CN209542830U - A kind of non-athletic formula face battle array laser radar - Google Patents

Abstract

The utility model discloses a kind of non-athletic formula face battle array laser radar, the face battle array laser radar includes: laser array, detector array, laser optical path adjustment device and signal light optical path adjustment device.The laser array is to arrange in linear array, the laser array is arranged along first direction, the laser optical path adjustment device is the multiple planar optical waveguide PLC being stacked each other along first direction, the laser optical path adjustment device is set in front of the laser array, the detector array is arranged in a second direction, the signal light optical path adjustment device is multiple planar optical waveguide PLC stacked in a second direction, and the first direction is perpendiculared to one another with the second direction.

Description

A kind of non-athletic formula face battle array laser radar

Technical field

The utility model relates to optical fields, and in particular to a kind of non-athletic formula face battle array laser radar.

Background technique

Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.It is former from work It is said in reason, the not basic difference with microwave radar: to objective emission detectable signal (laser beam), the slave mesh that then will receive It marks reflected signal (target echo) to be compared with transmitting signal, after making proper treatment, so that it may obtain the related of target Information, such as target range, orientation, height, speed, posture, even shape parameter, to be carried out to targets such as aircraft, guided missiles Detection, tracking and identification.

Laser radar can generally be divided into laser ranging technique and scanning technique two parts.Wherein laser ranging technique master Solve the problem of range measurement and imaging technique mainly solves light beam scanning.In polar coordinate system, distance and Two angles, so that it may which a unique point for determining space, this is also that all laser radars realize that space three-dimensional scene is described Theoretical basis.

Currently, having existed much records about laser radar in the prior art, the scanning of existing laser radar has very A variety of existing solutions:

1. mechanical scanning

There are many kinds of forms for mechanical scanning, ranging unit are integrally such as carried out one-dimensional or Two Dimensional Rotating, so that laser beam Cover space a certain range；Light beam is either directed toward to the space region formulated using the reflecting mirror of one or more surfaces rotation or vibration Domain.

2. electrooptics scans harmony optical scanner

Deflection optical is realized using the electric light or acousto optic effect of material.

3. phased array

Fine phase controlling is carried out by the wavefront to light beam using Huygen's principle, to realize that the space of light beam is swept It retouches.

4.mems scanning

Its essence is still the reflecting mirror of a surface vibration, and only mirror surface size is smaller.

It is existing it is above-mentioned all respectively have its disadvantage, mechanical scanning has large-sized rotatable parts, and service life, stability are vulnerable to the external world Vibration influences.Electric light and acousto-optic scanning, control circuit is complicated, and scanning angle is small.Phased array manufacturing difficulty is big, deflection angle It is small, there is secondary lobe.Mems is similar to mechanical scanning, and lens dimension is small, and mechanical characteristic is good, but still has rotary part, still can be by shadow It rings.

Utility model content

In view of the deficiencies of the prior art, the utility model is desirable to provide one kind and is able to solve at least one of above problem Non-athletic formula face battle array laser radar.

Specifically, the utility model provides a kind of non-athletic formula face battle array laser radar, which is characterized in that the face battle array swashs Optical radar includes: shell, laser array, detector array, the first optical lens, the second optical lens, laser optical path adjustment Device and signal light optical path adjustment device, the laser array are laser linear array, and the laser linear array is along first party To setting, the laser optical path adjustment device is each other along multiple one-to-many beam splitting channels that first direction is stacked, the laser Optical path adjustment device is set in front of the laser array, and the detector array is classified as detector lines battle array, the detector lines Battle array is arranged in a second direction, and the signal light optical path adjustment device is multiple one-to-many beam splitting channels stacked in a second direction, The first direction is perpendiculared to one another with the second direction, and first optical lens and second optical lens are respectively set It is adjusted in front of device and signal light optical path adjustment device in the laser optical path, the laser array, detector array, the One optical lens, the second optical lens, laser optical path adjustment device and signal light optical path adjustment device are set to the shell It is interior.

Preferably, the laser optical path adjustment device is the multiple planar optical waveguide PLC being stacked each other along first direction, institute Stating signal light optical path adjustment device is multiple planar optical waveguide PLC stacked in a second direction.

Preferably, the number of laser, laser optical path adjust the number of PLC, detector array in device in laser array The number of PLC is mutually the same in the number of detector and signal light optical path adjustment device in column.

Preferably, in the planar optical waveguide PLC of the laser optical path adjustment device, the input of multiple planar optical waveguide PLC Port is arranged by linear array, and each input port is corresponding with each light-emitting window of the laser array respectively；The signal light light Road adjusts in the planar optical waveguide PLC of device, and the output port of multiple planar optical waveguide PLC is arranged by linear array, each output end Corresponding detector is corresponding to the detector array respectively for mouth.

Preferably, the non-athletic formula face battle array laser radar further includes controller, the controller respectively with the laser Device array is connected with the detector array, to control each laser sequential working in the laser array, and works as When any one laser works, the controller controls each detector sequence starting in the detector array.

Preferably, the number of laser is 16 or 32 in the laser array.

Utility model principle

Applicant is in R&D process it is noted that spatial beam can be angularly mapped on focal plane by optical lens. It also means that, the point that two-dimensional movement is carried out on focal plane in fact just scans light angle.Existing one kind Obvious optical scanning method is exactly the detector and laser of planar array type.Laser and detector are one-to-one. But such production and manufacture difficulty are very high.State of the art is relatively difficult to achieve.

It is understood that the point in a plane is indicated with a coordinate (x, y), face battle array is exactly in fact to (x, y) Carry out the traversal of discretization.And this process, common practice be exactly otherwise transmitting terminal carry out 2 dimension traversal or be to connect Receiving end traversal or the two carry out simultaneously.

Regardless of just being had damage to human eye using which kind of traversal mode, transmitting terminal traversal or using high power laser, Using face battle array laser, n*n laser identical as pixel is at high cost, and addressing is difficult, and driving circuit is also n*n.

Receiving end traverses or uses big visual field, and noise is high, and detection range is limited or uses planar array detector, with picture Plain identical, n*n detector, at high cost, addressing is difficult, and amplifying circuit and timekeeping circuit are also n*n.

And this construction of the utility model is used, and the direction x, y may be implemented while being traversed, n, laser, detection Device n, circuit scale becomes the first power of n from the quadratic power of n, and n is bigger, and advantage is bigger, but n can not be excessive, excessive, function Rate distribution is too small, still measures not far.

Technical effect

The utility model has been firstly introduced light cube, by not needing detector array and laser orthogonal arrangement In the case where any moving component, only by the selected control of electronic device, so that it may rapidly realize two-dimensional array type scanning.

The utility model is using laser n, and detector n, circuit scale becomes the first power of n, n from the quadratic power of n Bigger, advantage is bigger, but n can not be excessive, and excessive, power distribution is too small, still measures not far.

Preferably, N=16 or 32, at this point, in resolution ratio, circuit scale is measured and obtained between distance and measuring speed Appropriate balance.It is at low cost, effect is good.

The laser radar of the utility model, which does not need rotatable parts, can realize large-scale scanning, solve machinery and sweep Service life for retouching, stability problem；Also, the laser radar control circuit of the utility model is simple, it is only necessary to can be realized corresponding The selected control of detector is opened in optical path, also, the difficulty that the laser radar of the utility model is manufactured is much smaller than phased Battle array equipment, and the investigative range that may be implemented is big, and investigative range is only limited by the field angle of optical lens, no secondary lobe.

Detailed description of the invention

Fig. 1 is the rough schematic view of the laser radar of the utility model；

Fig. 2 is the structural representation after multiple planar optical waveguide PLC (Planar Lightwave Circuit) sequence is stacked Figure；

Fig. 3 is main view, left view and the rearview of the light cube formed after 16 planar optical waveguides are stacked；

Fig. 4 is the structural schematic diagram of detector array employed in the utility model embodiment；

Fig. 5 is the structural schematic diagram of laser array employed in the utility model embodiment；

Fig. 6 is the structural schematic diagram after being combined detector array and light cube；

Fig. 7 is the structural schematic diagram after being combined laser array and light cube；

Fig. 8 is the light channel structure schematic diagram of planar optical waveguide PLC employed in the utility model；

Fig. 9 is when carrying out laser ranging, and light beam is incident on the schematic diagram on focal plane.

Specific embodiment

The utility model is described in detail with reference to the accompanying drawings and embodiments, but not therefore by the utility model Protection scope is limited among the range of embodiment description.

Embodiment 1

In the present embodiment, as shown in Figure 1, face battle array laser radar includes: laser array 1, detector array 2, laser light Road adjusts device 3 and signal light optical path adjustment device 4 and two optical lens 5.Laser array uses linear array diode laser Array, laser array is horizontally disposed, and it is the multiple planes being stacked in the horizontal direction each other that laser optical path, which adjusts device, Optical waveguide PLC, laser optical path adjustment device are set in front of laser array, and detector array is arranged along the vertical direction, signal Light optical path adjustment device is multiple planar optical waveguide PLC stacked along the vertical direction, the orientation and detection of laser array Device array is perpendicular to one another.Above-mentioned all parts encapsulation inside the shell, is provided with light hole, two optical lens are respectively to this on shell Two light holes are arranged in light hole.

It is stacked using multiple planar optical waveguide PLC in the present embodiment, two light cube are separately constituted, a light cube is used as Laser optical path adjusts device 3, another is used as signal light optical path adjustment device 4, is respectively placed in laser array and detector array Column front.

As shown in Fig. 2, each light cube has 16 layers, and every layer of side of each light cube has 16 ports, Laterally arrangement, the other side only have a port, and 16 ports of side can be single with the other side in every layer of light cube Port connection.

In the present embodiment, the number of laser in laser array, in two light cube PLC number and detector array The number of detector is all 16 in column.

For the light cube in front of laser array, every layer of planar optical waveguide PLC has input and 16 all the way Road output, the input port of multiple planar optical waveguide PLC by linear array arrangement, each input port respectively with the laser battle array Each light-emitting window of column is corresponding.

For the light cube in front of detector array, every layer of planar optical waveguide PLC has the input of 16 tunnels and 1 Road output, the output port of multiple planar optical waveguide PLC by linear array arrangement, each output port respectively with the detector array Signal detection region it is corresponding.Every 16 tunnel Ceng input amounts to 16 layers of face battle array for being combined into 16*16.

Certainly, although it should be appreciated by those skilled in the art that be illustrated by taking the battle array of the face of 16*16 as an example herein, It is those skilled in the art under the inspiration that the utility model is conceived, it can be using the face battle array of other numbers, for example, 8*8,64* 64, etc..Preferably, the n times side that the number on one side of face battle array is 2, n are the positive integer more than or equal to 2.

When in use, the two dimension traversal of existing laser radar is separately carried out for the face battle array laser radar of the utility model, by Transmitting terminal carries out x traversal (vertical direction in figure), and receiving end carries out y traversal (horizontal direction in figure).Due to xy be it is orthogonal, two Person combines, and is just able to achieve two-dimensional traversal.

The utility model uses one-to-many planar optical waveguide PLC, and effect can mainly constrain light within waveguide, It is able to carry out optical power fluctuation simultaneously, is the PLC of a 1:16 as shown in Figure 8.The device can also use in turn, realize light Conjunction Shu Gongneng.

For example, the light that power is P is incident from port 0, optical power will be exported from the port port 1- 16, the light of every road output Power will be P/16.

For another example, light is incident from the port port 1- 16, it will exported from port 0, power be 16 port incident powers it With.

The structure of light cube is as Figure 2-3, is that 16 PLC are carried out heap poststack to be formed by cubic structure.Cube One side be 16*16 port, another side be 16 ports.Port is numbered by following rule.Port address=(PLC Number, port numbers).

As shown in figure 4, detector array is classified as 16 detector rows into linear array, the period of detector and the port period of PLC Identical (space length that the period refers to two neighboring detector center).

As shown in figure 5, laser array is that 16 lasers line up linear array, the period of laser and the port period of PLC It is identical.

As shown in fig. 6, detector array and light cube are combined, DETECTOR1 (being indicated in Fig. 4 with 101) alignment (row 1, port 0) port of light cube, detector 16 (being indicated in Fig. 4 with 116) hold quasi-optical cube of (row 16, port 0) Mouthful.

In this way, from the arbitrary port of light cube, (light of row x, port y) incidence will be assigned to be expert at x pairs by light cube The detector detector x answered.

The structure being illustrated in figure 7 after being combined laser array and light cube, LD1 to quasi-optical cube (row 1, Port 0) port, LD16 is to quasi-optical cube (row 16, port 0) port.

In this way, will uniformly be distributed from the light that LDx laser issues to the port of row x 1 to port 16

Fig. 1 is returned, detector module and laser module are arranged side by side, wherein detector array is classified as the direction y, laser Device array is the direction x, and corresponding two light cube is also in quadrature.The plane of the array of ports of light cube is placed in The focal plane of optical lens.

The method for realizing optical scanner is:

LD1 shines, and the light issued will be simultaneously emitted by from the port port 1- 16 of the row 1 of light cube, by optical lens After being irradiated to object under test, laser is reflected, and is received by the port 1 of the row 1- row 16 of the light cube of receiving module, and then quilt Detector 1- detector 16 receives simultaneously, carries out selection control to detector by circuit at this time, from 1 output signal of detector. Make LD1 continuous luminous 16 times, sequential selection detector will realize the one-dimensional scanning of 16 points.And so on, continue to make LD2-LD16 shines, and will realize the scanning of another dimension.

The selection control of circuit is relied solely on, it will be able to realize camera lens coke without any moving component by this device In plane, the lattice scanning of 16*16, that is, realize the spacescan of light beam.Certainly, controller can control laser and Detector only opposite battle array in partial region be scanned.

Then, pass through the existing range measurement principle of laser ranging, so that it may realize the scanning ranging to target.

Ranging is carried out under polar coordinate system, if space arbitrary point M, its coordinate in rectangular coordinate system be (x, y, Z), then following subordinate ordered arrayThe referred to as spherical coordinates of point M: coordinate r is distance of the point M to origin,It is to pass through z-axis The angle constituted with the half-plane and coordinate surface zOx of point M；θ is the angle of line segment OM Yu z-axis positive direction, therefore, in space this The variation range of a little coordinates is:

0≤r≤+∞；0≤θ≤π

A principle of perfect optics camera lens is utilized in the utility model, that is, for perfect optics camera lens, it has Different angle incident ray is mapped to the function of difference on focal plane.A coordinate determines namely on camera lens focal plane Point (x, y), correspond in polar coordinate systemLight beam, wherein r be arbitrary value.

That is, the laser radar of the planar array scanning by using the utility model, by will be corresponding to detector The light inlet (face 16*16 battle array side) of light cube is arranged on the focal plane of optical lens, can be realized to entire optical lens Detection in field range.Certainly, the light-emitting window of the light cube in front of laser array, be also disposed at its its in front of optical frames On the focal plane of head, in this way when the light that laser array is issued is incident on optical lens along the different light-emitting window of light cube Later, after optical lens reflects, can the different direction of directive, and then realize greater area of detection.

Although the principles of the present invention are described in detail in the preferred embodiment above in conjunction with the utility model, It should be appreciated by those skilled in the art that above-described embodiment is only the explanation to the exemplary implementation of the utility model, and The non-restriction to the utility model scope.Details in embodiment does not constitute the limitation to the scope of the utility model, Without departing substantially from the utility model spirit and scope in the case where, any equivalent transformation based on technical solutions of the utility model, letter Single replacement etc. is obvious to be changed, and is all fallen within scope of protection of the utility model.

Claims (6)

1. a kind of non-athletic formula face battle array laser radar, which is characterized in that the face battle array laser radar includes: shell, laser battle array Column, detector array, the first optical lens, the second optical lens, laser optical path adjustment device and signal light optical path adjustment dress It sets, the laser array is laser linear array, and the laser linear array is arranged along first direction, the laser optical path adjustment dress It is set to each other along multiple one-to-many beam splitting channels that first direction is stacked, the laser optical path adjustment device is set to the laser In front of device array, the detector array is classified as detector lines battle array, and the detector linear array is arranged in a second direction, the signal light Optical path adjustment device is multiple one-to-many beam splitting channels stacked in a second direction, the first direction and the second direction that This is vertical, and first optical lens and second optical lens are respectively arranged at the laser optical path adjustment device and letter In front of number light optical path adjustment device, the laser array, detector array, the first optical lens, the second optical lens, laser Optical path adjustment device and signal light optical path adjustment device are set in the shell.

2. non-athletic formula face battle array laser radar according to claim 1, which is characterized in that the laser optical path adjusts device For the multiple planar optical waveguide PLC being stacked each other along first direction, the signal light optical path adjustment device is to fold in a second direction The multiple planar optical waveguide PLC set.

3. non-athletic formula face battle array laser radar according to claim 2, which is characterized in that laser in laser array Number, laser optical path adjust the number of PLC in device, the number of detector and the adjustment of signal light optical path fill in detector array The number for setting middle PLC is mutually the same.

4. non-athletic formula face battle array laser radar according to claim 2, which is characterized in that the laser optical path adjusts device Planar optical waveguide PLC in, the input port of multiple planar optical waveguide PLC is arranged by linear array, each input port respectively with institute The each light-emitting window for stating laser array is corresponding；In the planar optical waveguide PLC of the signal light optical path adjustment device, multiple planes The output port of optical waveguide PLC is arranged by linear array, each output port detector pair corresponding to the detector array respectively It answers.

5. non-athletic formula face battle array laser radar according to claim 2, which is characterized in that the non-athletic formula face battle array laser Radar further includes controller, and the controller is connected with the laser array and the detector array respectively, to control The all or part of laser stated in laser array works in a predetermined order, and when any one laser works, institute All or part of detector that controller controls in the detector array is stated to start in a predetermined order.

6. non-athletic formula face battle array laser radar according to claim 3, which is characterized in that laser in the laser array The number of device is 16 or 32.