CN113311410B - Obstacle avoidance laser radar transmitting module of helicopter - Google Patents
Obstacle avoidance laser radar transmitting module of helicopter Download PDFInfo
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- CN113311410B CN113311410B CN202110792342.1A CN202110792342A CN113311410B CN 113311410 B CN113311410 B CN 113311410B CN 202110792342 A CN202110792342 A CN 202110792342A CN 113311410 B CN113311410 B CN 113311410B
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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Abstract
The invention discloses an obstacle avoidance laser radar transmitting module of a helicopter, which comprises a light source module (1), a light splitting module (2) and a scanning module (3) which are matched with each other; the light source module (1) comprises a VCSEL (vertical cavity surface emitting laser) device (4), and the VCSEL laser device (4) is connected with a laser shaping unit (5); the VCSEL (4) comprises a laser body (401), a sectional P-surface electrode (402) and a sectional N-surface electrode (403) are arranged at the upper end and the lower end of the laser body (401) respectively, and the sectional P-surface electrode (402) and the sectional N-surface electrode (403) are connected with a polarized light adjusting power supply (404) respectively. The invention has the characteristic of effectively improving the target identification capability.
Description
Technical Field
The invention relates to a laser radar, in particular to an obstacle avoidance laser radar transmitting module of a helicopter.
Background
The helicopter is a convenient and efficient aircraft, has the advantages of excellent low-altitude flight characteristic, convenience in taking off and landing and the like, and is widely applied to military and civil fields such as reconnaissance and surveying and mapping, material transportation, disaster resistance and rescue and the like. Due to the structural characteristics of the helicopter and the influence of a low-altitude complex terrain environment, the survival capacity of the helicopter platform is poor; an important factor threatening the safety of the helicopter is that under the conditions of complex terrains such as mountains, plateaus, deserts and forests or under the conditions of low visibility caused by rain, snow, sand, dust, heavy fog and the like, the environments of takeoff, flight, landing and landing of the helicopter are full of unknown, the visual ability of a driver is severely limited, the external environment of the helicopter body cannot be rapidly and effectively known, and dangerous targets and obstacles such as forests, electric wires, towers and the like on a flight path cannot be effectively avoided, so that accidents are caused. These threats pose a significant challenge to the survival safety of helicopters, and are important bottleneck problems for the survival capability of helicopters to be improved. The 2009 department of national defense "aviation safety technical report" states that "the adverse visual environment caused by sand and cloud causes almost half of the loss of an air force rotorcraft, which is also the leading cause of the loss of an air force aircraft.
The helicopter obstacle avoidance laser radar is a radar based on laser scanning, can guarantee the flight safety of a helicopter, and can deal with the threats of severe conditions such as power cables, antennas, night, extreme weather, sand and dust and the like. However, the conventional radar technology is limited in that the point cloud density of the radar is insufficient, the imaging resolution of a fine target is not high, and the target identification capability is poor. Therefore, the conventional technology has a problem of poor target recognition capability.
Disclosure of Invention
The invention aims to provide an obstacle avoidance laser radar transmitting module of a helicopter. The invention has the characteristic of effectively improving the target identification capability.
The technical scheme of the invention is as follows: a helicopter obstacle avoidance laser radar transmitting module comprises a light source module, a light splitting module and a scanning module which are matched with each other; the light source module comprises a VCSEL laser, and the VCSEL laser is connected with a laser shaping unit; the VCSEL laser comprises a laser body, a sectional P-surface electrode and a sectional N-surface electrode are arranged at the upper end and the lower end of the laser body respectively, and the sectional P-surface electrode and the sectional N-surface electrode are connected with a polarized light adjusting power supply respectively.
In the helicopter obstacle avoidance laser radar transmitting module, the segmented P-surface electrode includes an a-crystal-orientation P-surface electrode and a B-crystal-orientation P-surface electrode which are orthogonally distributed, and the a-crystal-orientation P-surface electrode and the B-crystal-orientation P-surface electrode are arc-shaped structures.
In the helicopter obstacle avoidance laser radar transmitting module, the segmented N-surface electrode comprises an a crystal orientation N-surface electrode and a B crystal orientation N-surface electrode which are orthogonally distributed, and the a crystal orientation N-surface electrode and the B crystal orientation N-surface electrode are arc-shaped structures.
In the helicopter obstacle avoidance laser radar transmitting module, the crystal orientation A P-surface electrode, the crystal orientation A N-surface electrode, the crystal orientation B P-surface electrode and the crystal orientation B N-surface electrode are respectively connected with the positive end and the negative end of the polarized light adjusting power supply.
In the helicopter obstacle avoidance laser radar transmitting module, the light splitting module comprises a first polarization beam splitter, a second polarization beam splitter is arranged below the first polarization beam splitter, a first reflecting mirror is arranged on the side surface of the first polarization beam splitter, a second reflecting mirror is arranged below the first reflecting mirror, and the second reflecting mirror is matched with the second polarization beam splitter; the first polarization beam splitter is matched with the laser shaping unit, and the second polarization beam splitter is matched with the scanning module.
In the helicopter obstacle avoidance laser radar transmitting module, the scanning module is an MEMS micro-scanning mirror.
In the helicopter obstacle avoidance laser radar transmitting module, the use method is as follows: the method comprises the steps of utilizing a polarized light to adjust a power supply, alternately applying current to a sectional type P-surface electrode and a sectional type N-surface electrode of a VCSEL laser, enabling light in two polarization directions to appear alternately, then dividing the light into two paths of laser through a light dividing module, enabling one path of laser to enter an MEMS micro-scanning mirror through a second polarization beam splitter, enabling the other path of laser to enter the MEMS micro-scanning mirror through a first reflecting mirror, a second reflecting mirror and a second polarization beam splitter, and finally enabling the two paths of laser to be emitted to a target space through the MEMS micro-scanning mirror.
In the helicopter obstacle avoidance laser radar transmitting module, the polarized light adjusting power supply alternately applies currents on the A crystal orientation P-surface electrode and the A crystal orientation N-surface electrode and on the B crystal orientation P-surface electrode and the B crystal orientation N-surface electrode to complete adjustment of light in two polarization directions which alternately appears periodically.
Compared with the prior art, the invention consists of a light source module, a light splitting module and a scanning module, wherein the light source module consists of a laser body, a sectional type P surface electrode and a sectional type N surface electrode which are arranged at the upper end and the lower end of the laser body, and a polarized light adjusting power supply which is respectively connected with the sectional type P surface electrode and the sectional type N surface electrode; the polarized light adjusting power supply is utilized to alternately apply an electrical injection process on two crystals of the VCSEL A, B, so that light in two polarization directions periodically and alternately appears, then the VCSEL is divided into two paths through a light splitting optical path, and finally two paths of laser are emitted to a target space through the MEMS micro-scanning mirror; meanwhile, the invention does not additionally increase a mechanical structure, ensures the reliability of the radar transmitting module and controls the cost. Namely, the invention can increase the density of the point cloud by two times without obviously increasing the cost of the transmitting system, thereby improving the identification capability of the tiny target. In conclusion, the method has the characteristic of effectively improving the target identification capability.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic diagram of the structure of a lidar transmission system;
fig. 3 is a diagram illustrating the scanning result of the present invention.
Figure 4 is a schematic diagram of VCSEL laser current injection polarization control.
The labels in the figures are: 1-light source module, 2-light splitting module, 3-scanning module, 4-VCSEL laser, 5-laser shaping unit, 401-laser body, 402-sectional P-surface electrode, 403-sectional N-surface electrode, 404-polarized light adjusting power supply, 4021-A crystal orientation P-surface electrode, 4022-B crystal orientation P-surface electrode, 4031-A crystal orientation N-surface electrode, 4032-B crystal orientation N-surface electrode, 201-first polarization beam splitter, 202-second polarization beam splitter, 203-first reflecting mirror and 204-second reflecting mirror.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Examples are given. A helicopter obstacle avoidance laser radar transmitting module is shown in figures 1-4 and comprises a light source module 1, a light splitting module 2 and a scanning module 3 which are matched with each other; the light source module 1 comprises a VCSEL (vertical cavity surface emitting laser) 4, and the VCSEL 4 is connected with a laser shaping unit 5; the VCSEL laser 4 includes a laser body 401, a sectional P-plane electrode 402 and a sectional N-plane electrode 403 are respectively disposed at the upper and lower ends of the laser body 401, and the sectional P-plane electrode 402 and the sectional N-plane electrode 403 are respectively connected to a polarized light adjusting power supply 404.
The segmented P-plane electrode 402 includes an a-crystal-direction P-plane electrode 4021 and a B-crystal-direction P-plane electrode 4022 which are orthogonally distributed, and the a-crystal-direction P-plane electrode 4021 and the B-crystal-direction P-plane electrode 4022 are arc-shaped. The number of the A crystal orientation P surface electrodes is 2, and the A crystal orientation P surface electrodes are symmetrically distributed; the number of the B crystal orientation P-surface electrodes is 2, and the B crystal orientation P-surface electrodes are symmetrically distributed.
The segmented N-face electrode 403 includes an a-crystal-orientation N-face electrode 4031 and a B-crystal-orientation N-face electrode 4032 which are orthogonally distributed, and the a-crystal-orientation N-face electrode 4031 and the B-crystal-orientation N-face electrode 4032 are arc-shaped structures. The number of the A crystal orientation N surface electrodes is 2, and the A crystal orientation N surface electrodes are symmetrically distributed; the number of the B crystal orientation N surface electrodes is 2, and the B crystal orientation N surface electrodes are symmetrically distributed.
The a crystal orientation P surface electrode 4021 and the a crystal orientation N surface electrode 4031, and the B crystal orientation P surface electrode 4022 and the B crystal orientation N surface electrode 4032 are respectively connected to the positive and negative ends of the polarized light modulation power supply 404.
The polarized light adjusting power supply is a direct current power supply.
The light splitting module 2 comprises a first polarization beam splitter 201, a second polarization beam splitter 202 is arranged below the first polarization beam splitter 201, a first reflecting mirror 203 is arranged on the side surface of the first polarization beam splitter 201, a second reflecting mirror 204 is arranged below the first reflecting mirror 203, and the second reflecting mirror 204 is matched with the second polarization beam splitter 202; the first polarization beam splitter 201 is fitted with the laser shaping unit 5, and the second polarization beam splitter 202 is fitted with the scanning module 3.
The scanning module 3 is a MEMS micro-scanning mirror.
A use method of a helicopter obstacle avoidance laser radar transmitting module comprises the following steps: the method comprises the steps of utilizing a polarized light to adjust a power supply, alternately applying current to a sectional type P-surface electrode and a sectional type N-surface electrode of a VCSEL laser, enabling light in two polarization directions to appear alternately, then dividing the light into two paths of laser through a light dividing module, enabling one path of laser to enter an MEMS micro-scanning mirror through a second polarization beam splitter, enabling the other path of laser to enter the MEMS micro-scanning mirror through a first reflecting mirror, a second reflecting mirror and a second polarization beam splitter, and finally enabling the two paths of laser to be emitted to a target space through the MEMS micro-scanning mirror.
The polarized light adjusting power supply alternately applies current to the A crystal orientation P-surface electrode and the A crystal orientation N-surface electrode and the B crystal orientation P-surface electrode and the B crystal orientation N-surface electrode to complete the adjustment of the periodic alternate occurrence of the light in the two polarization directions.
The current alternation period is less than the scanning period of the MEMS micro-scanning mirror.
The working principle of the system is as follows: the VCSEL laser (i.e. vertical cavity surface emitting laser) is a semiconductor laser emitting light from a vertical surface, and has a small volume, low power consumption and good beam quality. According to the invention, based on the polarization characteristics of the VCSEL, the electrical injection process is alternately applied to A, B crystal directions of the VCSEL so that light in two polarization directions periodically and alternately appears, then the light is divided into two paths through the light splitting optical path, and finally two paths of laser are reflected to a target space through the MEMS micro-scanning mirror, and as the modulation rate of the VCSEL can reach 100GHz and the transverse scanning rate of the MEMS is only dozens of KHz, two beams of VCSEL polarized light can be ensured to fall in the same direction of the MEMS micro-scanning mirror in the scanning period of the MEMS, so that the scanning point cloud density of the radar is increased as shown in figure 3.
As shown in fig. 4, the VCSEL laser introduces A, B periodic current injections in two mutually orthogonal directions, respectively.
The light emitted by the VCSEL laser passes through a laser shaping unit, the laser shaping unit is used for compressing the divergence angle of the VCSEL laser, and the laser shaping unit can be a Galileo beam expanding system or other collimation optical systems.
The light beam passing through the laser shaping unit enters the first polarization beam splitter 201, and the two polarized light beams are split into two beams after passing through the first polarization beam splitter 201. One path of the polarized light passes through the second polarization beam splitter 202 and enters the two-dimensional MEMS micro-scanning mirror, the other path of the polarized light passes through the first reflecting mirror and the second reflecting mirror and then enters the two-dimensional MEMS micro-scanning mirror through the second polarization beam splitter, and light spots of the two paths of polarized light on the MEMS micro-scanning mirror are separated and do not coincide. And the two paths of polarized light are deflected by the two-dimensional MEMS micro-scanning mirror and then scanned in the whole target space.
Claims (2)
1. The utility model provides a helicopter keeps away barrier laser radar transmission module which characterized in that: the device comprises a light source module (1), a light splitting module (2) and a scanning module (3) which are matched with each other; the light source module (1) comprises a VCSEL (vertical cavity surface emitting laser) device (4), and the VCSEL laser device (4) is connected with a laser shaping unit (5); the VCSEL (4) comprises a laser body (401), the upper end and the lower end of the laser body (401) are respectively provided with a sectional P-surface electrode (402) and a sectional N-surface electrode (403), and the sectional P-surface electrode (402) and the sectional N-surface electrode (403) are respectively connected with a polarized light adjusting power supply (404);
the segmented P-surface electrode (402) comprises an A-crystal-direction P-surface electrode (4021) and a B-crystal-direction P-surface electrode (4022) which are orthogonally distributed, and the A-crystal-direction P-surface electrode (4021) and the B-crystal-direction P-surface electrode (4022) are of arc structures;
the segmented N-surface electrode (403) comprises an A-crystal-orientation N-surface electrode (4031) and a B-crystal-orientation N-surface electrode (4032) which are distributed orthogonally, and the A-crystal-orientation N-surface electrode (4031) and the B-crystal-orientation N-surface electrode (4032) are of arc structures;
the A crystal orientation P surface electrode (4021), the A crystal orientation N surface electrode (4031), the B crystal orientation P surface electrode (4022) and the B crystal orientation N surface electrode (4032) are respectively connected with the positive end and the negative end of the polarized light adjusting power supply (404);
the light splitting module (2) comprises a first polarization beam splitter (201), a second polarization beam splitter (202) is arranged below the first polarization beam splitter (201), a first reflecting mirror (203) is arranged on the side surface of the first polarization beam splitter (201), a second reflecting mirror (204) is arranged below the first reflecting mirror (203), and the second reflecting mirror (204) is matched with the second polarization beam splitter (202); the first polarization beam splitter (201) is matched with the laser shaping unit (5), and the second polarization beam splitter (202) is matched with the scanning module (3);
the scanning module (3) is an MEMS micro-scanning mirror;
the using method comprises the following steps: the method comprises the steps of utilizing a polarized light to adjust a power supply, alternately applying current to a sectional type P-surface electrode and a sectional type N-surface electrode of a VCSEL laser, enabling light in two polarization directions to appear alternately, then dividing the light into two paths of laser through a light dividing module, enabling one path of laser to enter an MEMS micro-scanning mirror through a second polarization beam splitter, enabling the other path of laser to enter the MEMS micro-scanning mirror through a first reflecting mirror, a second reflecting mirror and a second polarization beam splitter, and finally enabling the two paths of laser to be emitted to a target space through the MEMS micro-scanning mirror.
2. The helicopter obstacle avoidance lidar transmission module of claim 1, wherein: the polarized light adjusting power supply alternately applies current to the A crystal orientation P-surface electrode and the A crystal orientation N-surface electrode and the B crystal orientation P-surface electrode and the B crystal orientation N-surface electrode to complete the adjustment of the periodic alternate occurrence of the light in the two polarization directions.
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| CN210347922U (en) * | 2019-05-08 | 2020-04-17 | 深圳奥比中光科技有限公司 | Laser radar device |
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