CN110879385B - Non-scanning laser radar receiving optical system - Google Patents
Non-scanning laser radar receiving optical system Download PDFInfo
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- CN110879385B CN110879385B CN201911359870.7A CN201911359870A CN110879385B CN 110879385 B CN110879385 B CN 110879385B CN 201911359870 A CN201911359870 A CN 201911359870A CN 110879385 B CN110879385 B CN 110879385B
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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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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a non-scanning laser radar receiving optical system, which comprises an objective optical system, an optical fiber array and a detector array. The optical fiber array is provided with M linear optical fibers parallel to the main optical axis and corresponds to the dispersion spots of the echo signals one by one. The objective optical system focuses the diffuse spots of different fields of view on the same focal plane, and one end of each optical fiber in the optical fiber array is positioned on the plane. The fiber core diameter 2r is less than or equal to the fiber center-to-center distance d. The lengths of the optical fibers are the same. The detector array comprises a plurality of detectors, and M echo signals transmitted by M optical fibers are coupled with the detectors in the detector array one by one. Z1 XN linear array detectors are spliced to form a detector array. Compared with the point scanning radar, the invention has the advantages that the detection area is increased, and the imaging speed is increased; compared with the area array non-scanning radar, the cost is obviously reduced, and the popularization and the application are convenient.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a non-scanning laser radar receiving optical system.
Background
The laser radar technology is widely used in the fields of military investigation, surface morphology mapping, atmosphere detection, space technology and the like. The traditional point scanning laser radar mainly adopts a unit detection technology, and has the defects of high laser repetition frequency, large size, low imaging speed and limited resolution, and needs a scanning device.
Although the area array non-scanning three-dimensional imaging laser radar does not need scanning, high-resolution, large-view-field and rapid imaging can be realized. But the material cost of the existing large-area high-pixel detector is high, the research and development cost is higher, and certain time is required for self-development in China. The existing high-pixel detector has limited area and high research and development cost required by a large-scale signal processing technology matched with the existing high-pixel detector. Currently, the detection imaging resolution of the area array non-scanning three-dimensional imaging laser radar is generally 16×16, 25×25, 32×32, 64×64 and the like. It is difficult to purchase a suitable large-area high-pixel detector in China.
Disclosure of Invention
The invention aims to provide a non-scanning laser radar receiving optical system, which overcomes the defects and shortcomings of the existing laser radar technology and method, and a large-caliber and large-view-field objective optical system is formed by a telephoto objective optical subsystem and a telecentric optical subsystem, so as to receive weak echo signals of the laser radar; echo signals received by the objective optical system correspond to the optical fiber arrays one by one, and the optical fiber arrays couple the echo signals to detector arrays spliced by a plurality of linear array detectors to finish echo signal detection. The invention overcomes the defects of high laser repetition frequency, large volume, low imaging speed and limited resolution of the traditional point scanning laser radar, and the defects that the area array non-scanning three-dimensional imaging laser radar is limited by a large-area high-pixel detector, a large-scale signal processing technology and the like.
The invention relates to a non-scanning laser radar receiving optical system which is used for receiving echo signals of 1 XM paths of linear array light beams emitted by the radar, wherein the divergence angle of each emitted light beam is theta Hair brush ,θ Hair brush , the unit of each emitted light beam is radian rad, the value range of theta Hair brush is determined by the sampling resolution delta of radar scanning and the target distance l, and the value range of theta Hair brush is less than or equal to delta/l. The receiving field is larger than or equal to M x theta Hair brush , and 1 xM paths of transmitting light beams return to 1 xM paths of echo signals to form 1 xM dispersion spots, and the included angle theta Medicine for curing common cold ≥θ Hair brush of the centers of the echo signals is formed. The system comprises an objective optical system and a photoelectric detection device, wherein the objective optical system receives radar echo signals. The system also comprises an optical fiber array, and the photoelectric detection device is a detector array.
The objective optical system comprises a tele-objective optical subsystem and a telecentric optical subsystem.
The telephoto objective lens optical subsystem comprises a front positive lens group and a rear negative lens group to shorten the barrel length of the long-focal-length objective lens; the telecentric optical subsystem comprises 2 to 4 condenser lens groups, the exit pupil of which is located at infinity, i.e. the chief ray is parallel to the optical axis, which makes the dispersion spot offset of the objective optical system at different fields of view identical.
The effective caliber of the objective lens optical system, namely the effective caliber of the objective lens in the telephoto objective lens optical subsystem is more than or equal to 100mm.
The optical fiber array is provided with M linear optical fibers parallel to the main optical axis and corresponds to the dispersion spots of the echo signals one by one. The single optical fiber is a large-core-diameter multimode quartz optical fiber, and the numerical aperture is larger than or equal to the image space numerical aperture of the laser radar receiving optical system, so that the receiving coupling efficiency is improved.
The objective optical system focuses the disperse spots with different view fields on the same plane, namely the focal plane of the laser radar receiving optical system, and one end of each optical fiber in the optical fiber array is positioned on the plane. In the full view field range, the diameters of the dispersion spots on the focal plane are smaller than or equal to the single optical fiber core diameter of the optical fiber array, so that the coupling efficiency of the received M echo signals is improved, and the light of the dispersion spots smaller than or equal to the optical fiber core diameter can be received by optical fiber coupling.
The distance between the centers of adjacent optical fibers is d, the focal length of the objective optical system is f, then each optical fiber of the optical fiber array receives the visual field interval theta Interval (C) =d/f, when theta Interval (C) tends to 0, theta Interval (C) =Sinθ Interval (C) is approximately equal to d/f, in the invention, the unit of theta Interval (C) ,θ Interval (C) is radian rad calculated according to the approximate value. The core diameter of one optical fiber of the optical fiber array is 2r, the optical fiber receiving view angle theta Light source = 2r/f, the optical fiber core diameter 2r is less than or equal to the optical fiber center distance d, and each optical fiber of the optical fiber array receives the view angle theta Light source ≤θ Interval (C) , so that crosstalk among echo signals of all paths is effectively prevented.
The lengths of the optical fibers are the same, and the lengths of the optical fibers are less than or equal to 0.5m. The signal intensity change, transmission time and transmission loss of the optical fiber transmission are all ignored.
The detector array comprises a plurality of detectors, and M echo signals transmitted by M optical fibers are coupled with the detectors in the detector array one by one.
The detector array comprises Z1 XN linear array detectors, N is less than M, Z XN is more than or equal to M, and Z1 XN linear array detectors are spliced to form the detector array. The values of N are 16, 25, 32, 64 and 128.
Each detector comprises a photoelectric converter and an auxiliary circuit, and echo signals transmitted by each optical fiber are converted into electric signals and sent to a radar center system for analysis and comparison.
Compared with the prior art, the non-scanning laser radar receiving optical system has the advantages that: 1. compared with the traditional point scanning laser radar, under the same horizontal resolution, the 1 XM optical fiber array of the invention receives each field echo signal received by the objective optical system, the detection area of the obtained single laser pulse is increased by M times, and the imaging speed is correspondingly increased by M times; 2. compared with the planar array non-scanning three-dimensional imaging laser radar, the echo signals received by the 1 XM optical fiber array are coupled to the detector arrays spliced by the plurality of linear arrays, the sampling resolution of single laser pulses is increased by Z times, a large-area high-pixel detector and a large-scale signal processing technology are not needed, the technical level needed by a radar receiving optical system is greatly reduced, the monopoly of foreign technology is broken, and the popularization and the application are convenient.
Drawings
FIG. 1 is a block diagram of the main components of an embodiment of the present non-scanning lidar receiving optical system;
FIG. 2 is a schematic diagram of an optical path of an embodiment of a receiving optical system of the non-scanning lidar;
Fig. 3 is a schematic diagram of the objective optical system in fig. 1.
Reference numerals in the drawings: 1. an objective optical system, 11, a tele-objective optical subsystem, 12, a telecentric optical subsystem, 2, an optical fiber array, 3 and a detector array.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments and drawings.
In the embodiment of the non-scanning laser radar receiving optical system, echo signals of 1X 256 paths of linear array beams emitted by the radar are received, the sampling resolution delta of radar scanning is less than or equal to 0.62m, the target distance l is 1km, the divergence angle of the emitted beams is theta Hair brush and less than or equal to 0.62mrad, the receiving field of view is more than or equal to 159.3mrad, 1X 256 paths of emitted beams return to 1X 256 paths of echo signals to form 1X 256 dispersion spots, and the included angle theta Medicine for curing common cold ≥θ Hair brush of the centers of the echo signals.
The system comprises an objective optical system 1, an optical fiber array 2 and a detector array 3, as shown in the block diagram of fig. 1. As shown in fig. 2, the objective optical system 1 of this example receives radar echo signals.
As shown in fig. 3, the objective optical system 1 of this example includes a telephoto objective optical subsystem 11 and a telecentric optical subsystem 12.
The tele-objective optical subsystem 11 comprises a front positive lens group and a rear negative lens group; the telecentric optical subsystem 12 comprises 3 condenser lens groups whose exit pupil is at infinity, i.e. the chief ray is parallel to the optical axis, which makes the dispersion spot offset the same for different fields of view received by the objective optical system 1.
The effective caliber of the objective optical system 1 of the example, namely the effective caliber of the objective in the telephoto objective optical subsystem 11 is 120mm; the effective focal length f=450 mm.
The optical fiber array 2 of this example has 256 linear optical fibers parallel to the main optical axis, and corresponds to the diffuse specks of the echo signals one by one. The single optical fiber is a large-core-diameter multimode quartz optical fiber, and the numerical aperture is larger than or equal to the image side numerical aperture of the laser radar receiving optical system. The diameter of each diffuse spot on the focal plane under the full view field is smaller than the core diameter of a single optical fiber of the optical fiber array 2.
The fiber core diameter 2r=0.28 mm of the fiber array 2 of this example, and the fiber center-to-center distance d=0.3 mm.
The objective optical system 1 focuses the disperse spots with different fields of view on the same plane, namely the focal plane of the laser radar receiving optical system, and one end of each optical fiber in the optical fiber array 2 is positioned on the plane.
The length of each optical fiber in this example is the same as 0.3m. The signal intensity change, transmission time and transmission loss of the optical fiber transmission are all ignored.
The detector array 3 of this example contains 161×16 linear array detectors, which are spliced to form the detector array 3. 256 echo signals transmitted by 256 optical fibers are coupled to each detector in the detector array 3 one by one.
Each detector comprises a photoelectric converter and an auxiliary circuit, and echo signals transmitted by each optical fiber are converted into electric signals and sent to a radar center system for analysis and comparison.
Compared with the traditional point scanning laser radar, the embodiment has the advantages that under the same horizontal resolution, the 1X 256 optical fiber array receives each field echo signal received by the objective optical system, the detection area of the obtained single laser pulse is increased by 256 times, and the imaging speed is increased by 256 times; compared with the area array non-scanning three-dimensional imaging laser radar, the detector array of the embodiment is formed by splicing 16 1X 16 linear array detectors, has low cost and is a domestic component.
The above embodiments are merely specific examples for further detailed description of the object, technical solution and advantageous effects of the present invention, and the present invention is not limited thereto. Any modification, equivalent replacement, improvement, etc. made within the scope of the present disclosure are included in the scope of the present invention.
Claims (7)
1. The non-scanning laser radar receiving optical system comprises an objective optical system and a photoelectric detection device, wherein the unit of the divergence angle of each emitted light beam is that of theta Hair brush ,θ Hair brush , the unit of the divergence angle of each emitted light beam is radian rad, the receiving field of view is not less than M theta Hair brush , the 1 XM emitted light beams return to the 1 XM echo signals to form 1 XM disperse spots, and the included angle theta Medicine for curing common cold ≥θ Hair brush of the centers of the echo signals; the value range of the divergence angle theta Hair brush of the emission light beam is determined by the sampling resolution delta of radar scanning and the target distance l, and the value range of theta Hair brush is less than or equal to delta/l; the method is characterized in that:
the photoelectric detector also comprises an optical fiber array (2), wherein the photoelectric detector is a detector array (3);
The objective optical system (1) comprises a tele-objective optical subsystem (11) and a telecentric optical subsystem (12); the tele-objective optical subsystem (11) comprises a front positive lens group and a rear negative lens group; the telecentric optical subsystem (12) comprises 2 to 4 condenser lens groups, the exit pupil of which is located at infinity, i.e. the chief ray is parallel to the optical axis;
The optical fiber array (2) is provided with M linear optical fibers parallel to the main optical axis and corresponds to the dispersion spots of the echo signals one by one;
the objective optical system (1) focuses the disperse spots with different view fields on the same plane, namely the focal plane of the laser radar receiving optical system, and one end of each optical fiber in the optical fiber array (2) is positioned on the plane;
The distance between the centers of adjacent optical fibers is d, and the focal length of the objective optical system (1) is f, so that the unit of the receiving field interval theta Interval (C) ,θ Interval (C) of each optical fiber of the optical fiber array (2) is radian rad; the core diameter of one optical fiber of the optical fiber array (2) is 2r, the optical fiber receiving view angle theta Light source = 2r/f, the optical fiber core diameter 2r is less than or equal to the optical fiber center-to-center distance d, and each optical fiber of the optical fiber array (2) receives the view angle theta Light source ≤θ Interval (C) ;
The detector array (3) comprises a plurality of detectors, and M echo signals transmitted by M optical fibers are coupled with the detectors in the detector array (3) one by one; each detector comprises a photoelectric converter and an auxiliary circuit, and echo signals transmitted by each optical fiber are converted into electric signals and sent to a radar center system for analysis and comparison.
2. The non-scanning lidar receiving optical system according to claim 1, wherein:
The effective caliber of the objective lens optical system (1), namely the effective caliber of the objective lens in the telephoto objective lens optical subsystem (11), is more than or equal to 100mm.
3. The non-scanning lidar receiving optical system according to claim 1, wherein:
The single optical fiber of the optical fiber array (2) is a large-core-diameter multimode quartz optical fiber, and the numerical aperture is larger than or equal to the image side numerical aperture of the laser radar receiving optical system.
4. The non-scanning lidar receiving optical system according to claim 1, wherein:
and the diameters of the dispersion spots on the focal plane in the full view field range are smaller than or equal to the core diameter of a single optical fiber of the optical fiber array (2).
5. The non-scanning lidar receiving optical system according to claim 1, wherein:
The optical fiber array (2) has the same optical fiber length which is less than or equal to 0.5m.
6. The non-scanning lidar receiving optical system according to claim 1, wherein:
the detector array (3) comprises Z1 XN linear array detectors, N is less than M, Z is more than or equal to M, and Z1 XN linear array detectors are spliced to form the detector array (3).
7. The non-scanning lidar receiving optical system of claim 6, wherein:
the value of N is any one of 16, 25, 32, 64 and 128.
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| CN111257896B (en) * | 2020-05-06 | 2020-08-11 | 中国电子科技集团公司信息科学研究院 | Gated array lidar receiving optical system and lidar |
| CN111693965A (en) * | 2020-05-18 | 2020-09-22 | 陈泽雄 | Laser radar scanning method and laser radar |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785342A (en) * | 2016-05-13 | 2016-07-20 | 合肥工业大学 | Principal focal point zooming reflection-type laser radar optical system |
| CN110488246A (en) * | 2019-08-20 | 2019-11-22 | 中国科学院苏州纳米技术与纳米仿生研究所 | A kind of big visual field receiving system of two dimension MEMS scanning laser radar |
| CN211577416U (en) * | 2019-12-25 | 2020-09-25 | 中国电子科技集团公司第三十四研究所 | Non-scanning laser radar receiving optical system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785342A (en) * | 2016-05-13 | 2016-07-20 | 合肥工业大学 | Principal focal point zooming reflection-type laser radar optical system |
| CN110488246A (en) * | 2019-08-20 | 2019-11-22 | 中国科学院苏州纳米技术与纳米仿生研究所 | A kind of big visual field receiving system of two dimension MEMS scanning laser radar |
| CN211577416U (en) * | 2019-12-25 | 2020-09-25 | 中国电子科技集团公司第三十四研究所 | Non-scanning laser radar receiving optical system |
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