CN206178145U - Super spectrum laser radar system - Google Patents
Super spectrum laser radar system Download PDFInfo
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- CN206178145U CN206178145U CN201621127652.2U CN201621127652U CN206178145U CN 206178145 U CN206178145 U CN 206178145U CN 201621127652 U CN201621127652 U CN 201621127652U CN 206178145 U CN206178145 U CN 206178145U
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Abstract
The utility model provides a super spectrum laser radar system which includes: the light source subsystem, this light source subsystem includes: the laser lamp -house device, its output set frequency's laser is as surveying light and laser radar principal wave, light receiving subsystem, this light receiving subsystem include: receive the camera lens, receive external echo, and the incident laser frequency selection ware, be located the echo light path rear of receiving the camera lens, only allow set frequency's echo to pass through, and signal acquisition subsystem, gather laser radar principal wave and echo and sampling.
Description
Technical field
This utility model is related to laser radar technique field, more particularly to one kind exportable multi-frequency in automatic Pilot
Laser beam and the continuously adjustable ultraphotic spectrum laser radar system of beam frequencies and its control method.
Background technology
Existing laser radar apparatus can detect unifrequent return laser beam, by the flight time of Laser Measurement pulse
The distance between object measured point and laser radar system information can be calculated.But the deficiency of conventional laser radar system it
Place is：Can only outgoing single-frequency laser and detect reception return laser beam, detection spectral coverage be subject to LASER Light Source output frequency
Restriction, it is impossible to according to demand change shoot laser beam frequency.
Traditional laser radar system is used automatic Pilot at present more.Laser radar is applied and can detect row in automatic Pilot
Front is sailed with the presence or absence of barrier and the distance between barrier and laser radar system information is provided, information can be to drive automatically
Sail decision-making to submit necessary information.It but is disadvantageous in that：Carry identical when there is the platform (vehicle or flying object) of more than
When the laser radar of model carries out automatic Pilot, the frequency of the outgoing beam of laser radar is identical, can produce interference each other,
The return laser beam that Airborne Lidar is measured may not its own system outgoing, thus obtained range information can produce mistake, draw
Play the erroneous judgement of automated driving system.
There is part research institution to be equipped on automatic Pilot using the laser radar system with different frequency outgoing beam to put down
On platform, although can so solve the problems, such as that light beam is interfered with each other between laser radar, when automatic Pilot platform quantity becomes
After more, it would be desirable to the laser radar of more different frequency output beams.And the frequency one of the output beam of the laser radar of routine
Determine and only there are several special fixed values, it is impossible to export the light beam of optional frequency.Therefore multiple automatic Pilots can not be met to put down
Platform carries the demand of the laser radar of different frequency light beam.
Utility model content
(1) technical problem to be solved
In view of above-mentioned technical problem, in order to overcome the above-mentioned deficiencies of the prior art, the utility model proposes a kind of ultraphotic
Spectrum laser radar system.
(2) technical scheme
According to one side of the present utility model, there is provided a kind of ultraphotic composes laser radar system, and which includes：Light source subsystem
System, the light source subsystem include：Laser light-source device, the laser of its output setpoint frequency is used as detection light and laser radar master
Ripple；Light receiving subsystem, the light receiving subsystem include：Camera lens is received, extraneous echo is received；And incident laser frequency is selected
Device, positioned at the echo light path rear for receiving camera lens, only allows the echo of setpoint frequency to pass through；And signals collecting subsystem, adopt
Collect the main ripple of the laser radar and echo and sample.
(3) beneficial effect
From above-mentioned technical proposal as can be seen that this utility model has the advantages that：
(1) using the adjustable laser aid of beam frequencies, the light beam of setpoint frequency is selected as detection light and receives echo,
Obtain result of detection, it is to avoid the interference between the laser radar system caused because frequency is identical.
(2) laser frequency selector is set in echo light path, only allows to pass through with detection light frequency identical echo, keep away
The laser for exempting from other frequencies is interfered to result of detection.
(3) the laser frequency selector used in Laser emission subsystem, can be with by adjusting laser frequency selector
The frequency of laser radar output beam is selected, the band connection frequency Adjustment precision of laser frequency selector is high, can be in one fixed width
Spectral region in have multiple frequency settings, make the light beam of the exportable multiple frequencies of laser radar system, make the super spectral laser
Radar system has the ability of frequency division multiplexing, and the quantity being multiplexed in theory can reach up to a hundred.
(4) photodetector used in return laser beam receiving subsystem, with broadband response range, when ultraphotic is composed
After laser radar system changes the frequency of shoot laser, as long as laser frequency is in detector frequency response range, it is only necessary to same
The band connection frequency of step ground adjustment laser frequency selector, you can realize the reception to return laser beam, without changing light electrical resistivity survey
Device is surveyed, the suitability that ultraphotic composes laser radar system is improve.
(5) it is adjusted in synchronism laser frequency choosing in the frequency and echo light path of the detection light of the adjustable laser aid of beam frequencies
The band logical frequency of device is selected, changes detection light frequency to realize detection when the laser radar system of same frequency is run into.
Description of the drawings
Fig. 1 is the structural representation of ultraphotic spectrum laser radar system in this utility model embodiment 1；
Fig. 2 is the structural representation of ultraphotic spectrum laser radar system in this utility model embodiment 2.
【Main element】
The super continuous laser sources of 11-；12- shoot laser frequency selectors；13- beam collimators；14- beam splitters；
The first photoelectric sensors of 15-；16 tunable laser sources；21- receives camera lens；22- incident laser frequency selectors；23- second
Photoelectric sensor；24- Data Acquisition Cards；25- computers.
Specific embodiment
This utility model provides a kind of adjustable ultraphotic of beam frequencies and composes laser radar system, and which includes light source subsystem
System, light receiving subsystem, signals collecting subsystem and signal processing subsystem.
Light source subsystem provides the laser of setpoint frequency as detection light and the main ripple of laser radar, and detection light beam runs into detection
Echo is formed after target, the main ripple of laser radar is received by a photoelectric detector to form the main ripple signal of telecommunication.
Light receiving subsystem receives the echo of detection target reflection, only receives the detection light beam frequency with the transmitting of light source subsystem
Rate identical echo simultaneously generates electric echo signal, and the echo different from the detection light frequency that light source subsystem is launched is carried out cutting
Only.
Signals collecting subsystem receives the main ripple of the laser radar and echo is converted to the signal of telecommunication and samples.
Signal processing subsystem, its control light source subsystem send the laser of setpoint frequency, and control to receive respective frequencies
Electric echo signal and the main ripple signal of telecommunication, be analyzed process obtain detect target three-dimensional information and distance.
To make the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with specific embodiment, and
Referring to the drawings, this utility model is further described.
Embodiment 1
Present embodiments provide a kind of adjustable ultraphotic of beam frequencies and compose laser radar system, it include light source subsystem,
Light receiving subsystem and signal acquisition process subsystem.
As shown in figure 1, light source subsystem includes super continuous laser source 11,12 beam collimation of shoot laser frequency selector
Device 13 and beam splitter 14.The super continuous laser source 11 produces laser, and the laser is comprising visible ray, near-infrared and shortwave
The super continuum light spectrum laser of infrared three kinds of wave bands.Shoot laser frequency selector 12, beam collimator 13, beam splitter 14 according to
In front of the secondary laser emitting light path positioned at super continuous laser source 11,12 strobe sets frequency of shoot laser frequency selector swash
Light, in super continuum light spectrum laser, only setpoint frequency laser is by shoot laser frequency selector 12, the laser Jing light of setpoint frequency
After beam collimator 13 is collimated, beam splitter 14 is incident to, beam splitter 14 is arranged in 45 degree of angles with the optical axis of LASER Light Source,
, used as detection light, the laser of reflecting portions set frequency is used as laser thunder for the laser of 14 transmissive portion setpoint frequency of beam splitter
Up to main ripple, wherein setpoint frequency is preferably single-frequency.
Preferably, the super continuous laser source 11 is the super continuous laser source of burst pulse, and its wave-length coverage is 400nm-
2400nm, more than equal to 150mW, repetition rate is 25KHz-30KHz to output, pulse width 1ns, and further, this surpasses
Super continuous laser source of the continuous laser source 11 for SCM-30-450 models.
Preferably, the shoot laser frequency selector 12 is tunable Fabry-Perot filter, and the long scalable of Fa-Po cavity is selecting
Band connection frequency, the wavelength change precision of Fabry-Perot filter is 10nm.
Preferably, light beam sampling mirror of the beam splitter 14 for high-transmission rate antiradar reflectivity, most setpoint frequencies
Laser by high-transmission rate antiradar reflectivity light beam sampling mirror transmission, remainder laser is by the light beam of high-transmission rate antiradar reflectivity
Sampling mirror reflection, wherein, absorbance can be 99%, and reflectance is 1%；Absorbance can be 99.9%, and reflectance is
0.1%；The absorbance of high-transmission rate antiradar reflectivity mirror can be higher, and reflectance can be lower, as long as reflected light can be aftermentioned
The first photoelectric sensor 15 detect and produce the signal of telecommunication.
Light receiving subsystem includes receiving camera lens 21, incident laser frequency selector 22.Incident laser frequency selector 22
Positioned at the echo light path rear for receiving camera lens 21, the laser of 22 strobe sets frequency of incident laser frequency selector, return laser beam
In only setpoint frequency laser by incident laser frequency selector 22, and the setpoint frequency of the gating of incident laser frequency selector 22
It is identical with the setpoint frequency of the gating of shoot laser frequency selector 12.
Preferably, the incident laser frequency selector is tunable Fabry-Perot filter, and the long scalable of Fa-Po cavity is selecting to lead to
Band frequency, the wavelength change precision of Fabry-Perot filter is 10nm.
Signals collecting subsystem includes the first photoelectric sensor 15, the second photoelectric sensor 23, high-speed figure capture card 24
With computer 25.The signal of the main ripple of laser radar of the detection reflection of beam splitter 14 of the first photoelectric sensor 15, the second photoelectricity
Sensor 23 is located at the light path rear of incident laser frequency selector 22, detects the signal of the return laser beam of setpoint frequency, at a high speed
The signal input part of Data Acquisition Card 24 connects the signal output part of the first photoelectric sensor 15 and the second photoelectric sensor 23, connects
Receive the return laser beam electricity that the main ripple signal of telecommunication of laser radar and the second photoelectric sensor 23 of the generation of the first photoelectric sensor 15 are produced
Signal is simultaneously sampled to them, and send to signal processing subsystem.
Preferably, the first photoelectric sensor 15 is Si detector arrays, such as PIN or APD detectors, or is InGaAs
Detector array.
Preferably, the second photoelectric sensor 23 is Si detector arrays, such as PIN or APD detectors, or is InGaAs
Detector array.
Signal processing subsystem includes computer 25, and computer 25 is based on the main ripple sampled signal and echo samples for receiving
Signal, is analyzed and processes, and obtains detecting range information, spectral information and the three-dimensional information of target.The output of computer 25
They are carried out by the super continuous laser source 11 of end connection, shoot laser frequency selector 12 and incident laser frequency selector 22
Control, that is, control the Laser emission of super continuous laser source 11, control shoot laser frequency selector 12 and incident laser frequency
The band logical frequency of selector 22.
Specific computer 25 includes control module, threshold value judgment module and calculates processing module, and control module control swashs
The setpoint frequency and the incident laser frequency selector (22) of the output laser of radiant device allows the setting by laser
Frequency, threshold value judgment module are based on predetermined threshold value, judge echo samples signal whether saturation, if echo samples signal saturation,
Then control device changes the setpoint frequency, calculates processing module in the case of echo samples signal is unsaturated, to the master
Ripple sampled signal and echo samples signal its be analyzed and process, obtain the information of detection target.
The adjustable ultraphotic spectrum laser radar system of the present embodiment beam frequencies is preferred on automatic Pilot platform, its work
Principle is as follows：
Computer 25 produces trigger, and under the control of trigger, super continuous laser source 11 is sent comprising visible
The super continuum light spectrum laser of light, three kinds of wave bands of near-infrared and short-wave infrared, the super continuum light compose laser light incident to shoot laser frequency
Rate selector 12, computer 25 also produce control signal control shoot laser frequency selector 12 and incident laser frequency selector
22 tuning band connection frequencies are to the setting value for needing, the laser Jing beam collimations of the setpoint frequency of shoot laser frequency selector output
Device 13 is incident to beam splitter 14 after collimating, and the laser of section sets frequency is transmitted from beam splitter 14, used as detection light
To detection objective emission, the laser of section sets frequency is reflected by beam splitter 14, and reflected light is as main ripple by the first photoelectricity
Sensor 15 is received, and the first photoelectric sensor 15 generates the main ripple signal of telecommunication of laser radar, and the main ripple signal of telecommunication is sent paramount
Speed digital capture card 24, high-speed figure capture card 24 carry out digital sample to the main ripple signal of telecommunication of laser radar, and by sampled signal
Send to computer 25.
Detection light return laser beam for being formed Jing after detection target reflection received by camera lens 21 is received, and received camera lens 21 swashs
Optical echo is incident to incident laser frequency selector 22, the band connection frequency phase of echo medium frequency and incident laser frequency selector 22
Same composition is incident to the second photoelectric sensor 23 by incident laser frequency selector 22, and light is believed by the second photoelectric sensor 23
The return laser beam signal of telecommunication number is converted to, and the return laser beam signal of telecommunication is sent to high-speed figure capture card 24, high-speed figure collection
24 pairs of return laser beam signals of telecommunication of card carry out digital sample, and sampled signal is sent to computer 25.
Computer 25 is analyzed and is processed, visited based on the main ripple sampled signal and echo samples signal that receive
Survey range information, spectral information and the three-dimensional information of target.
The present embodiment also provides the control method that a kind of ultraphotic composes laser radar system, comprises the following steps：
Step A：Control light source subsystem exports the laser of setpoint frequency, while controlling receiving subsystem only allows the setting
The laser of frequency passes through；
Specifically, the shoot laser frequency in 25 Synchronization Control the present embodiment ultraphotic of computer spectrum laser radar system is selected
Device 12 and incident laser frequency selector 22, only allow the laser of setpoint frequency to pass through, and the setpoint frequency is single-frequency.
Step B：The laser radar for receiving main ripple and echo are converted to the signal of telecommunication and are sampled.
Step C：Judge whether the echo samples signal of telecommunication is saturation signal, if so, then change the setpoint frequency, return to step
A, otherwise execution step D；
Specifically, amplitude of the maximum amplitude of saturation signal much larger than conventional echo sampled signal, if computer 25 is received
The echo samples signal for arriving is more than threshold value, then judge that laser radar system have received the identical of other laser radar system transmittings
The direct projection of rate laser pulse, that is, have received saturation signal, and computer 25 will send control signal and change shoot laser frequency
The band connection frequency of selector 12 and incident laser frequency selector 22.In order to ensure to change the effectiveness of band connection frequency and avoid again
The secondary mutual interference for same frequency laser occur, sets band connection frequency regulation rule, and for example regulation is when automatic Pilot platform travel direction
For east or north when, shoot laser wavelength to long wave length direction adjust (band connection frequency reduction)；When automatic Pilot platform traveling side
When Xiang Weixi or south, shoot laser wavelength adjusts (band connection frequency increase) to shortwave length direction, wherein can be using in ultraphotic
Spectrum laser radar system arranges gyroscope to judge current driving.The wavelength for passing through is allowed to adjust essence according to laser frequency selector
The adjusting step of optical maser wavelength can be set as 10nm~20nm by degree.Judge laser direct projection, change laser frequency by computer 25
A series of actions of rate selector band connection frequency so that laser radar system is provided with the feelings for same frequency Laser interferometers occur
The ability evaded during condition, improves the safety of automatic Pilot platform.
Step D：Result of detection is obtained based on the main ripple sampling signal of telecommunication and the echo samples signal of telecommunication；
Specifically, computer 25 is based on the main ripple sampling signal of telecommunication and the echo samples signal of telecommunication for receiving, be analyzed and
Process, obtain detecting three-dimensional information, spectral information and range information of target etc..
When the adjustable ultraphotic spectrum laser radar system of the present embodiment beam frequencies is used for automatic Pilot, when in laser radar system
When in the investigative range of system, the multiple automatic Pilot platforms of appearance carry laser radar system, each laser radar system can set
Determine a laser frequency and frequency is different from other laser radar frequencies.The laser radar system is without the need for changing different output frequencies
The LASER Light Source of rate, you can the output laser frequency of tuning laser radar and receive echo frequency, it is to avoid laser radar system it
Between interfere with each other, and with the ability evaded in same frequency Laser interferometers, it is ensured that laser radar system detection
Accuracy, ensures the safety of automatic Pilot；Also, the frequency tuning high precision of laser frequency selector, and super spectral laser
Spectral region width, the output laser frequency quantity that laser radar system can set is more, therefore can support multiple (up to a hundred) to swash
Optical detection and ranging system carries out frequency division multiplexing simultaneously.
Embodiment 2
In order to reach the purpose of brief description, the present embodiment is described all and in this with identical in above-mentioned first embodiment,
Identical narration need not be repeated.
Present embodiments provide a kind of adjustable ultraphotic of beam frequencies and compose laser radar system, as shown in Fig. 2 itself and enforcement
Differing only in example 1, replaces super continuous laser source 11 to select with shoot laser frequency using tunable laser source 16
Device 12, tunable laser source 16 export the laser of setpoint frequency under the control of computer 25, and the frequency of laser can be visible
Consecutive variations in the wide spectral range of light-near-infrared-short-wave infrared, computer 25 control the logical of incident laser frequency selector 22
Identical with the frequency of the laser that tunable laser source 16 exports setpoint frequency with frequency, tunable laser source 16 preferably may be used
Tunable fiber laser.
Correspondingly, the present embodiment also provides the control method that a kind of ultraphotic composes laser radar system, during which is with embodiment 1
Differ only in, the step that possesses of step A is specific, 25 Synchronization Control the present embodiment ultraphotic of computer spectrum laser radar system
In tunable laser source 16 and incident laser frequency selector 22, only allow setpoint frequency laser export and pass through, should
Setpoint frequency is single-frequency.
It will be appreciated by those skilled in the art that parameter in the present embodiment is without the need for being definitely equal to corresponding value, but can be
Analog value is similar in acceptable error margin or design constraint.
It should be noted that in accompanying drawing or description text, the implementation for not illustrating or describing is affiliated technology
In field, form known to a person of ordinary skill in the art, is not described in detail.Additionally, the above-mentioned definition to each element and method is simultaneously
Various concrete structures, shape or the mode mentioned in being not limited only to embodiment, those of ordinary skill in the art can carry out letter to which
Singly change or replace, for example：
(1) laser frequency selector adds narrow band pass filter to replace for chopper wheel；
(2) laser frequency selector replaces for the modulated wave filter of acousto-optic (AOTF)；
(3) high-speed figure capture card can also be other kinds of signal pickup assembly.
Also, it should be noted that the demonstration of the parameter comprising particular value can be provided herein, but these parameters are without the need for definite etc.
In corresponding value, but analog value can be similar in acceptable error margin or design constraint.
Particular embodiments described above, has carried out entering one to the purpose of this utility model, technical scheme and beneficial effect
Step is described in detail, it should be understood that be the foregoing is only specific embodiment of the utility model, is not limited to this reality
With new, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvements done etc. all should be included
Within protection domain of the present utility model.
It should be noted that in accompanying drawing or description text, the implementation for not illustrating or describing is affiliated technology
In field, form known to a person of ordinary skill in the art, is not described in detail.Additionally, the above-mentioned definition to each element and method is simultaneously
Various concrete structures, shape or the mode mentioned in being not limited only to embodiment, those of ordinary skill in the art can carry out letter to which
Singly change or replace.
Claims (5)
1. a kind of ultraphotic composes laser radar system, it is characterised in that include：
Light source subsystem, the light source subsystem include：
Laser light-source device, the laser of its output setpoint frequency is used as detection light and the main ripple of laser radar；
Light receiving subsystem, the light receiving subsystem include：
Camera lens (21) is received, extraneous echo is received；And
Incident laser frequency selector (22), positioned at the echo light path rear for receiving camera lens (21), only allows returning for setpoint frequency
Ripple passes through；And
Signals collecting subsystem, gathers the main ripple of the laser radar and echo and samples.
2. ultraphotic according to claim 1 composes laser radar system, it is characterised in that the laser light-source device is also wrapped
Include：
Collimator apparatuses (13), are arranged between the laser light-source device and beam splitter (14), collimate the setpoint frequency
Laser and export to the beam splitter (14).
3. ultraphotic according to claim 1 composes laser radar system, it is characterised in that the laser light-source device includes：
Super continuous laser source (11), output super continuum light spectrum laser；
Shoot laser frequency selector (12), receives the super continuum light and composes laser, only allow swashing with the setpoint frequency
Light passes through.
4. ultraphotic according to claim 1 composes laser radar system, it is characterised in that the laser light-source device includes：
Tunable laser source (16), laser of the output with the setpoint frequency.
5. ultraphotic according to claim 1 composes laser radar system, it is characterised in that：
The light source subsystem also includes：Beam splitter (14), by the laser beam splitter of the setpoint frequency is for detection light and swashs
The main ripple of optical radar；
The signals collecting subsystem includes：
First photoelectric sensor (15), detects the main ripple of the laser radar, generates the main ripple signal of telecommunication of laser radar；
Second photoelectric sensor (23), detects echo, generates electric echo signal；And
Signal pickup assembly, receives the main ripple signal of telecommunication of the laser radar and electric echo signal and is sampled, generate main ripple and adopt
Sample signal and echo samples signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621127652.2U CN206178145U (en) | 2016-10-17 | 2016-10-17 | Super spectrum laser radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621127652.2U CN206178145U (en) | 2016-10-17 | 2016-10-17 | Super spectrum laser radar system |
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| Publication Number | Publication Date |
|---|---|
| CN206178145U true CN206178145U (en) | 2017-05-17 |
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ID=58678587
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| CN201621127652.2U Active CN206178145U (en) | 2016-10-17 | 2016-10-17 | Super spectrum laser radar system |
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2016
- 2016-10-17 CN CN201621127652.2U patent/CN206178145U/en active Active
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