CN109188397B - Laser transmitter-receiver and laser radar - Google Patents
Laser transmitter-receiver and laser radar Download PDFInfo
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- CN109188397B CN109188397B CN201810999167.1A CN201810999167A CN109188397B CN 109188397 B CN109188397 B CN 109188397B CN 201810999167 A CN201810999167 A CN 201810999167A CN 109188397 B CN109188397 B CN 109188397B
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
A laser transmitter/receiver and a laser radar, comprising: a light splitting and coupling unit for splitting the original light into a first initial light and a second initial light; an emergent unit which forms emergent light according to the first initial light; a collecting unit for collecting the echo light to form signal light; further comprising: the first initial light of the reflection part forms at least one of a first action surface of the first local oscillator light and the second initial light of the reflection part forms a second action surface of the second local oscillator light. The first local oscillator light is formed by the first initial light of the first action surface reflection part, and the second local oscillator light is formed by the second initial light of the second action surface reflection part, so that the power of the first local oscillator light and the power of the second local oscillator light are small, the power of the emergent light can be effectively improved, the detection distance of the laser radar can be effectively prolonged, and the detection range of the laser radar can be expanded under the condition that the process and the cost are unchanged.
Description
Technical Field
The invention relates to the field of laser, in particular to a laser transceiver and a laser radar.
Background
Laser radar is a range finding sensor commonly used, has characteristics such as detection range is far away, resolution ratio is high, receive environmental disturbance little, and the wide application is in fields such as intelligent robot, unmanned aerial vehicle, unmanned driving. In recent years, the automatic driving technology has been rapidly developed, and the laser radar has become indispensable as a core sensor for distance sensing.
In the application of the vehicle-mounted laser radar, the continuous wave Frequency Modulation (FMCW) coherent laser radar obtains the distance and the speed of a target by carrying out Fourier transform on an intermediate frequency signal obtained by mixing a local oscillator optical signal and a signal to be detected. Compared to non-coherent pulsed lidar based on time-of-flight (TOF) ranging, it has some outstanding advantages, such as: the method has the advantages of high angular resolution and distance resolution, strong anti-interference capability, capability of simultaneously acquiring a distance image and a speed image of a target and the like, and is very suitable for vehicle-mounted application scenes.
However, the existing laser radar adopting the coherent detection technology often has the problems of small detection distance and difficulty in meeting the requirements of new technologies such as automatic driving and the like.
Disclosure of Invention
The invention aims to provide a laser transceiver and a laser radar, which can prolong the detection distance and enlarge the detection range on the premise of ensuring the advantages of coherent detection.
In order to solve the above problems, the present invention provides a laser transmitter/receiver, including:
the light source device comprises a light source device, a light splitting and coupling unit and a light collecting unit, wherein the light source device is used for generating primary light; the emergent unit receives at least part of the first initial light, and forms emergent light according to the first initial light; the emergent light is reflected by a target to be detected to form echo light; the collecting unit collects the echo light to form signal light which propagates towards the light splitting and coupling unit; the laser transceiver device further includes: at least one of the first active surface and the second active surface; the first action surface reflects part of the first initial light to form first local oscillation light; the second action surface reflects part of the second initial light to form second local oscillation light; the light splitting and coupling unit is further configured to couple at least one of the first local oscillator light and the second local oscillator light with the signal light to form coherent light transmitted toward the detection device.
Optionally, the optical splitting and coupling unit includes: the first connecting end is connected with the light source device; the second connecting end is connected with the emergent unit; a third connection end connected to the collection unit; and the fourth connecting end is connected with the detection device.
Optionally, the first acting surface includes: at least one of an end surface of the second connection end and a surface of the exit unit to which the first initial light is projected.
Optionally, the second acting surface includes: an end surface of the third connection end and the second initial light are projected to at least one of surfaces of the collection unit.
Optionally, the method further includes: a second transmission arm located between the second connection end and the exit unit, the second transmission arm adapted to transmit the first initial light and the first local oscillator light; the first active surface further comprises: at least one of an end surface of the second transmission arm facing the second connection end and an end surface of the second transmission arm facing the exit unit.
Optionally, the method further includes: a third transmission arm, the third transmission arm being located between the third connection end and the collection unit, the third transmission arm being adapted to transmit the second initial light, the second local oscillator light, and the signal light; the second active surface further comprises: at least one of an end surface of the third transfer arm facing the third connection end and an end surface of the second transfer arm facing the collection unit.
Optionally, the optical splitting coupling unit includes an optical fiber coupler.
Optionally, the optical splitting and coupling unit includes: a beam splitter.
Optionally, the exit unit includes: a collimator; the collecting unit includes: a receiving mirror; the focus of the receiving mirror is positioned on the photosensitive surface of the detection device.
Optionally, the method further includes: the collimation unit is positioned between the light source device and the light splitting and coupling unit, and the focus of the collimation unit is positioned on the light emitting surface of the light emitting device; the convergence unit is positioned between the light splitting coupling unit and the detection device; the focus of the convergence unit is positioned on the photosensitive surface of the detection device.
Optionally, the light splitting coupling unit and the exit unit, the light splitting coupling unit and the collection unit, the light splitting coupling unit and the light source device, and the light splitting coupling unit and the detection device are connected by optical fibers.
Optionally, the optical fiber is a single mode optical fiber.
Optionally, the reflectivity of the first active surface or the second active surface is less than 4%.
Optionally, the method further includes: an optically functional film on a surface of at least one of the first active surface and the second active surface.
Correspondingly, the invention also provides a laser radar, comprising: a light source device adapted to generate raw light; a laser transceiver device according to the present invention; a detection device adapted to collect coherent light.
Compared with the prior art, the technical scheme of the invention has the following advantages:
in the technical solution of the present invention, the laser transceiver further includes: at least one of the first active surface and the second active surface; part of the first initial light is reflected by the first action surface to form the first local oscillator light; part of the second initial light is reflected by the second action surface to form second local oscillator light; the light splitting and coupling unit is further configured to couple at least one of the first local oscillator light and the second local oscillator light with the echo light to form the coherent light. The first local oscillator light is formed by the first initial light of the first action surface reflection part, and the second local oscillator light is formed by the second initial light of the second action surface reflection part, so that the power of the first local oscillator light and the power of the second local oscillator light are small, the power of the emergent light can be effectively improved, the detection distance of the laser radar can be effectively prolonged, and the detection range of the laser radar can be expanded under the condition that the process and the cost are unchanged.
In an alternative aspect of the present invention, the first active surface includes: at least one of an end surface of the second connection end and a surface of the exit unit to which the first initial light is projected; the second active surface includes: an end surface of the third connection end and the second initial light are projected to at least one of surfaces of the collection unit. Because the end surface reflection is difficult to avoid in the optical system, the end surfaces are used as the first action surface and the second action surface, so that the coherent detection can be realized on the premise of not increasing the complexity of a light path structure and optical components, the interference of the end surface reflection signal of the system can be avoided, and the signal-to-noise ratio of the system can be improved.
In an alternative aspect of the present invention, the laser transceiver further includes: a second transfer arm, the first active surface comprising: at least one of an end surface of the second transmission arm facing the second connection end and an end surface of the second transmission arm facing the exit unit; a third transfer arm facing at least one of an end face of the third connection end and an end face of the second transfer arm facing the collection unit. The end face of the transmission arm is used as an acting face for reflecting the initial light and forming the local oscillation light, coherent detection can be achieved on the premise that the complexity of a light path structure is not increased and optical components are not increased, interference of a system end face reflection signal can be avoided, and the signal-to-noise ratio of the system is improved.
In an alternative aspect of the present invention, the optical splitting and coupling unit includes: an optical fiber coupler. By the arrangement of the optical fiber coupler, the light splitting and coupling effects of the light splitting and coupling unit can be realized; and light splitting devices and beam combining devices such as a circulator and the like can be omitted, so that the cost is reduced, and the structure of the laser radar is simplified.
In an alternative scheme of the invention, the connection between the light splitting coupling unit and the emergent unit, between the light splitting coupling unit and the collecting unit, between the light splitting coupling unit and the light source device and between the light splitting coupling unit and the detecting device is realized through optical fibers; and the optical fiber is a single mode optical fiber. The optical path is formed by the optical fiber, so that the transmission loss of the optical path can be effectively reduced; and the use of the single mode fiber can effectively ensure the wave front matching of the local oscillator light and the signal light, improve the coupling efficiency of the local oscillator light and the signal light and obtain higher signal-to-noise ratio.
In an alternative aspect of the present invention, the optical splitting and coupling unit includes: a beam splitter. The beam splitting coupling unit is formed by the beam splitter, so that the laser transceiver can be realized in a free space optical path, the laser transceiver can get rid of the limitation of the use of optical fibers, and cost control can be effectively realized; in addition, in the implementation of the beam splitting coupling unit by using the beam splitter, the optical power ratio of the first local oscillator light, the detection light, the second local oscillator light and the signal light is determined by the splitting ratio of the beam splitter and the reflectivity of the first action surface and the second action surface, so that the optical power of the detection light can be effectively improved under the condition of unchanged process and cost, the detection distance of the laser radar can be prolonged, and the detection range of the laser radar can be expanded.
In an alternative aspect of the present invention, the exit unit includes a collimator; the collecting unit comprises a receiving mirror; the focus of the receiving mirror is positioned on the photosensitive surface of the detection device; alternatively, the laser transmitter/receiver further includes: the collimation unit is positioned between the light source device and the light splitting and coupling unit, and the focus of the collimation unit is positioned on the light emitting surface of the light emitting device; the convergence unit is positioned between the light splitting coupling unit and the detection device; the focus of the convergence unit is positioned on the photosensitive surface of the detection device. By reasonably setting the positions of the collimation unit, the convergence unit and the detection device in the optical path, the wavefront matching of the local oscillation light and the signal light can be effectively ensured, and a higher signal-to-noise ratio can be obtained.
In an alternative aspect of the invention, the reflectivity of the first active surface and the second active surface is less than 4%. The reflectivity of the first action surface is controlled, the power of the emergent light can be effectively improved, so that the detection distance of the laser radar can be effectively prolonged, the detection range of the laser radar can be expanded, the laser transceiver can meet the requirement of a vehicle on the laser radar, and the technical requirement of unmanned driving can be met under the condition that the process and the cost are not changed.
In an alternative aspect of the present invention, the laser transceiver further includes: an optically functional film on a surface of at least one of the first active surface and the second active surface. Through the setting of optical function membrane, can effectively adjust first working face with the reflectivity and the transmissivity of second working face to can effectively adjust the power of local oscillator light and signal light, can guarantee coupling efficiency under the prerequisite of extension detection distance, extension detection range.
Drawings
FIG. 1 is a schematic diagram of a laser transceiver in a laser radar using coherent detection technology;
fig. 2 is a schematic diagram of an optical path structure of a first embodiment of the laser transceiver device of the present invention;
fig. 3 is a schematic structural diagram of a laser transceiver device according to a second embodiment of the present invention.
Detailed Description
As can be seen from the background art, the laser radar adopting the coherent detection technology in the prior art often has a problem of a short detection distance. The reason for the problem of small detection distance is analyzed by combining a laser radar transmitting and receiving device:
referring to fig. 1, a schematic diagram of a laser transceiver in a lidar employing coherent detection technology is shown.
The laser transmitter/receiver 10 includes: the input end of the beam splitting unit 12 is connected with the laser light source 11; the emergent collection unit 14, the emergent collection unit 14 is connected with one output end of the beam splitting unit 12; an input end of the coupling unit 15 is connected to another output end of the beam splitting unit 12, an input end of the coupling unit 15 is further connected to the emergent collection unit 14, and an output end of the coupling unit 15 is connected to the detection device 16.
Wherein the beam splitting unit 12 and the coupling unit 15 are typically provided as couplers or beam splitters; the exit collection unit 14 is typically provided as a collimator or coupler.
The laser transceiver 10 works as follows: the beam splitting unit 12 receives the original light generated by the laser light source 11, and then splits the original light into a local oscillation light and an initial light; the emergent light collecting unit 14 receives the initial light and forms emergent light according to the initial light; the emergent light is reflected by a target to be detected to form echo light; the emission collection unit 14 collects the echo light to form signal light; the coupling unit 15 receives the local oscillator light and the signal light and couples the local oscillator light and the signal light to form coherent light. The detection means 16 detects the coherent light to achieve coherent detection.
Since the local oscillation light and the initial light are formed after the beam splitting unit 12 splits the original light, the ratio between the local oscillation light and the initial light is determined by the splitting ratio of the beam splitting unit.
In the case of a free light path, the beam splitting means 12 may be realized by a beam splitting prism; in the case of a fiber optic path, the beam splitting device 12 may be implemented by a fiber optic splitter. Both in the form of a beam splitter prism and in the form of a fiber beam splitter, the splitting ratio of the splitting means 12 is relatively large, i.e. the optical power of the generated local oscillator light is relatively large, and correspondingly the optical power of the generated primary light is relatively small. The reduction of the initial light power can influence the light power of the emergent light, thereby causing the problems of over-small detection distance and insufficient detection range of the laser radar. Moreover, light is transmitted in the laser transceiver 10, and end reflection is difficult to avoid, and especially for detection signals in a short distance, signals generated by end reflection of optical components cause serious interference.
In order to implement the common transmission/reception path, the laser transmitter/receiver apparatus 10 further includes: a circulator 13, wherein the circulator 13 is positioned between the light splitting device 12 and the emergent collection 14 device. The circulator 13 is connected to an output end of the light splitting device 12 to receive the primary light formed by the beam splitting unit 12; the circulator 13 and the emergent collection unit 14 transmit the received initial light to the emergent collection unit 14 to form emergent light; the circulator 13 is further connected with the output end of the emergent collecting unit 14 to receive the signal light formed by the emergent collecting unit 14; the coupling unit 15 is connected to the output terminal of the circulator 13 to receive the signal light.
On the other hand, in order to reduce the system volume and improve the optical path accuracy, the optical path of the laser transceiver 10 is implemented by optical fibers, that is, the laser light source 11, the beam splitting unit 12, the emission collecting unit 14, the coupling unit 15, and the detecting device 16 are all connected by optical fibers.
In addition, in order to obtain a higher signal-to-noise ratio, the laser transceiver 10 implements wavefront matching between the local oscillator light and the signal light. Therefore, in the optical fiber scheme, wavefront matching can be perfectly achieved using a single-mode fiber. However, the free-space to single-mode fiber coupling efficiency is generally low due to the core diameter and numerical aperture of single-mode fibers. To ensure maximum coupling efficiency, it is common practice to use a common transceiver, i.e. a fiber optic circulator. The use of the optical fiber circulator can ensure that the field angle and the receiving aperture of the receiving system and the divergence angle and the transmitting aperture of the transmitting system are completely matched, and the coupling efficiency can be maximized. In this regard, bulk-optical circulators are also commonly built in free-space optical paths.
Therefore, the laser transceiver 10 at least includes 2 couplers and 1 circulator, and both the circulator in bulk optics and the optical fiber circulator are expensive, which increases the complexity of the optical path of the laser transceiver 10 and is not favorable for cost control. Moreover, the introduction of the circulator also increases the end face in the optical path of the laser transceiver 10, which is not beneficial to the control of the end face reflection interference.
In order to solve the above technical problem, the present invention provides a laser transmitter receiver, including: at least one of the first active surface and the second active surface; the first action surface reflects part of the first initial light to form first local oscillation light; the second action surface reflects part of the second initial light to form second local oscillation light; the light splitting and coupling unit is further configured to couple at least one of the first local oscillator light and the second local oscillator light with the signal light to form coherent light transmitted toward the detection device.
The first local oscillator light is formed by the first initial light of the first action surface reflection part, and the second local oscillator light is formed by the second initial light of the second action surface reflection part, so that the power of the first local oscillator light and the power of the second local oscillator light are small, the power of the emergent light can be effectively improved, the detection distance of the laser radar can be effectively prolonged, and the detection range of the laser radar can be expanded under the condition that the process and the cost are unchanged.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 2, a schematic diagram of an optical path structure of a first embodiment of the laser transceiver of the present invention is shown.
As shown in fig. 2, the laser transmitter receiver includes: a light splitting and coupling unit 120, wherein the light splitting and coupling unit 120 receives the original light 111 generated by the light source device 110, and the light splitting and coupling unit 120 further splits the original light 111 into a first original light 123 propagating toward the exit unit 130 and a second original light 124 propagating toward the collection unit 140; the emitting unit 130 receives the first original light 123, and the emitting unit 130 further forms an emitting light (not shown) according to the first original light 123; the emergent light is reflected by a target (not shown in the figure) to be detected to form echo light (not shown in the figure); the collection unit 140 collects the echo light to form a signal light 142a propagating toward the spectral coupling unit 120; the laser transceiver device further includes: at least one of a first active surface (not shown) and a second active surface (not shown); the first active surface reflects part of the first initial light 123 to form a first local oscillator light 132; the second active surface reflects part of the second original light 124 to form second local oscillation light 142 b; the optical splitting and coupling unit 120 further couples at least one of the first local oscillator light 132 and the second local oscillator light 142b with the signal light 142a to form coherent light 125 transmitted toward the detection device 150.
Because first local oscillator light 132 is formed by first initial light 123 of first action surface reflection part, second local oscillator light 142b is formed by second initial light 142 of second action surface reflection part, consequently first local oscillator light 132 with the power of second local oscillator light 142b is less, can effectively improve the power of emergent light to can effectively prolong laser radar's detection distance, expand laser radar's detection range under the unchangeable condition of technology and cost.
The splitting and coupling unit 120 is adapted to split the original light 111 into the first original light 123 and the second original light 124, and to propagate the first original light 123 towards the exit unit 130.
In this embodiment, the laser transceiver further includes: a collimating unit (not shown in the figure), the collimating unit being located on the light path between the light source device 110 and the light splitting and coupling unit 120, and a focus of the collimating unit being located on a light emitting surface of the light emitting device.
The collimating unit is suitable for collimating the original light so as to improve the laser transmission efficiency, reduce energy dissipation and reduce stray light; and the position of the focus of the collimation unit can enable the light rays passing through the collimation unit to be parallel light.
In addition, in other embodiments of the present invention, the original light generated by the light source device may also be directly projected to the light splitting and coupling unit, that is, no additional optical component is disposed on the light path between the light source and the light splitting and coupling unit, so as to meet the technical requirements of miniaturization and high integration.
As shown in fig. 2, the optical splitting and coupling unit 120 includes: a first connection end 120a connected to the light source device 110, a second connection end 120b connected to the exit unit 130, a third connection end 120c connected to the collection unit 140, and a fourth connection end 120d connected to the detection device 150.
Each connection end of the optical splitting and coupling unit 120 is adapted to be optically connected to other components of the laser transceiver and other optical components in the optical system, so as to implement input and output of optical signals. In this embodiment, the optical splitting and coupling unit 120 includes: a beam splitter. The beam splitting coupling unit 120 is formed by a beam splitter, so that the laser transceiver can be implemented in a free space optical path, the laser transceiver can be free from the limitation of optical fiber use, and cost control can be effectively implemented.
The first connection end 120a is an input end, and is optically connected to the output end of the light source device 110, and the original light 111 projected to the first connection end 120a is transmitted into the light splitting and coupling unit 120.
The second connection end 120b is an output end, and is optically connected to the input end of the emitting unit 130, and the first initial light 123 is emitted from the second connection end 120b and propagates along the optical path toward the emitting unit 130.
The third connection end 120c is an input end, and is optically connected to the output end of the collection unit 140, and the signal light 142a projected to the third connection end 120c is transmitted into the optical splitting and coupling unit 120.
The fourth connection end 120d is an output end, and is optically connected to the input end of the detection device 150, and the coherent light 125 exits from the fourth connection end 120d and propagates along a light path toward the detection device 150.
In this embodiment, the optical splitting and coupling unit 120 includes: a beam splitter. Specifically, the optical power of the original light 111 projected to the first connection end 120a of the optical splitting and coupling unit 120 is I1The second connection end 120b and the third connection end 120c of the beam splitter as the beam splitting coupling unit 120 have a splitting coefficient of η1And (1-. eta.)1) I.e. the transmittance between the first connection end 120a and the second connection end 120b is eta1The transmittance between the first connection end 120a and the third connection end 120c is (1- η [ ])1) The transmittance between the second connection end 120b and the fourth connection end 120d is (1- η [ ])1) The transmittance between the third connection end 120c and the fourth connection end 120d is η1. So that the light is split by the splitting and coupling unit 120 to form the first primary light 123 with an optical power η1I1The optical power of the formed second primary light 124 is (1- η [ - ] eta1)I1。
The first active surface (not shown) is located on the optical path of the first original light 123, and reflects a portion of the first original light 123 to form the first local oscillator light 132, and the second active surface (not shown) is located on the optical path of the second original light 124, and reflects a portion of the second original light 124 to form the second local oscillator light 142 b.
The first local oscillator light 132 and the second local oscillator light 142b are coupled and combined with the signal light 142a at the optical splitting and coupling unit 120 as local oscillator light to form the coherent light 125.
Specifically, the first acting surface includes: at least one of the various end faces onto which the first incipient light 123 is projected during propagation; the second active surface includes: at least one of the various end surfaces onto which the second primary light 124 is projected during propagation. When the first primary light 123 and the second primary light 124 project various end faces, end face reflection occurs; the reflected light formed by the end surface reflection is the first local oscillation light 132 and the second local oscillation light 124 b.
Because the optical power of the end surface reflection is generally smaller, that is, the optical power of the formed first local oscillator light 132 and the second local oscillator light 124b is smaller, the light reflected by the end surface is used as the local oscillator light, the optical power of the local oscillator light can be effectively controlled, conditions can be created for improving the optical power of the emergent light, the detection distance of the laser radar can be prolonged, and the detection range of the laser radar can be expanded. On the other hand, because the end surface reflection is difficult to avoid, the light reflected by the end surface is used as local oscillation light, and the interference of the reflected light can be inhibited, so that the aim of improving the signal to noise ratio is fulfilled.
After the self-splitting, the first primary light 123 propagates toward the exit unit 120, and the second primary light 124 exits toward the collection unit 140; thus, the first active surface comprises: at least one of the end surface 129b of the second connection end 120b and the surface 139 of the exit unit 130 onto which the first primary light 123 is projected; the second active surface includes: the end surface 129c of the third connection end 120c and the second primary light 124 are projected to at least one of the surfaces 149 of the collection unit 140.
Specifically, the laser transceiver device includes a first active surface and a second active surface, and the first active surface includes: the end surface 129b of the second connection end 120b and the surface 139 of the exit unit 130 onto which the first primary light 123 is projected, and the second active surface includes: the end surface 129c of the third connection end 120c and the surface 149 of the signal light 142a exiting from the collection unit 140, that is, the end surface reflection of the first initial light 123 occurs on both the end surface 129b of the second connection end 120b and the surface 139 of the exit unit 130 onto which the first initial light 123 is projected; the second original light 124 undergoes end reflection at both the end surface 129c of the third connection end 120c and the surface 149 from which the signal light 142a exits the collection unit 140.
Therefore, compared with the technical scheme that local oscillator light and emergent light are directly formed by the beam splitter, the laser receiving and transmitting device can form local oscillator light with smaller optical power, is favorable for improving the optical power of the emergent light under the condition that the process and the cost are not changed, and is favorable for prolonging the detection distance of the laser radar and expanding the detection range of the laser radar. And because the end surface reflection is difficult to avoid in the optical system, the end surfaces are used as the first action surface and the second action surface, so that the coherent detection can be realized on the premise of not increasing the complexity of a light path structure and optical components, the interference of the end surface reflection signal of the system can be avoided, and the signal-to-noise ratio of the system can be improved.
In this embodiment, the reflectivity of the first active surface is r11The reflectivity of the second acting surface is r21Therefore, the optical power of the first local oscillator light 132 is r11η1I1The optical power of the second local oscillator light 142b is r21(1-η1)I1。
In addition, as shown in fig. 2, in this embodiment, the formed first local oscillator light 132 and the second local oscillator light 142b both propagate toward the optical splitting and coupling unit 120, so that both the first local oscillator light 132 and the second local oscillator light 142b are split again by the optical splitting and coupling unit 120.
Therefore, after being split by the splitting and coupling unit 120, the optical power of the first local oscillator light 132 that can be emitted from the fourth connection end 120d is r11η1(1-η1)I1The optical power of the second local oscillator light 142b that can be emitted from the fourth connection end 120d is r21η1(1-η1)I1. Therefore, in this embodiment, the local oscillator light coupled to the signal light 142a includes a first local oscillator light and a second local oscillator light, that is, the optical power of the local oscillator light capable of being emitted from the fourth connection end 120d is (r)11+r21)η1(1-η1)I1。
Compared with the technical scheme that local oscillator light and emergent light are directly formed by the spectroscope, in the laser receiving and transmitting device, the proportion of the local oscillator light and the emergent light is not only related to the light splitting coefficient of the spectroscope, but also influenced by the reflectivity of the first action surface and the second action surface. Therefore, under the condition that the process and the cost are not changed, the laser receiving and transmitting device can obtain the local oscillator light and the emergent light with smaller optical power ratio, so that the optical power of the local oscillator light is reduced, the optical power of the emergent light is improved, the detection distance of the laser radar is prolonged, and the detection range of the laser radar is expanded.
In this embodiment, the reflectivity of the first acting surface or the second acting surface is less than 4% so as to obtain local oscillation light and emergent light with a small optical power ratio. The reflectivity of first working face and second working face is controlled, especially to the control of first working face reflectivity and transmissivity, can effectively improve the power of emergent light to can effectively prolong laser radar's detection range, extend laser radar's detection scope under the unchangeable condition of technology and cost, can make laser transceiver satisfies the demand of car at laser radar, satisfies unmanned technological demand.
Specifically, the laser transceiver device further includes: an optically functional film on a surface of at least one of the first active surface and the second active surface. The optical function film can adjust the reflectivity and the transmissivity of the covered surface, so that the optical power of the first local oscillator light and the optical power of the second local oscillator light are suitable, the optical power of the emergent light is improved, the optical power of the local oscillator light is guaranteed, the coupling efficiency is guaranteed on the premise that the detection distance is prolonged and the detection range effect is expanded, and the consideration of large distance and high signal to noise ratio is realized.
In this embodiment, the laser transceiver includes a first active surface and a second active surface; in another embodiment of the present invention, the laser transmitter/receiver may include one of the first active surface and the second active surface, and for example, the transmittance and reflectance of the end surface onto which the first primary light is projected may be made as high as possible and as low as possible by designing an optical functional film.
It should be further noted that, because the optical power of the formed first local oscillator light and the second local oscillator light is also related to the spectral coefficient of the spectral coupling device, in other embodiments of the present invention, the optical power of the first initial light may also be increased by reasonably setting the spectral coefficient of the spectral coupling, or by arranging an optical component with a reasonable spectral coefficient in the spectral coupling unit, so as to achieve the purposes of increasing the light intensity of the emergent light and extending the detection distance.
After the first primary light 123 is projected to the surface 139 of the exit unit 130, at least a part of the first primary light 123 is transmitted through the surface 139 and received by the exit unit 130; the emitting unit 130 forms an emitting light according to the received first original light 123 to realize the transmission of the optical signal.
In this embodiment, the laser transceiver further includes: and a reflecting element (not shown) located on the optical path between the spectral coupling unit 120 and the exit unit 130, so that the exit direction of the exit unit 130 and the collection direction of the collection unit 140 are consistent.
In this embodiment, on the light path between the light source device 110 and the light splitting and coupling unit 120, the laser transceiver device is further provided with a collimating unit, so that the emitting unit 130 only forms emitting light, and the emitting unit 130 does not include a collimator. In other embodiments of the present invention, when the original light is directly projected to the light splitting and coupling unit, the emitting unit includes a collimator, and the collimator collimates the first original light to form the emitting light.
After the emergent light exits, the emergent light is scattered on the surface of the target to be detected to form echo light (not shown in the figure).
The collecting unit 140 is adapted to collect the echo light to form the signal light 142 a.
In this embodiment, the laser transceiver is a transceiver in a laser radar, and transmits and collects detection light of the laser radar, so that the collection unit 140 collects backscattered light in the formed echo light to form the signal light 142 a.
Similar to the second local oscillator light 142b, the signal light 142a propagates toward the optical splitting and coupling unit 120; therefore, the optical splitting and coupling unit 120 further combines and couples at least one of the first local oscillator light 132 and the second local oscillator light 142b with the signal light 142a to form the coherent light 125.
Since the signal light 142a and the local oscillator light are coupled through the optical splitting and coupling unit 120, the signal light 142a is also split by the optical splitting and coupling unit 120. Specifically, the optical power of the signal light 142a projected to the third connection end 120c is I1sThe optical power of the signal light 142a that can exit from the fourth connection end 120d is η1I1s。
The detecting device 150 collects the coherent light 125 and performs photoelectric conversion on an optical signal of the coherent light 125 to realize collection of the optical signal.
Specifically, the coherent light 125 includes a local oscillator light emitted from the fourth connection end 120d and a signal light 142a emitted from the fourth connection end 120d, and therefore, the optical power of the signal light 142a received by the detection device 150 is η |1I1sThe local oscillator optical power received by the detecting device 150 is (r)11+r21)η1(1-η1)I1. Therefore, the optical power of the signal light that can be received by the detection device 150 is mainly related to the spectral coefficient of the spectral coupling unit 120, and the optical power of the local oscillator that can be received by the detection device 150 is not only affected by the spectral coefficient of the spectral coupling unit 120, but also modulated by the reflectivity of the first active surface and the second active surface.
In this embodiment, the laser transceiver includes a collimating unit located between the light source device 110 and the optical splitting and coupling unit 120; therefore, the laser transceiver unit further includes: a converging unit (not shown in the figure) located between the split coupling unit 120 and the detecting device 150; the focus of the converging unit is located on the photosensitive surface of the detecting device 150, for example, a collimating unit and a converging unit with the same focal length are selected, so that the focus of the collimating unit is located on the light emitting surface of the light source device 110, and the focus of the converging unit is located on the photosensitive surface of the detecting device 150.
In other embodiments of the present invention, the original light is directly transmitted to the spectral coupling unit, that is, no optical component is disposed between the light source device and the spectral coupling unit, and when the exit unit includes a collimator, the collection unit includes a receiving mirror; the focus of the receiving mirror is positioned on the photosensitive surface of the detection device.
By reasonably setting the collimating component and the converging component in the optical path and the relative position of the detection device and the light source device, the wavefront matching of the local oscillator light (including at least one of the first local oscillator light and the second local oscillator light) and the signal light can be effectively ensured, and a higher signal-to-noise ratio can be obtained.
Referring to fig. 3, a schematic structural diagram of a second embodiment of the laser transceiver device of the present invention is shown.
The same points as those of the first embodiment are omitted for the description of the present invention. The difference between this embodiment and the first embodiment implemented by a free space optical path is that, in this embodiment, the laser transceiver is implemented by an optical fiber, that is, in the laser transceiver, the connection between the spectral coupling unit 220 and the emitting unit, between the spectral coupling unit 220 and the collecting unit, between the spectral coupling unit 220 and the light source device 210, and between the spectral coupling unit 220 and the detecting device 250 is implemented by an optical fiber. The optical path is formed by the optical fiber, so that the transmission loss of the optical path can be effectively reduced.
Specifically, the optical fiber is a single mode optical fiber. The fiber core of the single-mode fiber is fine and only one mode can be transmitted, so that the intermodal dispersion of the single-mode fiber is small, the wave front matching of the local oscillation light and the signal light can be effectively ensured, the coupling efficiency of the local oscillation light and the signal light is improved, and a higher signal-to-noise ratio is obtained.
In this embodiment, the transceiver 234 is adapted to generate an outgoing light according to the first primary light and is further adapted to collect the echo light to form a signal light, i.e. the transceiver 234 replaces the outgoing unit and the collecting unit in the first embodiment.
Therefore, as shown in fig. 3, the light source device 210 and the optical splitting coupling unit 220, the optical splitting coupling unit 220 and the transceiver unit 234, and the optical splitting coupling unit 220 and the detection device 250 are connected by a single mode fiber to construct an optical path.
In this embodiment, the optical splitting and coupling unit 220 includes a fiber coupler. By the arrangement of the optical fiber coupler, the light splitting and coupling effects of the light splitting and coupling unit can be realized; and light splitting devices and beam combining devices such as a circulator and the like can be omitted, so that the cost is reduced, and the structure of the laser radar is simplified.
As shown in fig. 3, the laser transceiver further includes: a first transmission arm 221, wherein the first transmission arm 221 is located between the light source device 210 and a first connection end (not shown) of the optical splitting and coupling unit 220, and the first transmission arm 221 is adapted to construct an optical path between the light source device 210 and the optical splitting and coupling unit 220 to implement transmission of the original light.
A second transmission arm 222, where the second transmission arm 222 is located between the second connection end of the optical splitting coupling unit 220 and the exit unit (i.e. the transceiver unit 234), and the second transmission arm 222 is adapted to construct a part of an optical path between the optical splitting coupling unit 220 and the transceiver unit 234, so as to implement transmission of the first initial light and the first local oscillator light.
A third transmission arm 223, where the third transmission arm 223 is located between the third connection end of the optical splitting coupling unit 220 and the collecting unit (i.e., the transceiving unit 234), and the third transmission arm 223 is adapted to construct a part of an optical path between the optical splitting coupling unit 220 and the transceiving unit 234, so as to implement transmission of the second original light, the second local oscillator light, and the signal light.
A fourth transmission arm 224, wherein the fourth transmission arm 224 is located between the fourth connection end of the optical splitting coupling unit 220 and the detection device 250, and the fourth transmission arm 224 is adapted to construct an optical path between the optical splitting coupling unit 220 and the detection device 250, so as to realize the transmission of the coherent light.
Therefore, in this embodiment, the first acting surface further includes: at least one of an end surface of the second transmission arm 222 facing the second connection end and an end surface of the second transmission arm 222 facing the exit unit (i.e., the transceiver unit 234); the second active surface further comprises: at least one of an end surface of the third transfer arm 223 facing the third connection end and an end surface of the second transfer arm 223 facing the collection unit (i.e., the transceiver unit 234).
The end face of the transmission arm is used as an acting face for reflecting the initial light and forming the local oscillation light, coherent detection can be achieved on the premise that the complexity of a light path structure is not increased and optical components are not increased, interference of a system end face reflection signal can be avoided, and the signal-to-noise ratio of the system is improved.
Similar to the first embodiment, in this embodiment, the original optical power transmitted by the first transmission arm 221 and entering the optical splitting and coupling unit 220 through the first connection end is I2The coupling coefficient of the optical fiber coupler as the optical splitting and coupling unit 220 is η2I.e. the transmittance between the first transmission arm 221 and the second transmission arm 222 is eta2The transmittance between the first transfer arm 221 and the third transfer arm 223 is (1- η [ ])2) Therefore, the transmittance between the second transfer arm 222 and the fourth transfer arm 224 is (1- η [ ])2) The transmittance between the third transfer arm 223 and the fourth transfer arm 224 is η2. Further, the first active surface has a reflectance of r12The reflectivity of the second acting surface is r22The optical power of the obtained signal light is Is。
Therefore, in this embodiment, the local oscillator light optically coupled to the signal light includes a first local oscillator light and a second local oscillator light, that is, the optical power of the local oscillator light capable of being emitted from the four connection end 220d is (r)12+r22)η2(1-η2)I2。
Therefore, in order to avoid the waste of the signal light and expand the detection range, in this embodiment, the coupling coefficient is relatively large, for example, the coupling coefficient is99%, and the reflectivities of the first active surface and the second active surface are both 4%, so that the optical power of the signal light detected by the detecting device 250 is 0.99IsLocal oscillator optical power is 0.00079I1. Of course, the reflectivity of the first action surface and the second action surface can be modulated by a coating or other surface treatment method, so that the optical power of the obtained local oscillation light is adjusted, and the accuracy of coherent detection is further improved.
Correspondingly, the invention also provides a laser radar.
Referring to fig. 3, a schematic structural diagram of an embodiment of the lidar of the present invention is shown.
The laser radar includes: a light source device 210, said light source device 210 adapted to generate raw light; a laser transceiver device according to the present invention; a detection device 230, said detection device 230 being adapted to collect coherent light.
The light source device 210 includes at least one laser to generate the original light. In this embodiment, the specific technical solution of the light source device 210 refers to a light source of an existing laser radar, which is not described in detail herein.
The laser transceiver is the laser transceiver of the present invention, and the specific technical solution of the laser transceiver refers to the foregoing embodiments of the laser transceiver, which are not described herein again.
The reflected light formed by end face reflection is used as the local oscillator light, so that the optical power of the local oscillator light can be effectively reduced, and the optical power of the emergent light is improved, so that the detection distance of the laser radar is effectively prolonged, and the detection range of the laser radar is expanded under the condition that the process and the cost are not changed; moreover, coherent detection can be realized on the premise of not increasing the complexity of a light path structure and optical components, interference of a system end face reflected signal can be avoided, and the signal-to-noise ratio of the system can be improved.
The light splitting and coupling effects of the light splitting and coupling unit can be realized through the arrangement of the optical fiber coupler or the light splitter; and light splitting devices and beam combining devices such as a circulator and the like can be omitted, so that the cost is reduced, and the structure of the laser radar is simplified.
The detecting device 250 performs photoelectric conversion on the coherent light to form an electrical signal to realize coherent detection. In this embodiment, the specific technical solution of the detecting device 250 refers to a detecting device of an existing laser radar, which is not described in detail herein.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (15)
1. A laser transmitter receiver, comprising:
the light source device comprises a light source device, a light splitting and coupling unit and a light collecting unit, wherein the light source device is used for generating primary light;
the emergent unit receives at least part of the first initial light, and forms emergent light according to the first initial light; the emergent light is reflected by a target to be detected to form echo light;
the collecting unit collects the echo light to form signal light which propagates towards the light splitting and coupling unit;
the laser transceiver device further includes: at least one of the first active surface and the second active surface; the first action surface reflects part of the first initial light to form first local oscillation light; the second action surface reflects part of the second initial light to form second local oscillation light;
the light splitting and coupling unit is further configured to couple at least one of the first local oscillator light and the second local oscillator light with the signal light to form coherent light transmitted toward the detection device.
2. The laser transceiver according to claim 1, wherein the optical splitting coupling unit includes:
the first connecting end is connected with the light source device;
the second connecting end is connected with the emergent unit;
a third connection end connected to the collection unit;
and the fourth connecting end is connected with the detection device.
3. The laser transceiver of claim 2, wherein the first active surface comprises: at least one of an end surface of the second connection end and a surface of the exit unit to which the first initial light is projected.
4. The laser transceiver of claim 2, wherein the second active surface comprises: an end surface of the third connection end and the second initial light are projected to at least one of surfaces of the collection unit.
5. The laser transceiver of claim 2, further comprising: a second transmission arm located between the second connection end and the exit unit, the second transmission arm adapted to transmit the first initial light and the first local oscillator light;
the first active surface further comprises: at least one of an end surface of the second transmission arm facing the second connection end and an end surface of the second transmission arm facing the exit unit.
6. The laser transceiver of claim 5, further comprising: a third transmission arm, the third transmission arm being located between the third connection end and the collection unit, the third transmission arm being adapted to transmit the second initial light, the second local oscillator light, and the signal light;
the second active surface further comprises: at least one of an end surface of the third transfer arm facing the third connection end and an end surface of the second transfer arm facing the collection unit.
7. The laser transmitter-receiver assembly according to any one of claims 1 to 6, wherein the optical splitting coupling unit includes a fiber coupler.
8. The laser transmitter-receiver assembly according to any one of claims 1 to 4, wherein the optical splitting coupling unit includes: a beam splitter.
9. The laser transmitter receiver of claim 8, wherein the exit unit comprises: a collimator; the collecting unit includes: a receiving mirror;
the focus of the receiving mirror is positioned on the photosensitive surface of the detection device.
10. The laser transceiver of claim 8, further comprising: the collimation unit is positioned between the light source device and the light splitting and coupling unit, and the focus of the collimation unit is positioned on the light emitting surface of the light source device;
the convergence unit is positioned between the light splitting coupling unit and the detection device; the focus of the convergence unit is positioned on the photosensitive surface of the detection device.
11. The laser transmitter-receiver apparatus of claim 1, wherein the coupling unit and the emission unit, the coupling unit and the collection unit, the coupling unit and the light source apparatus, and the coupling unit and the detection apparatus are connected by optical fibers.
12. The laser transceiver of claim 11, wherein the optical fiber is a single mode optical fiber.
13. The laser transceiver of claim 1, wherein the reflectivity of the first active surface or the second active surface is less than 4%.
14. The laser transmitter receiver assembly according to claim 1 or 13, further comprising: an optically functional film on a surface of at least one of the first active surface and the second active surface.
15. A lidar, comprising:
a light source device adapted to generate raw light;
a laser transmitter/receiver as claimed in any one of claims 1 to 14;
a detection device adapted to collect coherent light.
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