CN208207202U - Optical-fiber laser radar - Google Patents

Abstract

The utility model discloses a kind of optical-fiber laser radars, are related to laser radar technique field, and laser radar includes cabinet, probe and fiber optic bundle；The laser radar can realize that probe is spatially separating with cabinet by optical fiber, so that laser, detector, electronics etc. are placed in the cabinet being relatively isolated with the external world, it is more easier to accomplish temperature control, vibration damping, dust-separation, and exposed probe segment is optical lens, surface is easy to clean, resist chemical performance is strong, resistance to variation of ambient temperature.

Description

Optical-fiber laser radar

Technical field

The utility model relates to laser radar technique fields, and in particular to a kind of optical-fiber laser radar.

Background technique

Laser radar is the key sensor of intelligent driving automobile, and market potential is huge, by people's common concern.At present Laser radar in the market is mechanical scanning type, is made of laser, detector, optical lens, sweep mechanism, electronics etc., Using flight time range measurement principle, belong to direct ranging.In the mechanical scanning laser radar of intelligent driving, in order to adapt to vapour Range image when vehicle high-speed motion obtains, and generally uses multipoint mode laser lighting, and multiple lasers are arranged in linear array, by swashing Light device linear array-detector linear array is in the one-dimensional scanning with linear array vertical direction, so that it may obtain the whole picture in motor vehicle environment space Image, speed are faster than single-point type illumination.Laser radar technique is not yet formed at present, and people are being developed based on the non-of floodlighting Scanning laser radar and the laser radar etc. for using amplitude or frequency modulation(PFM) light source new principle.No matter which kind of laser radar, all It is the entirety of optical, mechanical and electronic integration, also not exclusively adapts to the requirement of automobile autonomous driving.

At present in application fields such as intelligent driving automobiles, since the rigors that laser radar must satisfy vehicle rule could just Formula is mounted on automobile, existing laser radar in terms of adapting to high temperature, the adverse circumstances such as jolt there is also defect, it is therefore necessary to It is improved.

Summary of the invention

In view of the deficiencies in the prior art, the purpose of this utility model is to provide a kind of optical-fiber laser radars, should Laser radar can realize that probe and cabinet in laser radar are spatially separating by optical fiber, so that laser, detector, electronics It learns etc. and to be placed on the extraneous cabinet being relatively isolated, and then be more easier to accomplish temperature control, vibration damping, dust-separation, and exposed probe portion Divide only optical lens, surface is easy to clean, and resist chemical performance is strong, resistance to variation of ambient temperature.

To achieve the above object, the technical solution adopted in the utility model is as follows:

A kind of optical-fiber laser radar, the laser radar include cabinet, probe and fiber optic bundle, include in the cabinet There are M × N+1 laser, laser power supply, the trigger signal for generating Pulse-trigger control signal to the laser to send out First optical fiber both ends are arranged in raw device, M × N number of incidence end fiber connector in two-dimentional launching fiber array, a pair Fiber connector, M × N number of exit end fiber connector in two-dimentional launching fiber array, receives initial signal at lenticule respectively The first photodetector and receive the second photodetector of stop signal, for first photodetector and second Photodetector provides the detector power supply of bias voltage, is orderly used to respectively to first photodetector and the second photoelectricity Signal in detector amplifies the amplifying circuit, time-discriminating circuit and time-to-digital conversion circuit of processing, M × N number of institute It states incidence end fiber connector and respectively corresponds and coupled with M × N number of laser, another described laser and the light Fine connector is coupled, and M × N number of exit end fiber connector is respectively corresponded to be coupled with second photodetector, Middle M and N is >=1 natural integer；It is described probe include two-dimentional launching fiber array outgoing end face, setting it is described go out M × N laser side fiber core penetrating on end face, Laser emission lens are formed in the laser side fiber core and swash Divergent laser beam, narrow band filter, laser pick-off lens, two-dimentional reception optical fiber array end face, setting between light emitting lens M × N detector side fiber core on the two-dimentional reception optical fiber array end face and it is formed in the detector sidelight Convergence laser beam between long and slender core and laser pick-off lens；The fiber optic bundle includes that M × N launching fiber, M × N item connect Optical fiber and the first optical fiber are received, wherein the exit end of launching fiber described in M × N item is connected to the two-dimentional launching fiber array M × N laser side fiber core being emitted on end face, the incidence end of reception optical fiber described in M × N item are connected to the two dimension and connect Receive M × N detector side fiber core on the outgoing end face of fiber array.

Further, the laser is one of laser diode, solid state laser or optical fiber laser.

Further, the M × N aperture in two-dimensional arrangements is provided on the outgoing end face of two-dimentional launching fiber array, One fiber core is installed, wherein M and N is >=1 natural integer in each aperture.

Further, the M in two-dimensional arrangements × N number of aperture, Mei Yikai are provided on the two-dimentional reception optical fiber array end face One fiber core is installed, wherein M and N is >=1 natural integer in hole.

Further, the aperture is the small structure formed by using micrometer-nanometer processing technology.

Further, first photodetector and the second photodetector be using avalanche photodiode detector or P-type-is intrinsic-one of the diode detector that constitutes of N-type semiconductor.

Further, the lenticule is for coupleeing first photodetector and second for the signal from optical fiber Fine lens arrangement in photodetector.

Further, the Laser emission lens are to be made of a lens or be made of the lens group of several lens forming.

Further, the laser power supply is the power supply architecture that can provide fast-pulse driving capability.

Compared with prior art, the advantageous effects that this programme has are as follows:

1, realize being spatially separating for probe and cabinet so that laser, detector, electronics etc. be placed on it is opposite with the external world In the cabinet of isolation, it is more easier to accomplish temperature control, vibration damping, dust-separation, and exposed probe segment is optical lens, surface is easy to Cleaning, resist chemical performance is strong, resistance to variation of ambient temperature；

2, the probe size after being spatially separating is small, and riding position is restricted small, is conducive to the whole design of vehicle shape；

3, fiber size is small, and the distance between shoot laser beam can be more smaller than laser itself, ranging When image it is apparent；

4, being radiated on object is still laser facula, rather than the continuous laser in space, and laser energy is high, ranging model It encloses big；

5, being radiated on object is two-dimensional lattice, and lattice period is adjustable, and every light intensity is separately adjustable, can be carried out The Uniform Illumination of whole visual field, scannerless laser radar easy to accomplish, ranging speed are fast.

Detailed description of the invention

Fig. 1 is the optical-fiber laser radar arrangement schematic diagram in the present embodiment.

Description of symbols in figure:

1- laser power supply, 2- trigger signal generator, 3- laser, 4- incidence end fiber connector, 5- launching fiber, 6- is emitted end face, 7- laser side fiber core, 8- divergent laser beam, 9- Laser emission lens, 10- collimated laser beam, 11- mesh Mark object, 12- laser facula, the first optical fiber of 13-, the end 14- the first optical fiber A connector, 15- lenticule, the first photodetection of 16- Device, 17- detector power supply, 18- signal amplification circuit, 19- time-discriminating circuit, 20- time-to-digital conversion circuit, 21- reflection Laser beam, 22- narrow band filter, 23- laser pick-off lens, 24- converge laser beam, 25- incident end face, 26- detector sidelight Long and slender core, 27- optical fiber, 28- exit end fiber connector, the second photodetector of 29-, 30- probe, 31- fiber optic bundle, 32- machine Case, the end 33- the first optical fiber B connector.

Specific embodiment

The present invention is described in further detail with specific embodiment with reference to the accompanying drawings of the specification.

This programme is directed at present in application fields such as intelligent driving automobiles, since laser radar must satisfy the tight of vehicle rule Severe requirement could be formally mounted on automobile, and there is also lack in terms of adapting to high temperature, the adverse circumstances such as jolt for existing laser radar Sunken problem, and the method that a kind of probe for realizing laser radar proposed is separated with cabinet, the method achieve laser radars In probe and cabinet be spatially separating so that laser, detector, electronics etc. are placed on and the extraneous cabinet being relatively isolated In, and then be more easier to accomplish temperature control, vibration damping, dust-separation, and exposed probe segment is optical lens, surface is easy to clear Clean, resist chemical performance is strong, resistance to variation of ambient temperature.

It is the optical-fiber laser radar arrangement schematic illustration in the present embodiment referring to shown in attached drawing 1.Light in the present embodiment Fiber laser radar includes cabinet 32, probe 30 and fiber optic bundle 31.It include M × N+1 laser 3, laser in cabinet 32 Device power supply 1, the trigger signal generator 2 for generating Pulse-trigger control signal to laser 3, in two-dimentional launching fiber array M × N number of incidence end fiber connector 4, a pair of the first end optical fiber A connector 14 and first that first optical fiber, 13 both ends are set The end optical fiber B connector 33, M × N number of exit end fiber connector 28 in two-dimentional launching fiber array, connects lenticule 15 respectively It receives the first photodetector 16 of initial signal and receives the second photodetector 29 of stop signal, for visiting to the first photoelectricity It surveys device 16 and the second photodetector 29 provides the detector power supply 17 of bias voltage, is orderly used to respectively to the first photodetection Signal in device 16 and the second photodetector 29 amplifies the amplifying circuit 18, time-discriminating circuit 19 and time number of processing Word conversion circuit 20, above-mentioned M × N number of incidence end fiber connector 4 is respectively corresponded to be coupled with M × N number of laser 3, another swashs Light device 3 is coupled with the first end optical fiber A connector 14, and M × N number of exit end fiber connector 28 is corresponding by lenticule 15 respectively It is coupled with the second photodetector 29, wherein M and N is >=1 natural integer, and the first end optical fiber B connector 33 passes through Lenticule 15 is coupled with the first photodetector 16；Probe 30 includes the outgoing end face 6 of two-dimentional launching fiber array, setting In M × N laser side fiber core 7 being emitted on end face 6, Laser emission lens 9, it is formed in laser side fiber core 7 Divergent laser beam 8, narrow band filter 22, laser pick-off lens 23, two-dimentional reception optical fiber array between Laser emission lens 9 Incident end face 25, M × N detector side fiber core 26 being arranged on two-dimentional reception optical fiber array incident end face 25 and shape At the convergence laser beam 24 between detector side fiber core 26 and laser pick-off lens 23；Fiber optic bundle 31 includes M × N item Launching fiber 5, M × N reception optical fiber 27 and the first optical fiber 13 for being used for transmission initial signal laser, wherein M × N item emits The incidence end of optical fiber 5 connects M × N number of incidence end optical fiber jointing 4, and exit end is connected to the outgoing of two-dimentional launching fiber array M × N laser side fiber core 7 on end face 6, the incidence end of M × N reception optical fiber 27 are connected to two dimension and receive optical fiber M × N detector side fiber core 26 on the incident end face 25 of array, exit end connect M × N number of exit end optical fiber connection First 28.

When work, laser power supply 1 is that laser 3 provides fast driving pulse, and trigger signal generator 2 generates one Electric signal is triggered, while controlling M × N+1 laser 3 and generating laser pulse, the incidence end optical fiber in two-dimentional launching fiber array Each fiber connector in connector 4 carries out efficient coupling, total M × N number of fiber connector with a laser 3 respectively. After laser pulse is coupled into incident end fiber connector 4, the outgoing of two-dimentional launching fiber array is transferred to along launching fiber 5 End face 6.M × N laser pulse leaves end from the laser side fiber core 7 on the outgoing end face 6 of two-dimentional launching fiber array Face, freedom of entry space form divergent laser beam 8.After divergent laser beam 8 passes through Laser emission lens 9, become collimation laser Beam 10.Collimated laser beam 10 transmits in free space, is irradiated on object 11, M × N number of laser facula is formed, thus complete It is illuminated at dot matrix.

First end optical fiber A connector 14 is coupled with laser 3, is coupled into the laser come and is passed along the first optical fiber 13 It is defeated, after being transferred to the first end optical fiber B connector 33, enters the first photodetector 16 after the focusing of lenticule 15, generate mould The initial signal of analog quantity form.First photodetector 16 is powered by detector power supply 17.The initial signal quilt of analog quantity form Subsequent signal amplification circuit 18 amplifies, and entry time discriminator circuit 19 becomes digital initial signal after being shaped, finally In entry time digital conversion circuit 20.

Object 11 generates laser facula 12 after being illuminated by laser illumination system.The reflection laser beam that laser facula 12 generates 21, laser pick-off lens 23 are entered by narrow band filter 22, convergence laser beam 24 are generated, in the coke of laser pick-off lens 23 It is incident in the detector side fiber core 26 on two-dimentional reception optical fiber array incident end face 25 plan-position.Received laser It is transmitted by reception optical fiber 27, is come out from the exit end fiber connector 28 of two-dimentional reception optical fiber array exit end.Connect from optical fiber The laser that connector comes out, after lenticule 15, into the second photodetector 29 for receiving stop signal.Detector power supply 17 Bias voltage is provided to the second photodetector 29, makes its normal work.Second photodetector 29 generates analog quantity form Stop signal.The small-signal passes through the amplification of signal amplification circuit 18, becomes and distance using after time-discriminating circuit 19 The relevant digital stop signal of information, from different input terminal entry time digital conversion circuits 20.Time-to-digital converter electricity Road 20 generates the flight time by comparing the time difference of initial signal and stop signal.It is related to distance where laser facula 12 Flight time exported in the form of digital signal, enter in computer and handled, where different laser faculas 12 Distance set form the range image wanted of people, can be shown with form appropriate, such as widely known sharp Luminous point cloud, or control system is sent to remove control actuator.It should be noted that computer etc. belongs to the information of laser radar Processing system is no longer drawn here, is the prior art.

In addition, signal amplification circuit 18 mentioned above is the faint letter to generate photodetector by photoelectric conversion Number circuit amplified, is generally made of two parts of preamplifier and main amplifier, is the prior art；Same time mirror Other circuit 19 is that amplified pulse signal is provided initial signal or stop signal by time discriminator after filtering Circuit；Time-to-digital conversion circuit 20 is to come out the time difference measurements of the initial signal of input and stop signal, and with number The circuit of the form output of signal.The time difference is the distance detected multiplied by the light velocity i.e. and apart from the relevant flight time.It It can be and be made of special time-to-digital converter chip outfit auxiliary circuit, is also possible to by field programmable gate array FPGA circuitry composition.

Above-mentioned laser power supply 1 in the present embodiment is to provide the power supply architecture of fast-pulse driving capability for laser 3. Laser 3 is also possible to solid state laser either laser diode, can also be optical fiber laser, these lasers are logical The power supply of power supply 1 is crossed, under the control for the same trigger signal that trigger signal generator 2 generates, multiple lasers 3 generate simultaneously Multiple laser pulse.Lenticule is for coupleeing first photodetector 16 and the second photoelectricity for the signal from optical fiber Fine lens arrangement in detector 29；Laser emission lens 9 be made of a lens or by several lens forming lens Group is constituted；First photodetector 16 and the second photodetector 29 are using avalanche photodiode detector or p-type-sheet One of the diode detector that sign-N-type semiconductor is constituted, usual avalanche photodide is more common.Two pole of avalanche optoelectronic Pipe, which can work, is slightly above the Geiger mode angular position digitizer of avalanche threshold voltage in bias voltage, can also work and slightly below avenge in bias voltage Collapse the linear model of threshold voltage.First photodetector 16 is for detecting initial signal.Second photodetector 29 is for visiting Survey stop signal.

It is all respectively set on the outgoing end face 6 of two-dimentional launching fiber array and on two-dimentional reception optical fiber array incident end face 25 Have M × N number of aperture in two-dimensional arrangements, a fiber core be installed in each aperture, wherein M and N be all >=1 it is naturally whole Number.In actual fabrication, by micrometer-nanometer processing technology, Precision Machining M × N number of aperture on the materials such as silicon wafer, optical fiber is steadily It is fixed in aperture, constitutes the 2-D optical fibre array of precise alignment.Here the arrangement period of the arrangement period of X-direction and Y-direction Can be identical, different value can also be taken according to the design needs.M can be equal to N, can also be not equal to N.

Obviously, it is practical without departing from this can to carry out various modification and variations to the utility model by those skilled in the art Novel spirit and scope.If in this way, these modifications and variations of the present invention belong to the utility model claims and Within the scope of its equivalent technology, then the utility model is also intended to include these modifications and variations.

Claims (9)

1. a kind of optical-fiber laser radar, it is characterised in that: the laser radar includes cabinet, probe and fiber optic bundle, described It include to have M × N+1 laser, laser power supply, for generating Pulse-trigger control signal to the laser in cabinet Trigger signal generator, M × N number of incidence end fiber connector in two-dimentional launching fiber array, a pair of be arranged in the first light The fiber connector at fine both ends, M × N number of exit end fiber connector in two-dimentional launching fiber array, receives lenticule respectively First photodetector of initial signal and receive the second photodetector of stop signal, for first photodetection Device and the second photodetector provide the detector power supply of bias voltage, be orderly used to respectively to first photodetector and Signal in second photodetector amplifies the amplifying circuit, time-discriminating circuit and time-to-digital conversion circuit of processing, M × N number of incidence end the fiber connector is respectively corresponded to be coupled with M × N number of laser, another described laser and institute It states the first fiber connector to be coupled, M × N number of exit end fiber connector is respectively corresponded to carry out with second photodetector Coupling, wherein M and N is >=1 natural integer；The probe includes the outgoing end face of two-dimentional launching fiber array, setting In the M × N laser side fiber core being emitted on end face, Laser emission lens, it is formed in the laser side optical fiber Divergent laser beam, narrow band filter, laser pick-off lens, two-dimentional reception optical fiber array end between fibre core and Laser emission lens Face, M × N detector side fiber core being arranged on the two-dimentional reception optical fiber array end face and it is formed in the detection Convergence laser beam between device optical fiber fibre core and laser pick-off lens；The fiber optic bundle include M × N launching fiber, M × N reception optical fiber and the first optical fiber, wherein the exit end of launching fiber described in M × N item is connected to the two-dimentional launching fiber M × N laser side fiber core on the outgoing end face of array, the incidence end of reception optical fiber described in M × N item is connected to described M × N detector side fiber core on the incident end face of two-dimentional reception optical fiber array.

2. a kind of optical-fiber laser radar according to claim 1, it is characterised in that: the laser be laser diode, One of solid state laser or optical fiber laser.

3. a kind of optical-fiber laser radar according to claim 1, it is characterised in that: two-dimentional launching fiber array it is described go out Penetrate on end face and be provided with the M in two-dimensional arrangements × N number of aperture, the fiber core is installed in each aperture, wherein M with N is >=1 natural integer.

4. a kind of optical-fiber laser radar according to claim 3, it is characterised in that: the two dimension reception optical fiber array end face On be provided with the M in two-dimensional arrangements × N number of aperture, the fiber core is installed in each aperture, wherein M and N are >=1 natural integer.

5. a kind of optical-fiber laser radar according to claim 3 or 4, it is characterised in that: the aperture is by using micro- The small structure that fining-off technology is formed.

6. a kind of optical-fiber laser radar according to claim 1, it is characterised in that: first photodetector and second Photodetector be using avalanche photodiode detector or p-type-it is intrinsic-N-type semiconductor constitute diode detector in One kind.

7. a kind of optical-fiber laser radar according to claim 1, it is characterised in that: the lenticule is for that will come from light Fine signal is coupled to the fine lens arrangement in first photodetector and the second photodetector.

8. a kind of optical-fiber laser radar according to claim 1, it is characterised in that: the Laser emission lens are by one Lens are constituted or are made of the lens group of several lens forming.

9. a kind of optical-fiber laser radar according to claim 1, it is characterised in that: the laser power supply is that can provide fastly Rapid pulse rushes the power supply architecture of driving capability.