CN111948665A - Solid-state laser radar system and solid-state laser radar - Google Patents
Solid-state laser radar system and solid-state laser radar Download PDFInfo
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- 238000005859 coupling reaction Methods 0.000 claims abstract description 73
- 239000007787 solid Substances 0.000 claims abstract description 35
- 239000006185 dispersion Substances 0.000 claims abstract description 27
- 238000005070 sampling Methods 0.000 claims abstract description 6
- 239000000523 sample Substances 0.000 claims description 22
- 239000000835 fiber Substances 0.000 claims description 20
- 230000035559 beat frequency Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000002310 reflectometry Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 9
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- 238000003384 imaging method Methods 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 3
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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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement
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Abstract
The invention discloses a solid laser radar system and a solid laser radar, comprising: the sweep frequency light source module is used for sending a first optical signal; the coupling beam splitter is used for carrying out light splitting processing on the first optical signal and generating a first reference optical signal and a first detection optical signal; the dispersion device module is used for receiving the first detection optical signal and sending a second detection optical signal, and the second detection optical signal is transmitted to the surface of the target detection object and reflected back to a third detection optical signal; the detection module is coupled with the coupling beam splitter and used for detecting the first coupled optical signal and generating a first interference signal; and the signal processing module is coupled with the detection module and is used for sampling the first interference signal and calculating to obtain the distance information between the solid-state laser radar system and the target detection object. The invention realizes the two-dimensional scanning of the target detection object and improves the accuracy of the distance measurement of the target detection object.
Description
Technical Field
The invention relates to the technical field of laser radar measurement, in particular to a solid-state laser radar system and a solid-state laser radar.
Background
Currently, lidar imaging technology is widely used in various distance measurement applications. For example, the grating is used as a beam deflection element, and the distance between the target detection object and the laser radar system is obtained by measuring the distance between the target detection object and the laser radar system at the corresponding beam angle during beam deflection. However, in the above-mentioned measuring method, the scanning of the target detection object by the light beam is a one-dimensional scanning, and the one-dimensional scanning has a certain detection limit when the imaging detection and the distance measurement of the target detection object are realized.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a solid-state laser radar system which can perform two-dimensional scanning on a target detection object and realize high-precision measurement on the target detection object.
The invention also provides a solid-state laser radar.
In a first aspect, an embodiment of the invention provides a solid state lidar system comprising: the sweep frequency light source module is used for sending a first optical signal; the coupling beam splitter is used for performing light splitting processing on the first optical signal and generating a first reference optical signal and a first detection optical signal; the dispersive device module is used for receiving the first detection optical signal and sending a second detection optical signal, and the second detection optical signal is transmitted to the surface of the target detection object and reflected back to a third detection optical signal; the detection module is coupled with the coupling beam splitter and is used for detecting the first coupled optical signal and generating a first interference signal; the signal processing module is coupled with the detection module and is used for sampling the first interference signal and calculating to obtain distance information between the solid-state laser radar system and the target detection object; wherein the dispersive device module comprises: a collimator, a high-order dispersion device and a low-order dispersion device; the collimator is coupled with the high-order dispersion device, and the high-order dispersion device is coupled with the low-order dispersion device; the coupling beam splitter is further configured to couple the first reference optical signal and the third detection light and generate the first coupled optical signal.
The solid-state laser radar system of the embodiment of the invention at least has the following beneficial effects: the first optical signal is sent by the sweep frequency light source, and the coupling beam splitter carries out beam splitting processing on the first optical signal, so that two-dimensional scanning and three-dimensional imaging of the dispersion device module on target detection are realized, and the measurement precision of the solid-state laser radar system on the distance of a target detection object is improved.
According to further embodiments of the present invention, the solid state lidar system, wherein the higher order dispersive device comprises any of: a virtual phased array, an array waveguide grating and an echelle grating; the low order dispersive device comprises any one of the following: blazed gratings, transmission gratings.
According to further embodiments of the present invention, a solid state lidar system, the coupling beam splitter comprising: the first coupling beam splitter is coupled with the swept-frequency light source module and is used for performing light splitting processing on the first optical signal and generating a first detection optical signal and a first reference optical signal; and the second coupling beam splitter is coupled to the detection module and is configured to couple the third detection optical signal and the first reference optical signal and generate the first coupled optical signal.
Solid state lidar systems according to further embodiments of the present invention, further comprising: a circulator, a first end of which is coupled to the first coupling beam splitter, a second port of which is coupled to the dispersive device module, and a third port of which is coupled to the second coupling beam splitter; one end of the delay fiber is coupled with the first coupling beam splitter, and the other end of the delay fiber is coupled with the second coupling beam splitter and is used for performing delay processing on the first reference optical signal and generating a second reference optical signal; wherein the second coupling beam splitter couples the third detected optical signal and the second reference optical signal and generates the first coupled optical signal; the second coupling beam splitter is coupled to the detection module, the detection module detects the first coupled optical signal, and the detection module performs interference beat frequency processing on the first coupled optical signal and generates the first interference signal.
According to further embodiments of the solid state lidar system of the present invention, the first and second coupling splitters each comprise any one of: fiber coupler, fiber circulator, fiber splitter.
According to further embodiments of the solid state lidar system of the present invention, the optical intensity of the first interference signal
Carrying out short-time Fourier transform on the light intensity I (t) to obtain a time-frequency graph; wherein τ is a time of flight, w, of the second detected optical signal to the target probe and back to the solid state lidar system0Is the initial frequency, ξ is the rate of frequency change, and R is the reflectivity of the target probe.
According to further embodiments of the present invention, a solid state lidar system, the solid state lidar system being at a distance L ═ c τ/2 from the target probe; where c is the propagation speed of the first optical signal in the medium, and τ is the time of flight for the second detected optical signal to reach the target probe and return to the solid-state lidar system.
According to further embodiments of the present invention, a solid state lidar system, the coupling beam splitter comprising: a third coupling beam splitter; the third coupling beam splitter is respectively coupled with the swept frequency light source module, the dispersion device module and the detection module; the third coupling beam splitter couples the first reference optical signal and the third detection optical signal and generates a first coupled optical signal.
According to further embodiments of the solid state lidar system of the present invention, the detection module includes a balanced photodetector and/or a regular photodetector.
In a second aspect, an embodiment of the invention provides a solid state lidar including a solid state lidar system as described in any of the embodiments above.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
FIG. 1 is a block diagram of an embodiment of a solid state lidar system in accordance with an embodiment of the present invention;
FIG. 2 is a block diagram of one embodiment of a dispersive device module according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another embodiment of a dispersive device module according to an embodiment of the present invention;
FIG. 4 is a schematic block diagram of another embodiment of a solid state lidar system in an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of another embodiment of a solid-state lidar system in an embodiment of the present invention.
Reference numerals:
the device comprises a swept source module 100, a coupling beam splitter 200, a first coupling beam splitter 210, a second coupling beam splitter 220, a third coupling beam splitter 230, a dispersive device module 300, a collimator 310, a virtual phased array 321, a grating 331, a cylindrical lens 340, a detection module 400, a signal processing module 500, a target detector 600, a circulator 700, a delay fiber 800 and a reflector 900.
Detailed Description
The conception and the resulting technical effects of the present application will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive efforts based on the embodiments of the present application belong to the protection scope of the present application.
In the description of the present application, if a feature is referred to as being "disposed," "secured," "connected," or "mounted" on another feature, it can be directly disposed, secured, or connected to the other feature or indirectly disposed, secured, connected, or mounted to the other feature.
In the description of the embodiments of the present application, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Lidar is an optical remote sensing technology that uses a beam of light directed at a target probe, such as: pulse laser, etc. to detect parameters such as the distance of the target probe.
In the related art, the following two kinds of laser radar systems or apparatuses are proposed. First, a solid-state laser radar System based on a Micro Electro Mechanical System (MEMS) device is proposed, which uses a transmitting component including a plurality of transmitters to direct the transmitted laser light to the MEMS device, and realizes the control of the beam by changing the optical path of the laser light transmitted by the transmitting component. The second kind provides a solid-state area array laser radar device, and the receiving module uses an area array photoelectric sensor, and the pixels arranged on the area array photoelectric sensor array are used for receiving the laser emitted by the corresponding single laser light source. Solid-state scanning has both been realized to above-mentioned two kinds of laser radar systems or devices, but first kind of laser radar system is not the scanning laser radar system of full solid-state formula, and there is great loss in the light beam reflection in-process laser, and the SNR of return wave is low, and the scanning rate of the light beam through MEMS control is low and scanning angle scope is little. The second laser radar device needs a plurality of area array receiving sensors and a plurality of laser light sources, so that the structure of the laser radar device is complex, and the realization difficulty of an area array receiver is increased.
Based on this, this application embodiment provides a solid-state laser radar system and solid-state laser radar, can carry out stable quick two-dimensional scanning to the target detection thing, realizes surveying the high accuracy of target detection thing distance and realizes three-dimensional formation of image.
In a first aspect, the present application provides a solid state lidar system.
Referring to fig. 1, in some embodiments, a solid state lidar system includes: the system comprises a swept source module 100, a coupling beam splitter 200, a dispersive device module 300, a detection module 400 and a signal processing module 500. The coupling beam splitter 200 is coupled to the swept-source module 100, the dispersive device module 300, and the detection module 400, respectively, and the signal processing module 500 is coupled to the detection module 400. The swept frequency light source module 100 is configured to emit a first optical signal, the coupling beam splitter 200 is configured to perform a light splitting process on the first optical signal and generate a first reference optical signal and a first detection optical signal, the dispersive device module 300 receives the first detection optical signal and sends a second detection optical signal, the second detection optical signal is emitted to the surface of a target probe and reflected back to a third detection optical signal, the detection module 400 is configured to detect the first coupling optical signal and generate a first interference signal, and the signal processing module 500 performs a sampling process on the first interference signal and calculates distance information between the solid-state laser radar system and the target probe 600. Specifically, the swept-frequency light source module 100 is a swept-frequency light source of frequency-modulated continuous waves, the first optical signal is a linear swept-frequency signal, and the coupling beam splitter 200 divides the first optical signal into two optical paths, one of which is a first detection optical signal and is used for detecting the distance to the target probe 600; one path is a first reference optical signal, and is used for performing coupling processing with a third detection optical signal of a reflected echo signal of the target probe 600 to calculate a distance between the target probe 600 and the solid-state lidar system. The dispersive device module converts the wavelength and the spatial position of the first detection optical signal, the first detection optical signal passes through the dispersive device module 300 to generate a second detection optical signal, the second detection optical signal is transmitted to the surface of the target probe 600 and reflected back to a third detection optical signal, and the third detection optical signal is a reflected echo signal of the second detection optical signal returned from the surface of the target probe 600 to the dispersive device module 300.
In some specific embodiments, referring to fig. 2, the dispersive device module 300 includes: the optical fiber dispersion device comprises a collimator 310, a high-order dispersion device 320 and a low-order dispersion device 330, wherein the collimator 310 is coupled with the high-order dispersion device 320, and the high-order dispersion device 320 is coupled with the low-order dispersion device 330. The dispersion device module 300 is a two-dimensional scattering device, the dispersion device module 300 is a beam control device of a swept-frequency light source, the first detection optical signal generates a second detection optical signal through the dispersion device module 300, and the second detection optical signal two-dimensionally scans each point on the surface of the target detection object and reflects back to a third detection optical signal, so that the two-dimensional scanning of target detection is realized, and the precision of the solid-state laser radar system in measuring the distance of the target detection object is improved.
In some embodiments, the higher order dispersion device 320 includes any of the following: a virtual phased array 321, an array waveguide grating, an echelle grating; the low order dispersive device 330 comprises any of: blazed gratings, transmission gratings. Specifically, referring to fig. 3, the collimator 310 is coupled to the cylindrical lens 340, the cylindrical lens 340 is coupled to the virtual phased array 321, and the virtual phased array 321 is coupled to the grating 331. After the first detection optical signal passes through the cylindrical lens 340, the virtual phased array 321 and the grating 331, the outgoing beam angle is controlled by the wavelength to generate a second detection optical signal, and two-dimensional space scanning based on wavelength control is realized. The second detection optical signal is transmitted to each point on the surface of the target object and reflected back to the third detection optical signal, and the dispersive device module 300 transmits the returned third detection optical signal to the detection module 400. It is understood that the cylindrical lens 340 may be replaced with a prism, a collimator, etc. Taking the grating 331 and the virtual phased array 321 as an example, the relationship between the emission angle, the incidence angle, and the wavelength of the first detection light signal is:
d(sin(θ0)-sin(θin) A.
Wherein, in the formula (1), d is grating 331 constant, theta0Is the exit angle, θ, of the first detection light signal exiting the grating 331inλ is the incident angle of the first detection optical signal incident on the grating 331, and is the wavelength of the incident light of the first detection optical signal incident on the grating 331. In equation (2), k is a propagation constant, n' is a refractive index of a medium in the virtual phased array 321,
the angle between the incident light ray of the first detection light signal entering the virtual phased array 321 and the normal of the incident plane in the virtual phased array 321 is m, which is the diffraction order.
Referring to fig. 4, in some embodiments, the coupling beam splitter 200 includes: the first coupling beam splitter 210 is coupled to the swept-source module 100, and performs optical splitting processing on the first optical signal to generate a first detected optical signal and a first reference optical signal. In some embodiments, the solid state lidar system further comprises: a circulator 700 and a delay fiber 800, wherein a first port of the circulator 700 is coupled to the first coupling splitter 210, a second port of the circulator 700 is coupled to the dispersive device module 300, and a third port of the circulator 700 is coupled to the second coupling splitter 220. One end of the delay fiber 800 is coupled to the first coupling splitter 210, and the other end of the delay fiber 800 is coupled to the second coupling splitter 220. Specifically, the first coupling beam splitter 210 has a single-input dual-output structure, and the first coupling beam splitter 210 splits the first optical signal into two optical paths, where one optical path is the first detection optical signal transmitted through the circulator 700, and the other optical path is the first reference optical signal transmitted through the delay fiber 800. The first detection optical signal is injected into the first port of the circulator 700 and is transmitted from the second port of the circulator 700 to the dispersive device module 300, and the first reference optical signal is delayed by the delay fiber 800 and generates a second reference optical signal. The second coupling beam splitter 220 has a dual-input and dual-output structure, the third detection optical signal reflected from the target object 600 is incident on the second port of the circulator 700 through the dispersive device module 300, and is emitted to the second coupling beam splitter 220 from the third port of the circulator 700, and the second coupling beam splitter 220 couples the second reference optical signal and the third detection optical signal to generate the first coupled optical signal. The second coupling beam splitter 220 is coupled to the detection module 400, the detection module 400 detects the first coupled optical signal, performs interference beat frequency processing on the first coupled optical signal to generate a first interference signal, and the signal processing module 500 performs sampling processing on the first interference signal and calculates to obtain distance information between the solid state laser radar system and the target detection object 600. It will be appreciated that the configuration of first coupler splitter 210 and second coupler splitter 220 may be adapted according to the type of detection module 400.
In one embodiment, the first coupling splitter 210 and the second coupling splitter 220 each include any one of: a fiber coupler, a fiber circulator, and a fiber splitter, wherein the first optical signal is transmitted in the fiber path through the first coupling splitter 210.
In a specific embodiment, the first coupled optical signal is subjected to interference beat frequency processing to generate a first interference signal, and the signal processing module 500 performs sampling processing on the first interference signal, wherein the intensity of the first interference signal is
Where τ is the time of flight, w, of the second detected optical signal reaching the target probe 600 and reflecting back to the solid-state lidar system0Is the initial frequency, ξ is the rate of frequency change, and R is the reflectivity of the target probe 600. And performing short-time fourier transform on the light intensity i (t) to obtain a time-frequency diagram, and further obtaining a distance L between the target detection object 600 and the solid-state laser radar system, where c is a propagation speed of the first optical signal in the medium, and τ is a flight time of the second detection optical signal reaching the target detection object 600 and being reflected back to the solid-state laser radar system. During the frequency sweeping process of the swept-source module 100, the first optical signals with different frequencies are swept to different spatial positions, and have different flight delays, so that the frequency sweeping process in one periodThe distances of a plurality of spatial two-dimensional points can be detected.
In a specific embodiment, the swept source module 100 transmits a first optical signal, the first optical signal is divided into a first reference optical signal and a first detection optical signal by the first coupler beam splitter 210, the first detection optical signal is incident from the first port of the circulator 700 and emitted from the second port of the circulator 700, the angle of the light beam emitted from the first detection optical signal by the dispersive device module 300 is controlled by the wavelength to generate a second detection optical signal, the second detection optical signal is transmitted to the surface of the target probe 600 to perform two-dimensional scanning on the surface of the target probe 600, and the third detection optical signal is reflected from the surface of the target probe 600 back to the dispersive device module 300 and transmitted to the second coupling beam splitter 220 from the third port of the circulator 700. The first reference optical signal is delayed by the delay optical fiber 800 to generate a second reference optical signal, and the second reference optical signal is sent to the second coupling beam splitter 220, the second coupling beam splitter 220 performs coupling processing on the third detection optical signal and the second reference optical signal to generate a first coupled optical signal, the detection module 400 detects the first coupled optical signal and performs beat frequency processing on the first coupled optical signal to generate a first interference signal, and the signal processing module 500 samples and calculates the first interference signal to obtain distance information L between the solid-state laser radar system and the target detection object 600.
Referring to fig. 5, in some embodiments, the coupling beam splitter 200 includes: the third coupling beam splitter 230, the third coupling beam splitter 230 is coupled to the swept source module 100, the dispersive device module 300, and the detection module 400, respectively. Specifically, third coupling beamsplitter 230 is a beam splitter, such as: the first optical signal is transmitted in a free space, for example, transmitted in the air, and the first optical signal is divided into a first reference optical signal and a first detection optical signal by the beam splitter, the first detection optical signal is reflected from the surface of the beam splitter into the dispersion device module 300, the angle of the light beam emitted from the dispersion device module 300 is controlled by the wavelength to generate a second detection optical signal, and the second detection optical signal is emitted to the surface of the target detection object 600 and is reflected back to the third detection optical signal from the surface of the target detection object 600. The first reference light signal is transmitted into the spectroscope and transmitted to the reflector 900, the reflector 900 reflects the first reference light signal back to the spectroscope to generate a second reference light signal, the returned third detection light signal is coupled with the second reference light signal to generate a first coupled light signal, the detection module 400 performs beat frequency processing on the first coupled light signal to generate a first interference signal, and the signal processing module 500 samples the first interference signal and calculates to obtain distance information L between the solid-state laser radar system and the target detector 600.
In some embodiments, the detection module 400 includes a balanced photodetector and/or a regular photodetector.
In a second aspect, embodiments of the present application provide a solid-state lidar including a solid-state lidar system as described in any of the above embodiments.
In the embodiment of the present application, the two-dimensional solid-state scanning is performed on the target detection object 600 by the dispersive device module 300, so that the two-dimensional space positioning and the two-dimensional distance measurement of the target detection object 600 are realized, and the accuracy of the distance measurement of the target detection object 600 is improved. The frequency-modulated continuous wave frequency-swept light source module 100 is used for controlling the propagation direction of the first optical signal, so that the frequency-swept speed is increased, and the distance measurement speed of the target detector 600 is increased. In addition, in the embodiment of the application, the frequency modulated continuous wave output by the swept-frequency light source module 100 is combined with the light beam adjusting characteristic of the dispersive device module 300, so that the structure of the solid-state laser radar system is simplified, and non-mechanical scanning frequency modulated continuous wave three-dimensional imaging is realized. The first optical signal can be transmitted in the optical fiber through the first coupling beam splitter and the second coupling beam splitter, or transmitted in the free space through the third coupling beam splitter, so that the solid-state laser radar system has good compatibility.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Claims (10)
1. A solid state lidar system, comprising:
the sweep frequency light source module is used for sending a first optical signal;
the coupling beam splitter is used for performing light splitting processing on the first optical signal and generating a first reference optical signal and a first detection optical signal;
the dispersive device module is used for receiving the first detection optical signal and sending a second detection optical signal, and the second detection optical signal is transmitted to the surface of the target detection object and reflected back to a third detection optical signal;
the detection module is coupled with the coupling beam splitter and is used for detecting the first coupled optical signal and generating a first interference signal;
the signal processing module is coupled with the detection module and is used for sampling the first interference signal and calculating to obtain distance information between the solid-state laser radar system and the target detection object;
wherein the dispersive device module comprises: a collimator, a high-order dispersion device and a low-order dispersion device; the collimator is coupled with the high-order dispersion device, and the high-order dispersion device is coupled with the low-order dispersion device;
the coupling beam splitter is further configured to couple the first reference optical signal and the third detection light and generate the first coupled optical signal.
2. The solid state lidar system of claim 1, wherein the higher order dispersion device comprises any one of: a virtual phased array, an array waveguide grating and an echelle grating;
the low order dispersive device comprises any one of the following: blazed gratings, transmission gratings.
3. The solid state lidar system of claim 2, wherein the coupling beam splitter comprises:
the first coupling beam splitter is coupled to the swept-frequency light source module and configured to split the first optical signal and generate the first detection optical signal and the first reference optical signal;
and the second coupling beam splitter is coupled to the detection module and is configured to couple the third detection optical signal and the first reference optical signal and generate the first coupled optical signal.
4. The solid state lidar system of claim 3, further comprising:
a circulator, a first port of the circulator being coupled to the first coupling splitter, a second port of the circulator being coupled to the dispersive device module, and a third port of the circulator being coupled to the second coupling splitter;
one end of the delay fiber is coupled with the first coupling beam splitter, and the other end of the delay fiber is coupled with the second coupling beam splitter and is used for performing delay processing on the first reference optical signal and generating a second reference optical signal;
wherein the second coupling beam splitter couples the third detected optical signal and the second reference optical signal and generates the first coupled optical signal;
the second coupling beam splitter is coupled to the detection module, the detection module detects the first coupled optical signal, and the detection module performs interference beat frequency processing on the first coupled optical signal and generates the first interference signal.
5. The solid state lidar system of claim 4, wherein the first and second coupling splitters each comprise any of: fiber coupler, fiber circulator, fiber splitter.
6. The solid state lidar system of claim 5, wherein the solid state lidar system is further characterized byIn that the light intensity of the first interference signal
Carrying out short-time Fourier transform on the light intensity I (t) to obtain a time-frequency graph;
wherein τ is a time of flight, w, of the second detected optical signal to the target probe and back to the solid state lidar system0Is the initial frequency, ξ is the rate of frequency change, and R is the reflectivity of the target probe.
7. The solid state lidar system of claim 6, wherein the solid state lidar system is at a distance L ═ c τ/2 from the target probe;
where c is the propagation speed of the first optical signal in the medium, and τ is the time of flight for the second detected optical signal to reach the target probe and return to the solid-state lidar system.
8. The solid state lidar system of claim 2, wherein the coupling beam splitter comprises: a third coupling beam splitter;
the third coupling beam splitter is respectively coupled with the swept frequency light source module, the dispersion device module and the detection module;
the third coupling beam splitter couples the first reference optical signal and the third detection optical signal and generates a first coupled optical signal.
9. Solid state lidar system according to any of claims 1 to 7, wherein the detection module comprises a balanced photodetector and/or a regular photodetector.
10. A solid state lidar including a solid state lidar system as claimed in any of claims 1 to 9.
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