CN207408590U - A kind of laser radar based on two-dimentional DOE elements - Google Patents
A kind of laser radar based on two-dimentional DOE elements Download PDFInfo
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- CN207408590U CN207408590U CN201721575925.4U CN201721575925U CN207408590U CN 207408590 U CN207408590 U CN 207408590U CN 201721575925 U CN201721575925 U CN 201721575925U CN 207408590 U CN207408590 U CN 207408590U
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Abstract
The utility model discloses a kind of laser radar based on two-dimentional DOE elements, which includes：Laser emission element, for emitting collimated pulses light；Two-dimentional DOE elements are arranged on the transmitting terminal of laser emission element, and the wavefront position of the collimated pulses light for laser emission element to be sent mutually is modulated, and collimated pulses light is divided into the face matrix lamp light beam of M × N beams in the horizontal and vertical directions；Laser echo signal receiving unit, built-in face array signal detector, for the laser signal of receiving plane matrix lamp light beam irradiation target back reflection；Signaling control unit is connected with laser emission element and laser echo signal receiving unit, for controlling laser emission element and laser echo signal receiving unit；Signal processing unit is connected with laser echo signal receiving unit, for receiving and handling the laser signal that laser echo signal receiving unit receives.The utility model has the characteristics that low cost, high sensitivity using single laser structure.
Description
Technical field
The utility model is a kind of laser radar, and more particularly to a kind of laser radar based on two-dimentional DOE elements belongs to sharp
Optical detector technology field.
Background technology
Laser radar (Lidar) is the product that conventional radar is combined with laser technology.Based on microwave radar principle,
Using laser beam as new detectable signal, laser brightness height is given full play to, there is good directionality, monochromaticjty and coherence
The characteristics of, possessing laser radar, frequency is fast, peak power is high, wave-length coverage is wide, the technical advantages such as small.Laser radar
System combining global positioning system (GPS) and inertial navigation system (INS), can quickly and accurately obtain the high-precision of measurement point
Three-dimensional coordinate data is spent, digital line is established and draws map, digital orthophoto map, digital elevation model etc., obtained in every field
Extensive use, it has also become current scientific research, the hot spot of theory innovation receive much attention.However, be vehicle-mounted or boat-carrying even
It is airborne laser radar, principle is all plus on POS system load wagon by three-dimensional laser scanner.Purpose be exactly in order to
DTM models are established in longer, farther scope.
At present, mobile lidar field, the most ripe with well-established business's Velodyne technologies, product category is the most
It is abundant.In addition, as external Waymo, Quanergy and Sagitar gather wound, superstar's science and technology, radium mind can etc. independent brands, also exist
Actively layout, exploitation new technology, new product are common that mobile lidar is promoted to enter miniaturization, cost degradation epoch.For certainly
The mobile lidar of main driving is gradually developed from earliest single line ranging to multi-thread ranging, from two-dimensional scan to 3-D scanning
Development, measurement accuracy is higher and higher, and the reaction time is shorter and shorter, and reliability and stability are also higher and higher.
One of first technology (referring to " New Imaging Laser Radar Systems review of Development " Ni Shuxin, laser with infrared,
2006.36(Z1):732-736), MIT Lincoln lab researched and developed non-scanning type 3D imaging laser radars since 2002, should
The transmitter of system is using the passive Q-adjusted Nd of LD pumpings:YAG laser, using APD array as detector, distance resolution
For 0.15m, which has very high sensitivity, and detection range farther out, can be to hiding military target imaging.
The two of first technology are (referring to " heavy caliber synthetic aperture laser imaging radar demonstration model and its laboratory proofing " Liu
Vertical people, Zhou Yu, duty Asia nanmu et al., Acta Optica, 31 (9)：0900112-1-5,2011) Chinese Academy of Sciences's Shanghai ray machine develops one
Synthetic aperture laser imaging radar (the Synthetic Aperture for the φ 300mm bores that kind analog detection distance is 50km
Lidar, SAL) demonstration model.The demonstration model can realize that Dynamic Two-dimensional SAL is imaged in 14 meters of transmission ranges, test imaging
Resolution value is better than 1.4mm (orientation) (distance to).This is the domestic dynamical output for reporting large scale SAL images for the first time.
The three of first technology are (referring to " Intergration of a Terrestrial Laser Scanner with
GPS uses the land laser scanning integrated technology of GPS ", Talaya J, Alamus R and Bosch E, et al., IMU
Orientation Sensors, ISPRS 2004, July 12~23, Istanbul Turkey) it is given birth to using SICK companies of Germany
The LMS200 series lasers distance-measuring equipment of production realizes the autonomous driving of high quality, it is single line range radar to laser radar, base
In the measurement of flight time, with non-contact measurement principle, distance value is calculated by calculating laser time of return, it can be
Quick scanning sample is carried out with 5 degree of interval in the range of 180 degree, and sampled result is sent to processor.
The four of first technology are (referring to " Static calibration and analysis of the Velodyne
HDL-64E S2 for high accuracy mobile scanning laser radar Velodyne HDL-64E S2 are for height
The static demarcating of precision motion scan and analysis, Glennie C and Lichti D D., Remote Sensing, 2 (6):
1610-1624,2010 " and " Feature-based self-calibration of Velodyne HDL-32E LiDAR
For terrestrial mobile mapping applications are used for the feature based value of geographical mobile message imaging
Velodyne HDL-32E laser radar self-calibration technologies, Chan T O and Lichti D D., The International
Symposium on Mobile Mapping technology, 2013 ") it is used for pilotless automobile using 64 line laser radars
On, three-dimensional real time imagery and navigation, automatic identification signal lamp and detection barrier are carried out, structure is sensor closely
Gondola, gondola are made of 64 2D line scanners.64 lasers are distributed in 27 degree of vertical field, entire 27 degree of visual fields 360
Degree rotation.Every 16 are divided into one group in 64 lasers, four groups altogether, and laser detector has two groups altogether per elder sister 32.It swashs
Light device output wavelength is 905 nanometers, has the angle of divergence of 2 milliradians.
The five of first technology are (referring to " Mobile laser scanning in fluvial geomorphology:
Mobile laser scanning in mapping and change detection of point bars river morphologies：The imaging of point bar
With variation monitoring, Alho P, Vaaja M and Kukko A, et al., Zeitschrift Fur Geomorphologie
Supplementary Issues,55(2):31-50,2011 ") be Britain 360 mobile lidar systems of StreetMapper
System is the top configuring product of mobile lidar, it is integrated with the VQ-250 type laser scanners of Riegl, mounted on roof
On, then coordinate two AVT Pike F421C type high-speed color digital imaging systems, the obstacle detection and road conditions of automobile can be completed
Acquisition of information.The system can quickly measure road, and range accuracy is up to 5 millimeters, and nearly 300 meters of ranging, single sweep instrument is per second to be surveyed
300000 points, measurement frequency nearly 300kHz, comprehensive pointing precision is up to centimetres.The information is soft using TERRAOoffice
Part carries out data prediction, and the pretreatment of laser data is carried out using RiWORLD, and data post-processing software commonly uses sweet smell in the world
The product of blue TerraSolid companies.
The 16 line laser radars of R-Fans of in May, 2016 issue are painted in day by the six of first technology, Beijing North section, and pitching regards
Field is 30 degree, and measurement distance is 1-100 meters, scans frame frequency ＞ 15Hz, laser point frequency ＞ 300kHz.Shenzhen Sagitar gathers wound 2016
The RS-LiDAR16 line laser radars of issue in October in year, it uses the form of hybrid solid-state, 100 meters of measurement distance, precision
It is per second to go out 320,000 points of points in real time for 2cm, horizontal 360-degree, 30 degree vertical (± 15 degree).For data or even slightly it is better than
The 16 line products of Veledyne.The standing grain that Shanghai standing grain match Optoelectronics Technology is released in October, 2016 matches 32 line hybrid solid-state laser thunders
It reaches, 150 meters, measurement frequency 640kHZ, scan frequency 5-20HZ of detection range, 360 degree of horizontal field of view angle, -16 ° of vertical field of view angle
To 14 °；In addition, Shenzhen radium mind energy company will also release 16 line laser radars.
Above-mentioned laser radar for military use image scanning is of high cost, versatility is not strong, and civilian laser radar
Complicated sweep mechanism is needed, cost is equally excessively high, and volume is excessive, and imaging mode is had nothing in common with each other used by above-mentioned technology, until
The scanning laser radar that the present does not have satisfactory low cost, compact comes out.
Utility model content
The purpose of this utility model is that provide a kind of laser radar based on two-dimentional DOE elements.The utility model uses
Single laser structure has the characteristics that low cost, high sensitivity, it is too fat to move to solve high cost, structure that multi-laser is brought
Problem promotes the great market competitiveness in future market.
The technical solution of the utility model：A kind of laser radar based on two-dimentional DOE elements, the laser radar include：
Laser emission element, for emitting collimated pulses light；
Two-dimentional DOE elements (or being two-dimentional diffraction element) are arranged on the transmitting terminal of laser emission element, for by laser
The wavefront position for the collimated pulses light that transmitter unit is sent mutually is modulated, and collimated pulses light is divided into the horizontal and vertical directions
The face matrix lamp light beam of M × N beams；
Laser echo signal receiving unit, built-in face array signal detector irradiate for receiving plane matrix lamp light beam
The laser signal of target back reflection；
Signaling control unit is connected with laser emission element and laser echo signal receiving unit, for laser to be controlled to send out
Penetrate unit and laser echo signal receiving unit；
Signal processing unit is connected with laser echo signal receiving unit, is connect for receiving and handling laser echo signal
Receive the laser signal that unit receives.
In the foregoing laser radar based on two-dimentional DOE elements, the two-dimentional DOE elements have the not equidistant, cycle
The face array binary phase grat repeated.
In the foregoing laser radar based on two-dimentional DOE elements, the two-dimentional DOE elements are Darman raster.
Compared with prior art, the utility model has the advantages that：
(1) the utility model emits collimated pulses light by laser emission element, in the transmitting route of laser emission element
On be provided with two-dimentional DOE elements, the wavefront position that the collimation that two-dimentional DOE elements send laser emission element is washed off forever is mutually adjusted
Collimated pulses light is divided into the face matrix lamp light beam of M × N beams by system in vertical direction, and the illumination light velocity is irradiated to target, through mesh
It is received after mark reflection by the highly sensitive face array signal detector inside laser echo signal receiving unit with M × N pixels,
Each pixel of face array signal detector is corresponded with face matrix lamp light beam.By measuring collimated pulses light (i.e. laser
Signal) two-way time t between laser emission element and laser echo signal receiving unit, you can obtain target range L=c
× t/2, wherein c are the aerial spread speed of light, so as to handle to obtain the point cloud chart picture of M × N in target.Due to using two
The combination of DOE element knead dough array signal detectors is tieed up, single laser pulse emits the range measurement for achieving that M × N number of point,
It is achieved thereby that the parallel acquisition of face battle array range information, when Laser emission repetition rate is N Hz, obtains the point of M × N in target
Cloud atlas picture.
(2) the two-dimentional DOE elements described in preferably have the binary Darman raster element of M × N beam splitting, and Darman raster is a kind of
With the binary phase grat that the not equidistant, cycle repeats, single beam collimated pulses light can be both divided into M × N bunch face array
Illumination light, can also be by the spatial coordinate location and the design optimization of phase in screen periods, having diffraction output light
Same luminous intensity.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the Darman raster with 25 × 25 beam splitting；
Fig. 3 is Darman raster internal structure.
Specific embodiment
With reference to embodiment, the utility model is described in further detail, but be not intended as to the utility model limitation according to
According to.
Embodiment：Based on the laser radar of two-dimentional DOE elements, as shown in Figure 1, which includes：
The laser radar includes：
Laser emission element 1, for emitting collimated pulses light；
Two-dimentional DOE elements 2 are arranged on the transmitting terminal of laser emission element, for the collimation for sending laser emission element
The wavefront position of pulsed light is mutually modulated, and collimated pulses light is divided into the face matrix lamp of M × N beams in the horizontal and vertical directions
Light beam；
Laser echo signal receiving unit 3, built-in face array signal detector 4 shine for receiving plane matrix lamp light beam
Penetrate the laser signal of target back reflection；
Signaling control unit 5 is connected with laser emission element 1 and laser echo signal receiving unit 3, for controlling laser
Transmitter unit and laser echo signal receiving unit；
Signal processing unit 6 is connected with laser echo signal receiving unit 3, for according to laser signal from Laser emission
Unit to the two-way time of laser echo signal receiving unit, calculate M × N between laser emission element and measured target away from
From so as to handle to obtain the point cloud chart picture of M × N in target.
Preferably, two dimension DOE elements 2 have the face array binary phase that the not equidistant of M × N beam splitting, cycle repeat
Grating, the two-dimentional DOE elements 2 for preferably having M × N beam splitting are Darman raster.
The scan method of laser radar based on above-mentioned diffraction optics, laser emission element emit accurate to two-dimentional DOE elements
Straight veins is washed off, and after two-dimentional DOE elements, the wavefront position of collimated pulses light is mutually modulated, and is divided into M in the horizontal and vertical directions
The equal face matrix lamp light beam of × N beam intensities, illuminating bundle are irradiated to target, are connect after target reflects by laser echo signal
Receiving has M × N pixels face array signal detector inside unit receives, each pixel and the face battle array of face array signal detector
Row illuminating bundle corresponds, during according to round-trip from laser emission element to laser echo signal receiving unit of laser signal
Between, the distance of M × N between laser emission element and measured target is calculated, so as to handle to obtain the point cloud chart of M × N in target
Picture.
By two-way time t of the measurement laser signal between laser emission element and laser echo signal receiving unit,
Target range L=ct/2 is can obtain, wherein c is the aerial spread speed of light.Due to being visited using face array signal
It surveys device to receive, single laser pulse emits the range measurement for achieving that M in vertical direction × N number of point, it is achieved thereby that distance
The parallel acquisition of face battle array in the range of the certain space of information.
Pulse laser equal strength beam splitting technology is intended realizing using binary Darman raster element in the laser emission element
Laser equal strength beam splitting.Darman raster is a kind of binary phase grat that there is the not equidistant, cycle to repeat.By to grating week
The design optimization of spatial coordinate location and phase in phase makes diffraction output light have same luminous intensity, Damman raster splitting beam
Realization is illustrated in fig. 2 shown below.
For the amplitude type Darman raster of two-value Darman raster shown in Fig. 3,
Spectrum plane on distribution of amplitudes be
Shown in light distribution such as formula (4),
P (m)=| Ta(m)|2 (4)
It is mutually the phase-type Darman raster of pi/2+θ and pi/2-θ for position, the distribution of amplitudes composed in plane is：
Tp(0)=[2Ta(0) -1] sin θ+i cos θ, m=0 (5)
Tp(m)=sin θ Ta(m), m ≠ 0 (6)
Light distribution is：
P (m)=| Tp(m)|2 (7)
Grating internal modifications point coordinates { al, bl } is optimized using optimization algorithm so that the light intensity of m diffraction time
It is equal, you can to realize equal strength beam splitting.
The face battle array signal sensor receiving unit will realize the accurate match of transmitting-receiving visual field, be managed according to scalar diffraction
By angle of diffraction of the laser after Darman raster can be expressed as under the conditions of normal incidence：
Wherein, α is the angle of diffraction of emergent light, and m is the diffraction time of emergent light, and λ is incident optical wavelength, and d is Dammam
Screen periods.(the α under the conditions of small angle approximation<5 °),Two neighboring diffraction time angle, i.e. vertical direction angle point
Resolution is：Horizontal direction is similary.
In order to ensure that emission array light is corresponded with planar array detector pixel, according to imaging relations, two neighboring illumination
It needs to meet following relation between angular and detector pixel
F* Δs α=δ (9)
Wherein, f be receiving optics focal length, δ distances between detector pixel.It when the conditions are satisfied can be real
Now receive and dispatch visual field Auto-matching.
Claims (3)
1. a kind of laser radar based on two-dimentional DOE elements, it is characterised in that：The laser radar includes：
Laser emission element (1), for emitting collimated pulses light；
Two-dimentional DOE elements (2) are arranged on the transmitting terminal of laser emission element 1, for the collimation arteries and veins for sending laser emission element
The wavefront position washed off is mutually modulated, and collimated pulses light is divided into the face matrix lamp light of M × N beams in the horizontal and vertical directions
Beam；
Laser echo signal receiving unit (3), built-in face array signal detector (4) are shone for receiving plane matrix lamp light beam
Penetrate the laser signal of target back reflection；
Signaling control unit (5) is connected with laser emission element (1) and laser echo signal receiving unit (3), sharp for controlling
Light emitting unit and laser echo signal receiving unit；
Signal processing unit (6) is connected with laser echo signal receiving unit (3), for receiving and handling laser echo signal
The laser signal that receiving unit receives.
2. the laser radar according to claim 1 based on two-dimentional DOE elements, it is characterised in that：The two-dimentional DOE members
Part (2) has the face array binary phase grat repeated in the not equidistant, cycle.
3. the laser radar according to claim 2 based on two-dimentional DOE elements, it is characterised in that：The two-dimentional DOE members
Part (2) is Darman raster.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807362A (en) * | 2017-11-22 | 2018-03-16 | 杭州爱莱达科技有限公司 | Laser radar and its scan method based on two-dimentional DOE elements |
| CN108802710A (en) * | 2018-06-06 | 2018-11-13 | 复旦大学 | Flash of light laser acquisition based on vertical cavity surface emitting laser and measuring system |
| CN109301685A (en) * | 2018-08-17 | 2019-02-01 | 北京小米移动软件有限公司 | The Poewr control method and laser of laser |
| CN109343025A (en) * | 2018-08-14 | 2019-02-15 | 清华大学 | A kind of emission system of laser radar, detection system and detection method |
| CN110658509A (en) * | 2018-06-28 | 2020-01-07 | 探维科技(北京)有限公司 | Laser radar system based on one-dimensional diffraction optical element DOE |
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2017
- 2017-11-22 CN CN201721575925.4U patent/CN207408590U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107807362A (en) * | 2017-11-22 | 2018-03-16 | 杭州爱莱达科技有限公司 | Laser radar and its scan method based on two-dimentional DOE elements |
| CN108802710A (en) * | 2018-06-06 | 2018-11-13 | 复旦大学 | Flash of light laser acquisition based on vertical cavity surface emitting laser and measuring system |
| CN110658509A (en) * | 2018-06-28 | 2020-01-07 | 探维科技(北京)有限公司 | Laser radar system based on one-dimensional diffraction optical element DOE |
| CN109343025A (en) * | 2018-08-14 | 2019-02-15 | 清华大学 | A kind of emission system of laser radar, detection system and detection method |
| CN109343025B (en) * | 2018-08-14 | 2023-06-27 | 清华大学 | Laser radar transmitting system, laser radar detecting system and laser radar detecting method |
| CN109301685A (en) * | 2018-08-17 | 2019-02-01 | 北京小米移动软件有限公司 | The Poewr control method and laser of laser |
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Effective date of registration: 20220927 Address after: Room 1803, No. 12, Lane 333, Hongshi Road, Juyuan New District, Jiading District, Shanghai, 201800 Patentee after: Sun Jianfeng Address before: Room 102, Building 5, No. 126, Ding'an Road, Shangcheng District, Hangzhou City, Zhejiang Province, 310013 Patentee before: HANGZHOU ILIDAR TECHNOLOGY CO.,LTD. |
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