CN103926574A - Laser radar optical receiver assembly - Google Patents
Laser radar optical receiver assembly Download PDFInfo
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- CN103926574A CN103926574A CN201410177032.9A CN201410177032A CN103926574A CN 103926574 A CN103926574 A CN 103926574A CN 201410177032 A CN201410177032 A CN 201410177032A CN 103926574 A CN103926574 A CN 103926574A
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- wave plate
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- laser radar
- optical receiver
- receiver assembly
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar optical receiver assembly which is composed of a telescope, a field stop, a collimating lens, a 1/2 wave plate, a rotating motor, an electro-optical crystal, a polarizer, a spike filter, a focusing lens, a photoelectric detector, a high-voltage power source and a motor servo control system. The field stop is located at the focus point position of the telescope, echo signals passing through the field stop pass through the collimating lens to be collimated, then light intensity modulation is conducted on the echo signals through the 1/2 wave plate, the electro-optical crystal and the polarizer, band-pass filtering is conducted on background light through the spike filter, and finally, signal light is focused on the photoelectric detector through the focusing lens to be detected. The laser radar optical receiver assembly has the advantages of being simple in structure, convenient to use, continuous and adjustable in splitting ratio, and applicable to wide-range distance measurement laser radar systems.
Description
Technical field
The present invention relates to laser radar, particularly a kind of laser radar optical receiver assembly.
Background technology
Laser radar has a wide range of applications aspect earth remote sensing, in order to reduce the interference of atmospheric scattering to target echo signal, improve signal to noise ratio (S/N ratio), classic method generally adopts the method for channel structure design and timesharing gating to find range, to prevent that photodetector is operated in saturation region, its receiving light path as shown in Figure 3, the light signal that telescope 1 receives focuses near focus, in focal position, place field stop 2 restriction field of view of receivers, light signal incides narrow band pass filter 8 after collimation lens 3 collimations, by spectroscope 13, receiving light path is divided near field and two, far field passage again, wherein: near field passage line focus lens 9.1 focus on photodetector 10.1 and survey, far field passage focuses on photodetector 10.2 through catadioptric mirror 14 and condenser lens 9.2 and surveys.Obviously, above-mentioned receiving light path needs two-way photodetection, and not only large, the cost of volume increases, and splitting ratio is fixed, can not be adjustable continuously, therefore limited its application.
Summary of the invention
The object of the present invention is to provide a kind of laser radar optical receiver assembly, this device has that light path is simple, the feature of good stability, can be applicable to laser radar and other need to remove the optical system of bias light.
Technical scheme of the present invention is as follows:
A kind of laser radar optical receiver assembly, comprise telescope, field stop, collimation lens, 1/2 wave plate, rotary electric machine, electro-optic crystal, polarizer, narrow band pass filter, condenser lens, photodetector, high-voltage power supply and motor servo control system, it is characterized in that along described telescope output light direction be field stop successively, collimation lens, 1/2 wave plate, rotary electric machine, electro-optic crystal, polarizer, narrow band pass filter, condenser lens and photodetector, the two poles of the earth of high-voltage power supply are connected with the two ends of described electro-optic crystal, motor servo control system is connected with described rotary electric machine, described field stop is positioned at telescopical focal position, by gluing mode, 1/2 described wave plate is adhesive on described open-core type rotary electric machine, the geometric center of 1/2 described wave plate and rotary electric machine dead in line.
Described telescope objective is coated with eyepiece surface the high reflectance deielectric-coating conforming to laser source wavelength, and its F number is greater than 5.
The surface of described collimation lens is coated with and the corresponding anti-reflection deielectric-coating of laser source wavelength.
1/2 described wave plate surface is coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
Described electro-optic crystal surface is coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
Described narrow band pass filter surface is coated with the anti-reflection deielectric-coating conforming to laser source wavelength, and its incident angle θ meets following relation:
Wherein: the incident angle that θ is light beam; λ
θwhile being θ for beam incident angle, the centre wavelength of narrow band pass filter; λ
0while being 0 ° for beam incident angle, the centre wavelength of narrow band pass filter; Ne is air refraction, generally gets 1; N
*refractive index for narrow band pass filter.
The surface of described condenser lens is coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
The implementation method of this device comprises the following steps:
1. distinguish rotatory polarization device and 1/2 wave plate, make a folk prescription of polarizer vertical with the polarization direction of line polarisation to the fast axle with 1/2 wave plate or slow axis, and by this set positions, be the initial position of 1/2 wave plate, the echo light intensity that telescope receives is I
0;
2. near field range finding, when 1/2 wave plate is during along initial position anglec of rotation α, Yu Qipian angular separation, emergent light polarization direction is (90 ° of-2 α), making alive not on electro-optic crystal, line polarisation polarization state through electro-optic crystal does not change, and now the light intensity through polarizer outgoing is I
1=I
0cos (90 ° of-2 α); Polarized light is with logical optical filtering by narrow band pass filter to bias light, finally by crossing condenser lens, flashlight is focused on photodetector and is surveyed;
3. far field range finding, because 1/2 wave plate is along initial position rotation alpha angle, after 1/2 wave plate, Yu Qipian angular separation, emergent light polarization direction is still (90 ° of-2 α), adds V on electro-optic crystal
λ/2voltage, light is along optical axis direction by electro-optic crystal, and o light and e light produce π phase differential, and synthetic rear polarizer face is with respect to incident light half-twist, and now the light intensity through polarizer outgoing is I
2=I
0cos (2 α), the polarized light after modulation is with logical optical filtering by narrow band pass filter to bias light, finally by crossing condenser lens, flashlight is focused on photodetector and is surveyed;
4. the splitting ratio γ of laser radar optical receiver assembly and 1/2 wave plate along the pass between initial position anglec of rotation α are:
By motor servo control system, control rotary electric machine and drive 1/2 wave plate to rotate, thereby realize the online adjustment of laser radar optical receiver assembly far field and near field splitting ratio γ.
Technique effect of the present invention:
The present invention can realize the twin-channel mode near field and far field and receive laser radar echo optical signal, compare with classic method, advantage is: simple in structure, splitting ratio is adjustable, good stability continuously, and can be by rotation 1/2 wave plate, realize dynamically regulating in real time of splitting ratio, can be applicable to laser radar receiving system and need to remove in the optical system of bias light with other.
Accompanying drawing explanation
Fig. 1 is laser radar optical receiver assembly light channel structure schematic diagram of the present invention.
Fig. 2 is intensity modulation principle schematic of the present invention.
Fig. 3 is existing laser radar optical receiver assembly light channel structure schematic diagram.
Embodiment
Refer to Fig. 1, Fig. 1 is laser radar optical receiver assembly light channel structure schematic diagram of the present invention.As seen from the figure, laser radar optical receiver assembly of the present invention, comprise telescope 1, field stop 2, collimation lens 3, 1/2 wave plate 4, rotary electric machine 5, electro-optic crystal 6, polarizer 7, narrow band pass filter 8, condenser lens 9, photodetector 10, high-voltage power supply 11 and motor servo control system 12, it is characterized in that along described telescope 1 output light direction be field stop 2 successively, collimation lens 3, 1/2 wave plate 4, rotary electric machine 5, electro-optic crystal 6, polarizer 7, narrow band pass filter 8, condenser lens 9 and photodetector 10, the two poles of the earth of high-voltage power supply 11 are connected with the two ends of described electro-optic crystal 6, motor servo control system 12 is connected with described rotary electric machine 5, described field stop 2 is positioned at the focal position of telescope 1, by gluing mode, 1/2 described wave plate 4 is adhesive on described open-core type rotary electric machine 5, the geometric center of 1/2 described wave plate 4 and rotary electric machine 5 deads in line.
Described telescope 1 object lens are coated with eyepiece surface the high reflectance deielectric-coating conforming to laser source wavelength, and its F number is greater than 5.
The surface of described collimation lens 3 is coated with and the corresponding anti-reflection deielectric-coating of laser source wavelength.
1/2 described wave plate 4 surfaces are coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
Described electro-optic crystal 6 surfaces are coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
The surface of described condenser lens 9 is coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
The implementation method of this device comprises the following steps:
1. distinguish rotatory polarization device 7 and 1/2 wave plate 4, make a folk prescription of polarizer 7 vertical with the polarization direction of line polarisation to the fast axle with 1/2 wave plate 4 or slow axis, and by this set positions, be the initial position of 1/2 wave plate, the echo light intensity that telescope 1 receives is I
0;
2. near field range finding, when 1/2 wave plate 4 is during along initial position anglec of rotation α, Yu Qipian angular separation, emergent light polarization direction is (90 ° of-2 α), making alive not on electro-optic crystal 5, line polarisation polarization state through electro-optic crystal 5 does not change, and now the light intensity through polarizer 7 outgoing is I
1=I
0cos (90 ° of-2 α); Polarized light is with logical optical filtering by 8 pairs of bias lights of narrow band pass filter, finally by crossing condenser lens 9, flashlight is focused on photodetector 10 and is surveyed;
3. far field range finding, because 1/2 wave plate 4 is along initial position rotation alpha angle, so after 1/2 wave plate 4, Yu Qipian angular separation, emergent light polarization direction is still (90 ° of-2 α), adds V on electro-optic crystal 5
λ/2voltage, light is along optical axis direction by electro-optic crystal 5, and o light and e light produce π phase differential, and synthetic rear polarizer face is with respect to incident light half-twist, and now the light intensity through polarizer 7 outgoing is I
2=I
0cos (2 α), the polarized light after modulation is with logical optical filtering by 8 pairs of bias lights of narrow band pass filter, finally by crossing condenser lens 9, flashlight is focused on photodetector 10 and is surveyed;
4. the splitting ratio γ of laser radar optical receiver assembly and 1/2 wave plate 4 along the pass between initial position anglec of rotation α are:
By motor servo control system 12, control rotary electric machine 5 and drive 1/2 wave plate 4 rotations, thereby realize the online adjustment of laser radar optical receiver assembly far field and near field splitting ratio γ.
When the angle of rotation precision of the rotary electric machine of selecting is δ
α=0.00008rad, laser wavelength lambda=1064mm, telescope 1F number is 8.5, and electro-optic crystal 6 is selected RTP, and two RTP orthogonal crystals are placed, and parallel operation, further reduces half-wave voltage V
λ/2, polarizer 7 is selected air-gap Glan-Fu Ke prism, and it is C30659-1060-R8BH APD detector that photodetector 10 is selected the model of Excelitas company, and this detector is integrated with frontend amplifying circuit.If the echo light intensity that laser radar receives is I
0, under the pattern of near field, through the light intensity of polarizer 7 outgoing, be I
1, under Far Field Pattern, through the light intensity of polarizer 7 outgoing, be I
2, the maximum splitting ratio γ near field and far field can be expressed as:
Narrow band pass filter 8 incident angle θ and its central wavelength lambda
0there is following funtcional relationship:
Bandwidth Delta lambda=the 1mm of the narrow band pass filter 8 of selecting, refractive index is N
*=1.44963, therefore, the incidence angle θ of narrow band pass filter 8 should meet following relation:
Wherein: λ
θwhile being θ for beam incident angle, the centre wavelength of narrow band pass filter 8; λ
θwhile being 0 ° for beam incident angle, the centre wavelength of narrow band pass filter 8; Ne is air refraction, generally gets 1; N
*refractive index for narrow band pass filter 8; θ is the incident angle of light beam.
From formula (1), the splitting ratio γ of laser radar optical receiver assembly and angle α existence function relation, by regulating α value, can realize the adjustable continuously of splitting ratio γ, and maximum splitting ratio γ is: γ=1.6 * 10
-4: 1.From formula (3) and formula (4), for the narrow band pass filter 8 of bandwidth Delta lambda=1mm, its incident angle θ should meet θ≤2.55 °.
In classic method, generally adopt the method for channel structure design and timesharing gating to find range, splitting ratio guarantees by plated film, and splitting ratio fixes, unadjustable, structural volume is larger.Therefore, method related in the present invention is not only simple in structure, easy to use, and light splitting precision is improved significantly.
In sum, compare with classic method, laser radar optical receiver assembly mentioned in the present invention is simple in structure, splitting ratio is adjustable continuously, good stability, light splitting precision obviously improves, and can in laser radar receiving system and other need to be removed the optical system of bias light, be used widely.
Claims (8)
1. a laser radar optical receiver assembly, comprises telescope (1), field stop (2), collimation lens (3), 1/2 wave plate (4), rotary electric machine (5), electro-optic crystal (6), polarizer (7), narrow band pass filter (8), condenser lens (9), photodetector (10), high-voltage power supply (11) and motor servo control system (12), is characterized in that along described telescope (1) output light direction be field stop (2) successively, collimation lens (3), 1/2 wave plate (4), rotary electric machine (5), electro-optic crystal (6), polarizer (7), narrow band pass filter (8), condenser lens (9) and photodetector (10), the two poles of the earth of high-voltage power supply (11) are connected with the two ends of described electro-optic crystal (6), motor servo control system (12) is connected with described rotary electric machine (5), described field stop (2) is positioned at the focal position of telescope (1), by gluing mode, described 1/2 wave plate (4) is adhesive in to described open-core type rotary electric machine (5) upper, the geometric center of described 1/2 wave plate (4) and rotary electric machine (5) dead in line.
2. laser radar optical receiver assembly according to claim 1, it is characterized in that described telescope (1) object lens are coated with eyepiece surface the high reflectance deielectric-coating conforming to laser source wavelength, and its F number is greater than 5.
3. laser radar optical receiver assembly according to claim 1, is characterized in that the surface of described collimation lens (3) is coated with and the corresponding anti-reflection deielectric-coating of laser source wavelength.
4. laser radar optical receiver assembly according to claim 1, is characterized in that described 1/2 wave plate (4) surface is coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
5. laser radar optical receiver assembly according to claim 1, is characterized in that described electro-optic crystal (6) surface is coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
6. laser radar optical receiver assembly according to claim 1, it is characterized in that described narrow band pass filter (8) surface is coated with the anti-reflection deielectric-coating conforming to laser source wavelength, and its incident angle θ meets following relation:
Wherein: the incident angle that θ is light beam; λ
θwhile being θ for beam incident angle, the centre wavelength of narrow band pass filter (8); λ
0while being 0 ° for beam incident angle, the centre wavelength of narrow band pass filter (8); Ne is air refraction, generally gets 1; N
*refractive index for narrow band pass filter (8).
7. laser radar optical receiver assembly according to claim 1, is characterized in that the surface of described condenser lens (9) is coated with the anti-reflection deielectric-coating conforming to laser source wavelength.
8. laser radar optical receiver assembly according to claim 1, is characterized in that the implementation method of this device comprises the following steps:
1. distinguish rotatory polarization device (7) and 1/2 wave plate (4), make a folk prescription of polarizer (7) vertical with the polarization direction of line polarisation to the fast axle with 1/2 wave plate (4) or slow axis, and by this set positions, be the initial position of 1/2 wave plate, the echo light intensity that telescope (1) receives is I
0;
2. near field range finding, when 1/2 wave plate (4) is during along initial position anglec of rotation α, Yu Qipian angular separation, emergent light polarization direction is (90 ° of-2 α), making alive not on electro-optic crystal (5), line polarisation polarization state through electro-optic crystal (5) does not change, and now the light intensity through polarizer (7) outgoing is I
1=I
0cos (90 ° of-2 α); Polarized light is with logical optical filtering by narrow band pass filter (8) to bias light, finally by crossing condenser lens (9), flashlight is focused on photodetector (10) and is surveyed;
3. far field range finding, because 1/2 wave plate (4) is along initial position rotation alpha angle, after 1/2 wave plate (4), Yu Qipian angular separation, emergent light polarization direction is still (90 ° of-2 α), electro-optic crystal adds V on (5)
λ/2voltage, light is along optical axis direction by electro-optic crystal (5), and o light and e light produce π phase differential, and synthetic rear polarizer face is with respect to incident light half-twist, and now the light intensity through polarizer (7) outgoing is I
2=I
0cos (2 α), the polarized light after modulation is with logical optical filtering by narrow band pass filter (8) to bias light, finally by crossing condenser lens (9), flashlight is focused on photodetector (10) and is surveyed;
4. the splitting ratio γ of laser radar optical receiver assembly and 1/2 wave plate (4) along the pass between initial position anglec of rotation α are:
By motor servo control system (12), control rotary electric machine (5) and drive 1/2 wave plate (4) rotation, thereby realize the online adjustment of laser radar optical receiver assembly far field and near field splitting ratio γ.
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Cited By (19)
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| CN104834079A (en) * | 2015-04-24 | 2015-08-12 | 中国科学院西安光学精密机械研究所 | Long-focus large-caliber large-F-number telescopic imaging system |
| CN104898108A (en) * | 2015-05-19 | 2015-09-09 | 浙江大学 | Atmosphere remote sensing laser radar optical receiving device based on telescope arrays |
| CN105785341A (en) * | 2016-05-03 | 2016-07-20 | 中国科学院上海技术物理研究所 | Novel dual-channel laser radar receiving system for enhancing echo dynamic range |
| CN105785389A (en) * | 2016-03-04 | 2016-07-20 | 中国科学院光电技术研究所 | Three-dimensional imaging laser radar system |
| CN106154248A (en) * | 2016-09-13 | 2016-11-23 | 深圳市佶达德科技有限公司 | A kind of laser radar optical receiver assembly and laser radar range method |
| CN108169755A (en) * | 2017-12-14 | 2018-06-15 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of High Precision Long-distance laser range finder and distance measuring method |
| CN108181628A (en) * | 2018-01-23 | 2018-06-19 | 上海兰宝传感科技股份有限公司 | A kind of anti-interference distance measuring sensor based on TOF |
| CN110109084A (en) * | 2019-06-03 | 2019-08-09 | 北京未感科技有限公司 | Laser receiver and noise-reduction method, laser radar |
| CN110275154A (en) * | 2019-07-05 | 2019-09-24 | 哈尔滨工业大学 | A kind of laser radar Polarization Detection optics regulating mechanism |
| CN111398935A (en) * | 2018-12-27 | 2020-07-10 | 深圳市速腾聚创科技有限公司 | Laser radar receiving system |
| CN111708037A (en) * | 2020-06-24 | 2020-09-25 | 清华大学 | Passive measuring head and double-optical comb measuring system based on tunable band-pass filter |
| CN112394341A (en) * | 2020-11-26 | 2021-02-23 | 上海工程技术大学 | Vehicle-mounted laser radar range measurement testing system and method |
| CN112513669A (en) * | 2020-01-03 | 2021-03-16 | 深圳市速腾聚创科技有限公司 | Laser transceiver module and laser radar |
| CN113167905A (en) * | 2018-12-06 | 2021-07-23 | 罗伯特·博世有限公司 | Laser radar system and motor vehicle |
| CN113206708A (en) * | 2021-05-06 | 2021-08-03 | 西安邮电大学 | High-dynamic underwater wireless light receiving system |
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| CN104834079B (en) * | 2015-04-24 | 2017-04-05 | 中国科学院西安光学精密机械研究所 | Long-focus large-caliber large-F-number telescopic imaging system |
| CN104834079A (en) * | 2015-04-24 | 2015-08-12 | 中国科学院西安光学精密机械研究所 | Long-focus large-caliber large-F-number telescopic imaging system |
| CN104898108A (en) * | 2015-05-19 | 2015-09-09 | 浙江大学 | Atmosphere remote sensing laser radar optical receiving device based on telescope arrays |
| CN105785389A (en) * | 2016-03-04 | 2016-07-20 | 中国科学院光电技术研究所 | Three-dimensional imaging laser radar system |
| CN105785341A (en) * | 2016-05-03 | 2016-07-20 | 中国科学院上海技术物理研究所 | Novel dual-channel laser radar receiving system for enhancing echo dynamic range |
| CN106154248A (en) * | 2016-09-13 | 2016-11-23 | 深圳市佶达德科技有限公司 | A kind of laser radar optical receiver assembly and laser radar range method |
| CN108169755A (en) * | 2017-12-14 | 2018-06-15 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of High Precision Long-distance laser range finder and distance measuring method |
| CN108181628A (en) * | 2018-01-23 | 2018-06-19 | 上海兰宝传感科技股份有限公司 | A kind of anti-interference distance measuring sensor based on TOF |
| CN113167905A (en) * | 2018-12-06 | 2021-07-23 | 罗伯特·博世有限公司 | Laser radar system and motor vehicle |
| CN111398935A (en) * | 2018-12-27 | 2020-07-10 | 深圳市速腾聚创科技有限公司 | Laser radar receiving system |
| CN111398935B (en) * | 2018-12-27 | 2022-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar receiving system |
| CN110109084A (en) * | 2019-06-03 | 2019-08-09 | 北京未感科技有限公司 | Laser receiver and noise-reduction method, laser radar |
| CN110109084B (en) * | 2019-06-03 | 2021-08-17 | 北京未感科技有限公司 | Laser receiving device, noise reduction method and laser radar |
| CN110275154A (en) * | 2019-07-05 | 2019-09-24 | 哈尔滨工业大学 | A kind of laser radar Polarization Detection optics regulating mechanism |
| CN112513669A (en) * | 2020-01-03 | 2021-03-16 | 深圳市速腾聚创科技有限公司 | Laser transceiver module and laser radar |
| CN111708037A (en) * | 2020-06-24 | 2020-09-25 | 清华大学 | Passive measuring head and double-optical comb measuring system based on tunable band-pass filter |
| CN111708037B (en) * | 2020-06-24 | 2023-08-25 | 清华大学 | Passive measuring head and double-optical comb measuring system based on tunable bandpass filter |
| CN112394341A (en) * | 2020-11-26 | 2021-02-23 | 上海工程技术大学 | Vehicle-mounted laser radar range measurement testing system and method |
| WO2022189094A1 (en) * | 2021-03-11 | 2022-09-15 | Scoobe3D Gmbh | Optical system for obtaining 3d spatial information |
| CN113206708B (en) * | 2021-05-06 | 2022-06-14 | 西安邮电大学 | High-dynamic underwater wireless light receiving system |
| CN113206708A (en) * | 2021-05-06 | 2021-08-03 | 西安邮电大学 | High-dynamic underwater wireless light receiving system |
| WO2022252724A1 (en) * | 2021-06-02 | 2022-12-08 | 华为技术有限公司 | Optical system, illumination system, and display system |
| CN114624682A (en) * | 2022-05-17 | 2022-06-14 | 中国科学技术大学 | Method and system for suppressing near field strength echo signal |
| CN118671736A (en) * | 2024-06-25 | 2024-09-20 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Laser radar telescope capable of adjusting power in real time and power real-time adjusting method |
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