the embodiment of an exemplary of the present utility model, such as Fig. 3 and Figure 12 institutes
Show, after reflected light 108 is received by receiving lens 206, be coupled in the second fiber array 204.Light in second fiber array 204
Fine incident end face 302, (crosses rear focus and perpendicular to the flat of primary optical axis all on the second focal plane of receiving lens 206
Face), the principle similar to front described optical transmitting system 105, as shown in figure 11, every optical fiber in the first fiber array 201
Through the transmitting laser 106 that diversing lens 203 are irradiated to object under test 107, its reflection laser 108 can be coupled into the second optical fiber
In array 204 in corresponding optical fiber.
Control process unit 101 controls the first photoswitch 103 by certain root in laser instrument 102 and the first fiber array 201
While optical fiber is turned on, control the second photoswitch 111, by the second fiber array 204 with turn in first fiber array 201
That corresponding root optical fiber of optical fiber is turned on detector 112, and therefore reflection laser 108 detected 112 receives, and signal is admitted to control
Processing unit processed 101.
In t0Moment, control process unit 101 control laser instrument 102 transmitting laser, while by photoswitch 103 with optical fiber
The port conducting that first optical fiber in array 201 is connected, the laser of the transmitting of laser instrument 102 is therefore by fiber array 201
First optical fiber launch to diversing lens 203, diversing lens 203 are collimated to laser, and according to first optical fiber at which
Launch laser 106 to object under test 107 at a particular angle in vertical direction in position on first focal plane.
There is reflex on 107 surface of object under test in transmitting laser 106, a part of reflection laser 108 is by receiving lens
206 receive.Receiving lens 206 by reflection laser 108 converge be coupled into corresponding to first optical fiber in the first fiber array 201
The second fiber array 204 first optical fiber in.In t0Moment, control process unit 101 also send control signal, drive the
Two photoswitches 111 carry out light path selection, and first optical fiber in the second fiber array 204 is turned on detector 112, and reflection swashs
Therefore light 108 is received by detector 112, and the transmitting laser 108 for receiving is being admitted to control process list after opto-electronic conversion
Unit 101, control process unit 101 records moment t now1, and control signal is sent, by the first photoswitch 103 and the second light
All passages of switch 111 are all closed.
Make t1Moment and t0The time difference at moment is Δ T, it is assumed that laser instrument 102 is in same position with control process unit 101
Put, according to the measuring principle of pulse detection method, on the object under test 107 measured in this measurement certain point and laser instrument 102 away from
From L it isWherein C is the aerial transmission speed of laser.Meanwhile, as shown in figure 12, according to the first optical fiber
First optical fiber location on the focal plane of diversing lens 203 in array 201, you can obtain what first optical fiber sent
Launch angle of transmitting laser 106 of the laser after diversing lens 203 in vertical direction, i.e. thus available object under test
107 surface points are at the azimuth residing for vertical direction.In t0Moment and t1Moment, rotary scanning mechanism 113 respectively will be in levels
Angle information residing for direction is sent to control process unit 101, then the azimuth in the horizontal direction of object under test 107 is located
Between the two angles, as a kind of preferred version, t is taken0Moment and t1Angle residing for moment rotary scanning mechanism 113
Meansigma methodss are used as object under test azimuth in the horizontal direction in this measurement.
In t2Moment, the control transmitting laser of laser instrument 102 of control process unit 101, and drive the first photoswitch 103 and the
Two photoswitches 111, by second optical fiber in laser instrument 102 and the first fiber array 201, detector 112 and the second optical fiber array
Second optical fiber in row 204 is simultaneously turned on, into the measure the cycle of second optical fiber in the first photoswitch 103.Note t2When
Carve and t0The time difference at moment is T, and during this is this utility model, laser radar system is obtained shared by a measurement data
Time.
Laser instrument 102 transmitting laser be pulse laser, certainty of measurement and pulse width of the laser radar to space length
Relevant, in general, pulse width is wider, and certainty of measurement is lower.Simultaneously as the measurement distance and pulse width of laser radar
Also there is relation, as pulse width is wider, laser energy is bigger, then measurement distance is bigger.Therefore, general pulse width is comprehensive
Consider.
Laser instrument 102 is periodic transmission pulse laser, measurement of its cycle according to object under test or laser radar
Distance determines that the cycle should propagate a time required back and forth more than laser in measurement distance.It is exemplary as one kind
Explanation, when the distance of object under test 106 is 150 meters, launch laser from laser instrument 102, laser reaches object under test 106
Behind surface, the time that reflection laser 107 is received by a detector is about 1 microsecond, then the cycle of 102 emission pulse laser of laser instrument will
It is delicate more than 1.For convenience of one of ordinary skill in the art deeper into understanding this utility model, as a kind of exemplary theory
Bright, the cycle that can select 102 emission pulse laser of laser instrument is 2 microseconds, and pulse width was 10 nanoseconds, i.e., every 2 microsecond launches one
Subpulse width is the laser of 10 nanoseconds.It will be apparent to an ordinarily skilled person in the art that the cycle of laser instrument 102 is 2 microseconds
It is a kind of exemplary illustration for 10 nanoseconds with pulse width, a kind of restriction of the present embodiment should not be become.
Control process unit 101 carries out light path selection by controlling the first photoswitch 103 and the second photoswitch 111 so that
Optical fiber in first fiber array 201 and the second fiber array 204 is worked successively, then the first fiber array comprising N root optical fiber
201 and second fiber array 204 a complete job time be 2N microseconds.Assume the first fiber array 201 and the second optical fiber
64 piece optical fiber are included in array 204 respectively, then, in 128 microseconds, 64 pairs of optical fiber are worked once successively, obtain object under test
The distance and angle information of 64 points on 107 surfaces.
Control process unit 101 is carried out periodically in control laser instrument 102, the first photoswitch 103 and the second photoswitch 111
While work, control rotary scanning mechanism 113 is rotated, and drives optical transmitting system 105 and receiving optics 109 to exist
Horizontal direction carries out rotation sweep.
In the embodiment of an exemplary of the present utility model, the rate of scanning of rotary scanning mechanism 113 is 20 hertz,
That is the time of run-down is 50 milliseconds.
In the embodiment of an exemplary of the present utility model, as shown in figure 1, optical transmitting system 105, reception optics
The device such as system 109 and control process unit 101, laser instrument 102 is spatially integrated in together, therefore rotation sweep machine
Structure 113 is to drive whole laser radar system to carry out rotation sweep.
In the embodiment of an exemplary of the present utility model, as shown in figure 5, the first fiber array 201 and the second light
Optical fiber in fibre array 204 is by the linear alignment.
In the embodiment of an exemplary of the present utility model, as shown in fig. 7, the first fiber array 201 and the second light
Optical fiber in fibre array 204 is by latticed array.
In the embodiment of an exemplary of the present utility model, as shown in figure 8, diversing lens 203 are planoconvex lenss.
In the embodiment of an exemplary of the present utility model, as shown in figure 9, receiving lens 206 are hoped for Kepler-type
Remote mirror.
In the embodiment of an exemplary of the present utility model, as shown in figure 12, optical transmitting system 105, receiving light
System 109 and rotary scanning mechanism 113 constitute independent rotation sweep probe 115.Launching light in rotation sweep probe 115
System 105 is connected with the first photoswitch 103 by fibre bundle 110, and receiving optics 109 pass through fibre bundle 114 and second
Photoswitch 111 is connected, and rotary scanning mechanism 115 is connected with control process unit 101 by wire.Rotation sweep probe 115 exists
Spatially can be with the first photoswitch 103, the second photoswitch 111, control process unit 101, laser instrument 102 and detector 112
Separate.Independent rotation sweep 115 simple structures of probe, small volume are easily installed.
In the embodiment of the exemplary of the optical transmitting system 105 shown in Fig. 2, due to emitting facet and the transmitting of optical fiber
Lens 203 have a certain distance, and from the laser of fibre optical transmission in the first fiber array 201, with than the larger angle of divergence, lead
Cause to reach the hot spot of 203 incidence end of diversing lens than larger from optical fiber.
In the embodiment of an exemplary of the present utility model, as shown in figure 13, in the first fiber array 201 and transmitting
Between lens 203, have first microlens array 202,303 quantity of the first lenticule in the first microlens array 202 with
And arrangement mode, it is identical with number of fibers and arrangement mode in the first fiber array 201, in the first microlens array 202
In first lenticule 303 and the first fiber array 201, optical fiber is one-to-one.In first microlens array 202 first is micro-
Lens 303, are collimating lens.As a kind of preferred version, it is planoconvex lenss.As a kind of preferred version, the first lenticule battle array
The first lenticule 303 in row 202, primary optical axis are parallel with the primary optical axis of diversing lens 203, and pass through its corresponding launching fiber
Center, on primary optical axis.Therefore, the first lenticule 303 in microlens array 202, by optical fiber in the first fiber array 201
The laser of transmitting, is collimated, and diversing lens 203 is transmitted with the direction parallel with 203 primary optical axis of diversing lens, and is transferred to
When on diversing lens 203, hot spot is less.From optics ABC, parallel to the incident ray of lens primary optical axis, by saturating
After mirror, the extended line of its emergent ray or emergent ray, by the focus of lens, thus, according to the optical fiber in fiber array 201
Fibre core position and the focal length of diversing lens 203, the laser of this fibre optical transmission can be learnt through diversing lens 203
Afterwards, the deflection of directive object under test 107.
In the embodiment of the exemplary of the receiving optics shown in Fig. 3, the incidence of 204 optical fiber of the second fiber array
End, on the focal plane in receiving lens 206, the reflected light 108 on 107 surface of object under test is coupled into the by receiving lens 206
In the optical fiber of two fiber arrays 204.As the numerical aperture of optical fiber is smaller, coupling efficiency is than relatively low.
In the embodiment of an exemplary of the present utility model, as shown in figure 14, the second fiber array 204 and reception are saturating
Between mirror 206, there is second microlens array 205.The second lenticule 304 in second microlens array 205, is to converge thoroughly
Mirror.As a kind of preferred version, it is planoconvex lenss.Used as a kind of preferred version, second in the second microlens array 205 is micro-
Mirror 304, primary optical axis are parallel with the primary optical axis of receiving lens 206, and by the center of its corresponding launching fiber, in primary optical axis
On.The second lenticule 304 in second microlens array 205, by the reflection laser 108 transmitted from receiving lens 206,
Secondary convergence is carried out, is coupled in corresponding optical fiber.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this area
Technical staff can make improvements, the rushing in terms of not recurring structure or principle of the structure described in various embodiments
Independent assortment can be carried out in the case of prominent.
Although being illustrated to this utility model with reference to accompanying drawing, the embodiment disclosed in accompanying drawing is intended to this practicality
New embodiment is illustrative, and it is not intended that to a kind of restriction of the present utility model.
Although illustrating that some embodiments of design of the present utility model have been shown and have illustrated, ordinary skill people
Member will be understood that, in the case of the principle and spirit conceived without departing substantially from this utility model, these embodiments can be made a change, originally
The scope of utility model is limited with claim and their equivalent.
Claims (10)
1. a kind of laser radar system based on fiber array, including：
Laser instrument, launches laser；
Optical transmitting system, comprising the first fiber array and diversing lens, diversing lens are by different optical fiber in the first fiber array
The laser of transmitting is collimated, and respectively launching with the horizontal different angles；
First photoswitch, connecting laser and the first fiber array, the laser launched laser instrument at the different moment is first
Turn between the different optical fiber of fiber array；
Detector, detects the laser that reflects, and by the signal input control process unit for detecting；
Receiving optics, comprising the second fiber array and receiving lens, receiving lens will reflect back into the laser pick-off for coming, and converge
Gather in corresponding with the optical fiber that the first fiber array is turned on this moment that root optical fiber in the second fiber array；
Second photoswitch, connection detector and the second fiber array, will be reflected back in the second fiber array at the different moment
The optical fiber place circuit of the laser for coming is turned on detector；
Rotary scanning mechanism, by rotarily driving optical transmitting system and receiving optics rotation, makes laser radar to space
Diverse location is scanned measurement, and angle information during rotation is sent to control process unit；
Control process unit, control laser instrument transmitting laser simultaneously record launch time, control the first photoswitch and the second photoswitch
On off state and light path select, control rotary scanning mechanism rotated, record detector be input into detectable signal time
And to carrying out data processing；
It is characterized in that：
First fiber array and the second fiber array are made up of optical fiber；First photoswitch is at the different moment by laser
Device transmitting laser turn between the different optical fiber of the first fiber array, and by diversing lens will conducting laser alignment after with
Launch with the horizontal different angles；The laser for reflecting converges to the right of the second fiber array through receiving lens
In answering optical fiber, the optical fiber place circuit for having the laser for reflecting in the second fiber array is led by the second photoswitch with detector
It is logical；Control process unit launches laser according to the laser instrument that a certain moment controls and detector receives the time of reflection laser
Difference, it can be deduced that the distance of this object under test measured by moment laser radar, according to the angle of this moment rotary scanning mechanism
Information can draw object under test azimuth in the horizontal direction；Control process unit controls the first photoswitch and is input in laser instrument
With multiple-channel output optical fiber, the second photoswitch high speed switch operating between multiple-channel output optical fiber and detector input, while control
Rotary scanning mechanism rotates, and can obtain the space measurement data about object under test.
2. laser radar system according to claim 1, it is characterised in that first fiber array and the second optical fiber array
Number of fibers in row is more than 2, and optical fiber is into wire or latticed array.
3. laser radar system according to claim 2, it is characterised in that the outgoing of optical fiber in first fiber array
, on the first focal plane of diversing lens, in the second fiber array, the incident end face of optical fiber is flat in second Jiao of receiving lens for end face
On face.
4. laser radar system according to claim 3, it is characterised in that the diversing lens are collimating lens, are received
Lens are plus lens.
5. laser radar system according to claim 1, it is characterised in that the optical transmitting system includes the first optical fiber
Array, the first microlens array and diversing lens, the first microlens array are made up of multiple first lenticulees, and the first lenticule is
Collimating lens.
6. laser radar system according to claim 5, it is characterised in that the first lenticule in the first microlens array
It is one-to-one with the optical fiber in the first fiber array, each first lenticular primary optical axis is flat with the primary optical axis of diversing lens
OK, while by the center of corresponding fiber exit end face.
7. laser radar system according to claim 1, it is characterised in that the receiving optics include the second optical fiber
Array, the second microlens array and receiving lens, the second microlens array are made up of multiple second lenticulees, and the second lenticule is
Plus lens.
8. laser radar system according to claim 7, it is characterised in that second in second microlens array is micro-
Lens are one-to-one, the key lights of each second lenticular primary optical axis and receiving lens with the optical fiber in the second fiber array
Axle is parallel, while the center of the incident end face by corresponding optical fiber.
9. the laser radar system according to any one of claim 4 or 5, it is characterised in that the collimating lens are
Planoconvex lenss.
10. laser radar system according to claim 1, it is characterised in that the optical transmitting system, receive optical system
System and rotary scanning mechanism constitute independent rotation sweep probe, spatially with laser instrument, detector, the first photoswitch, the
Two photoswitches are separated with control process unit.
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| CN201621192139.1U CN206132985U (en) | 2016-10-27 | 2016-10-27 | Laser radar system based on fiber array |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621192139.1U CN206132985U (en) | 2016-10-27 | 2016-10-27 | Laser radar system based on fiber array |
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| CN107843901A (en) * | 2017-10-26 | 2018-03-27 | 清华大学 | LDMS and method |
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