WO2021168832A1 - 一种激光探测***及车辆 - Google Patents

一种激光探测***及车辆 Download PDF

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Publication number
WO2021168832A1
WO2021168832A1 PCT/CN2020/077277 CN2020077277W WO2021168832A1 WO 2021168832 A1 WO2021168832 A1 WO 2021168832A1 CN 2020077277 W CN2020077277 W CN 2020077277W WO 2021168832 A1 WO2021168832 A1 WO 2021168832A1
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Prior art keywords
optical signal
laser
echo
grating
component
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PCT/CN2020/077277
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English (en)
French (fr)
Inventor
赵文
熊伟
谢承志
晏蕾
李军
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华为技术有限公司
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Priority to EP20921466.7A priority Critical patent/EP4113162A4/en
Priority to CN202080096875.XA priority patent/CN115136025A/zh
Priority to PCT/CN2020/077277 priority patent/WO2021168832A1/zh
Publication of WO2021168832A1 publication Critical patent/WO2021168832A1/zh

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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
    • G01S7/4918—Controlling received signal intensity, gain or exposure of sensor
    • 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
    • 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
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • This application relates to the field of detection technology, and in particular to a laser detection system and a vehicle.
  • LiDAR light detection and ranging
  • LiDAR is a radar system that emits laser beams to detect the position and speed of a target and other characteristic quantities.
  • the working principle of lidar is that the light source emits a detection signal (laser beam) to a target (such as a vehicle, aircraft or missile), and then the signal reflected from the target (echo optical signal) is compared and processed with the transmitted signal to obtain the target.
  • a detection signal laser beam
  • a target such as a vehicle, aircraft or missile
  • echo optical signal the signal reflected from the target
  • the relevant information of the target such as target distance, azimuth, height, speed, posture, and even shape and other parameters, so that the target can be detected, tracked and identified.
  • LiDAR In recent years, more and more LiDARs are used in applications such as advanced driving assistance system (ADAS) systems, gesture recognition, and three-dimensional (3D) mapping.
  • ADAS advanced driving assistance system
  • LiDAR combines imaging, ultrasound, and millimeter wave radar to provide omni-directional perception for automobiles, paving the way for safer autonomous driving.
  • SiPM silicon photomultiplier
  • the SiPM lidar is affected by the temperature drift of the laser. Therefore, the filter in the SiPM lidar allows a wide range of wavelengths to pass, resulting in greater interference of ambient light on the detector in the SiPM lidar.
  • the present application provides a laser detection system and a vehicle, which are used to solve the problem of interference of ambient light on the laser detection system due to the influence of the temperature drift of the laser in the prior art.
  • the present application provides a laser detection system, which includes a laser, a grating component, and a detection component.
  • the laser is used to emit a laser beam to the detection area, that is, the laser emits a laser beam to the detection area;
  • the grating component is used to receive the optical signal from the detection area, to split the optical signal to obtain the first spectrum of different central wavelengths, and to The optical energy of the optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal, and transmit the first echo optical signal to the detection component.
  • the first echo optical signal is in the detection area of the laser beam
  • the signal reflected by the target, the spectral width of the first echo optical signal is smaller than the spectral width of the optical signal; the detection component is used to convert the received first echo optical signal from the grating component into the first echo electrical signal for storage .
  • the optical signal is split by the grating component, and the optical energy of the optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal. Because the optical energy of the optical signal is concentrated On the first spectrum whose center wavelength is equal to the wavelength of the laser beam, therefore, a first echo optical signal having a spectral width smaller than that of the optical signal can be obtained. Moreover, the grating component splitting the optical signal and concentrating the optical energy of the optical signal on the first spectrum with the center wavelength equal to the wavelength of the laser beam is not affected by the temperature drift of the laser. In this way, the interference of ambient light on the laser detection system can be reduced while taking into account the temperature drift of the laser, thereby increasing the ranging range of the laser detection system.
  • the grating component is the first blazed grating.
  • the detection component is a detector.
  • the first blazed grating is used to receive the optical signal from the detection area, to split the optical signal to obtain the first spectra with different central wavelengths, and to concentrate the optical energy of the optical signal at the central wavelength Obtain the first echo optical signal on the first spectrum equal to the wavelength of the laser beam, and transmit the first echo optical signal to the detector.
  • the optical signal with a wider spectral width can be split (or called filtering) to obtain the first spectrum with a narrower spectral width, and the light energy of the optical signal can be concentrated at the center wavelength
  • the first echo optical signal that is, the detector receives the first echo optical signal. Therefore, the interference of ambient light on the laser detection system can be reduced, thereby increasing the laser detection system ⁇ ranging range.
  • the laser detection system may further include a light splitting component; the light splitting component is used to transmit the laser beam from the laser to the first blazed grating, and reflect the first echo optical signal from the first blazed grating to detector.
  • the optical detection system may further include an optical focusing component, and the detector is located on the image side focal plane of the optical focusing component; the optical focusing component is used to focus the first echo light signal from the first blazed grating on the image side Focal plane, and transmit the focused first echo optical signal to the detector.
  • the first echo optical signal can be input to the detector as much as possible, thereby improving the utilization rate of the first echo optical signal; and the focusing optical path can be shortened, which contributes to the miniaturization of the laser detection system.
  • the grating component includes a first blazed grating and a second blazed grating.
  • the detection component includes a detector array, and a center wavelength range of the first echo optical signal corresponds to a detector in the detector array.
  • the first blazed grating is used to receive the optical signal from the detection area, to split the optical signal to obtain each second spectrum with different central wavelengths, and to concentrate the optical energy of the optical signal at the central wavelength
  • the second echo optical signal is obtained, and the second echo optical signal is transmitted to the second blazed grating;
  • the second blazed grating is used to split the received second echo optical signal again , Obtain the first spectra with different center wavelengths, concentrate the optical energy of the second echo optical signal on the first spectrum with the center wavelength equal to the wavelength of the laser beam, obtain the first echo optical signal, and transmit the first echo optical signal
  • the spectral width of the first echo optical signal is smaller than the spectral width of the second echo optical signal.
  • the grating component in the second structure adopts a two-stage tandem structure of the first blazed grating and the second blazed grating, and the second echo optical signal is obtained through the first blazed grating, and the spectral width of the second echo optical signal is smaller than the spectral width of the optical signal , Can reduce the impact of ambient light on the laser detection system.
  • the second blazed grating further concentrates the energy of the second echo optical signal on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal.
  • the spectral width of the first echo optical signal is smaller than that of the second optical spectrum.
  • the spectral width of the echo optical signal can further reduce the spectral width of the first echo optical signal incident on the detector, thereby further reducing the impact of ambient light on the laser detection system, and further increasing the laser detection system Ranging range.
  • the laser detection system further includes an optical focusing component, and the detector array is located on the image side focal plane of the optical focusing component; the optical focusing component is used to focus the first echo light signal from the second blazed grating on the image side Focal plane, and transmit the focused first echo optical signal to the corresponding detector.
  • the optical focusing component As many first echo optical signals can be input to the corresponding detector as much as possible, thereby improving the utilization of the first echo optical signal; and the focusing optical path can be shortened, which is helpful for the laser detection system. miniaturization.
  • the laser detection system further includes a light splitting component; the light splitting component is used to transmit the laser beam from the laser to the first blazed grating, and reflect the second echo optical signal from the first blazed grating to The second blazed grating.
  • the grating component includes a first blazed grating and a fiber grating array.
  • the detection component includes a detector array.
  • the detectors in the detector array correspond to the fiber gratings in the fiber grating array.
  • a central wavelength range of the second echo optical signal corresponds to a fiber grating in the fiber grating array. correspond.
  • the first blazed grating is used to receive the optical signal from the detection area, split the optical signal to obtain each second spectrum with different central wavelengths, and concentrate the optical energy of the optical signal at the central wavelength
  • the second echo optical signal is obtained, and the second echo optical signal is transmitted to the corresponding fiber grating; each fiber grating in the fiber grating array is used for receiving the corresponding second optical signal.
  • the echo optical signal is split again to obtain the first spectra with different center wavelengths.
  • the optical energy of the second echo optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal.
  • the first echo optical signal is transmitted to the detector corresponding to the fiber grating, and the spectral width of the first echo optical signal is smaller than the spectral width of the second echo optical signal.
  • the grating component in the third structure adopts a two-stage series structure of the first blazed grating and the fiber grating, and the second echo optical signal is obtained through the first blazed grating.
  • the spectral width of the second echo optical signal is smaller than the spectral width of the optical signal. Reduce the impact of ambient light on the laser detection system. Further, the energy of the second echo optical signal is further concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam through the fiber grating to obtain the first echo optical signal, and the spectral width of the first echo optical signal is smaller than that of the second echo optical signal.
  • the spectral width of the signal can further reduce the spectral width of the first echo optical signal incident on the detector, thereby further reducing the influence of ambient light on the laser detection system, and further increasing the ranging of the laser detection system Scope.
  • the laser detection system further includes an optical focusing component, and the entrance port of each fiber grating in the fiber grating array is located on the image-side focal plane of the optical focusing component;
  • the second echo optical signal is focused on the image-side focal plane, and the focused second echo optical signal is coupled into the corresponding fiber grating.
  • optical focusing component it is possible to input as many second echo optical signals as possible to the corresponding fiber grating, which improves the utilization of the second echo optical signal; it also shortens the focusing optical path, which contributes to the miniaturization of the laser detection system. change.
  • the laser detection system may also include a beam splitting component and a mirror; the beam splitting component is used to transmit the laser beam from the laser to the mirror; the mirror is used to reflect the laser beam from the beam splitting component to the detection And reflect the light signal from the detection area to the light splitting component; the light splitting component is also used to reflect the light signal from the mirror to the first blazed grating.
  • the laser beam is reflected to the detection area through the mirror, which helps to shorten the optical path, thereby contributing to the miniaturization of the laser detection system.
  • the interval p of the first blazed grating satisfies
  • ⁇ i is the central wavelength of the incident light to the first blazed grating
  • ⁇ in is the incident angle between the incident light and the normal to the first blazed grating
  • ⁇ out is the output light from the first blazed grating and The exit angle between the normals of the first blazed grating.
  • the optical energy of the optical signal can be concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam.
  • the laser detection system further includes a scanning component; the scanning component is used to receive the laser beam from the laser, emit the laser beam to the detection area at different detection angles, and transmit the optical signal from the detection area To the grating component.
  • the detection area can be scanned, so that the related information of the target in the detection area can be accurately determined.
  • the present application provides a vehicle including a processor and a laser detection system in the first aspect or any one of the first aspects.
  • the vehicle's travel path is planned.
  • FIG. 1 is a schematic diagram of the principle of a lidar detection target provided by this application.
  • Fig. 2 is a schematic structural diagram of a laser detection system provided by this application.
  • Fig. 3a is a schematic diagram of a waveform of an optical signal provided by this application.
  • FIG. 3b is a schematic diagram of a waveform of a first echo optical signal provided by this application.
  • FIG. 3c is a schematic diagram of a waveform of a second echo optical signal provided by this application.
  • FIG. 4a is a schematic structural diagram of a first blazed grating provided by this application.
  • Fig. 4b is a schematic diagram of a light path passing through a grating component provided by this application;
  • FIG. 4c is a schematic diagram of another light path passing through a grating component provided by this application.
  • Fig. 5a is a schematic diagram of another light path passing through a grating component provided by this application.
  • FIG. 5b is a schematic diagram of another light path passing through the grating component provided by this application.
  • Fig. 6a is a schematic structural diagram of a fiber grating provided by this application.
  • FIG. 6b is a schematic diagram of another light path passing through the grating component provided by this application.
  • FIG. 6c is a schematic diagram of another light path passing through the grating component provided by this application.
  • FIG. 7a is a schematic diagram of the light splitting principle of a PBS provided by this application.
  • FIG. 7b is a schematic diagram of the light splitting principle of an optical fiber circulator provided by this application.
  • Fig. 8a is a schematic structural diagram of an optical focusing assembly provided by this application.
  • 8b is a schematic diagram of the positional relationship between an optical focusing component and a fiber grating array provided by this application;
  • FIG. 9 is a schematic structural diagram of a scanning component provided by this application.
  • FIG. 10 is a schematic structural diagram of a beam emitting component provided by this application.
  • FIG. 11 is a schematic structural diagram of a beam receiving component provided by this application.
  • FIG. 12 is a schematic structural diagram of another laser detection system provided by this application.
  • FIG. 13 is a schematic structural diagram of another laser detection system provided by this application.
  • FIG. 14 is a schematic structural diagram of another laser detection system provided by this application.
  • FIG. 15 is a schematic structural diagram of a vehicle provided by this application.
  • Silicon photomultiplier Silicon photomuliplier, SiPM
  • SiPM is a photodetector, which is composed of multiple avalanche photodiode (APD) arrays. It has high gain, high detection efficiency, fast response, excellent time resolution and wide spectral response. Each APD is called a pixel (or micro-element) of SiPM. After each pixel detects a photon, it generates a pulse of the same amplitude. The output signal of SiPM is the superposition of the pulse signals of each pixel at the same time.
  • APD avalanche photodiode
  • SiPM has 10 6 levels of internal gain, a single photon incident can also generate a readable signal, making it have a single photon sensitivity, this can detect the weak reflected back even when the laser power is low and the detection distance is long.
  • Laser signal; SiPM has a rise time of less than 1ns, which can greatly improve the signal acquisition speed and signal resolution capability of the laser radar.
  • the diffracted lights of the same order of different wavelengths do not overlap, that is, the grating can realize light splitting.
  • the light splitting of the grating produces many levels of spectra at the same time, so that the energy distribution of the grating is relatively dispersed, and the energy of each level of spectrum is very weak, especially the zero-order spectrum occupies a large part, but it does not produce dispersion and cannot be used. .
  • the solution is to engrave sawtooth-shaped grooves on the grating surface to form a blazed grating.
  • the light energy of the light directed to the blazed grating can be concentrated in a predetermined direction, that is, on a certain order of spectrum.
  • the intensity of the spectrum of this order is the largest.
  • the light energy distribution in each order of the spectrum depends on the microscopic shape of the grating groove. Therefore, in a reflective grating, the angle between the groove plane and the grating plane can be controlled to make each A grooved plane is like a mirror that highly concentrates the light energy in one direction, that is, concentrates the light energy on a certain order of spectrum to realize the shining of this order of spectrum.
  • Fiber grating is also called fiber bragg grating (FBG), which is a kind of fiber whose core refractive index changes periodically.
  • FBG fiber bragg grating
  • the refractive index of this small section can be permanently changed accordingly.
  • each small segment of the optical fiber whose refractive index is changed can only reflect the light wave of the corresponding specific wavelength, that is, the Bragg wavelength, and the Bragg wavelength is related to the length of the interval between the gratings.
  • the light waves of other wavelengths are continued to be transmitted, which makes the fiber Bragg grating reflect only specific wavelengths of light.
  • the reflection wavelength of the fiber Bragg grating is affected by the characteristics of the grating (for example, the period or interval of the FBG).
  • the laser detection system can be applied to advanced driving assistance systems (ADAS) (for example, autonomous driving), robots, unmanned aerial vehicles, connected vehicles, security monitoring and other fields.
  • ADAS advanced driving assistance systems
  • the laser detection system in this application can be used in a laser radar system (such as a SIPM laser radar system).
  • the laser radar system includes but is not limited to vehicle laser radar, airborne laser radar, etc., among which the laser radar system can also be used. It is called Lidar.
  • the laser detection system can also be installed on mobile platforms, such as satellites. In this case, the laser detection system needs the assistance of other devices in the mobile platform to determine its current position and turning information, so as to ensure the availability of measurement data.
  • the mobile platform may also include a global positioning system (GPS) device and an inertial measurement unit (IMU) device.
  • GPS global positioning system
  • IMU inertial measurement unit
  • the laser detection system can combine the measurement data of the GPS device and the IMU device to obtain the target location. , Speed and other characteristic quantities.
  • the laser detection system can provide the geographic location information of the mobile platform through the GPS device in the mobile platform, and record the posture and steering information of the mobile platform through the IMU device.
  • At least one of the geographic location information provided by the GPS device or the attitude and steering information provided by the IMU device can be used to convert the measurement point of the target from a relative coordinate system to an absolute
  • the position point on the coordinate system obtains the geographic location information of the target, so that the laser detection system can be applied to the mobile platform.
  • the lidar system usually works by emitting high-frequency electromagnetic waves and receiving the electromagnetic energy reflected by the target (ie the echo optical signal). By comparing and analyzing the received echo optical signal and the emitted laser beam, the information related to the target can be extracted. For example, the distance to the target, the point cloud density of the target, and so on.
  • Fig. 1 a schematic diagram of the principle of detecting a target by a lidar system provided in this application.
  • the lidar system may include lasers and detectors.
  • the laser is used to emit a laser beam, and if there is a target within a certain distance along the emitting direction of the laser beam, the laser beam is reflected by the target.
  • Figure 1 takes the target (the car in Figure 1) in the emitting direction of the laser beam as an example. After reaching the target, the laser beam emitted by the laser is reflected on the surface of the target, and the reflected signal is returned to the lidar as an echo optical signal.
  • the detector of the system the detector is used to determine the information related to the target according to the received echo optical signal and the emitted laser beam.
  • a filter is usually set at the receiving end (ie, the detector end).
  • the allowable wavelength range of the filter is compared. width. In this way, more ambient light still enters the detector through the filter, that is, the interference of ambient light on the laser detection system is still relatively large.
  • VCSEL vertical cavity surface emitting laser
  • this application proposes a laser detection system.
  • the laser detection system can reduce the ambient light entering the laser detection system while taking into account the temperature drift of the laser, thereby increasing the ranging range of the laser detection system.
  • the laser detection system may include a laser, a grating component, and a detection component.
  • the laser is used to emit the laser beam to the detection area; that is, the laser is used to emit the laser beam to the detection area; the grating component is used to receive the optical signal from the detection area, and split the optical signal to obtain the first spectrum of different center wavelengths.
  • the light energy of the optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal, and transmit (for example, reflect or transmit) the first echo optical signal to the detection component.
  • the spectral width of the signal is smaller than the spectral width of the optical signal.
  • the first echo optical signal is the signal reflected by the laser beam from the target in the detection area; the detection component is used to convert the received first echo optical signal from the grating component to the first Echo the electrical signal and store it.
  • the first echo electrical signal can be used to determine the associated information of the target in the detection area, for example, the target's distance, azimuth, height, speed, attitude, shape, and physical characteristics of the reflecting surface (such as reflectivity, roughness, etc.) Wait.
  • the optical signal from the detection area refers to the reflected light irradiated to the target (such as a person or object), and the reflected light includes the reflected light of the ambient light irradiated to the target and the reflection of the laser beam from the laser on the target Light. That is, the optical signal from the detection area includes the reflected light corresponding to the ambient light and the echo optical signal corresponding to the laser beam.
  • the first spectrum whose center wavelength is equal to the wavelength of the laser beam is a one-order spectrum of the optical signal diffracted by the grating assembly. For example, it may be diffracted light of ⁇ 1 order or diffracted light of other orders, which is not limited in this application.
  • the shape of the detection area shown in FIG. 2 is only exemplary, and the present application does not limit the detection area.
  • FIG. 3a a schematic diagram of an analog wavelength of an optical signal provided in this application.
  • the optical signal refers to the optical signal from the detection area, including the reflected light corresponding to the ambient light and the echo optical signal corresponding to the laser beam. It can be seen from Fig. 3a that the ambient light in the optical signal interferes seriously with the echo optical signal, and the spectral width of the optical signal is ⁇ 1 .
  • FIG. 3b a schematic diagram of a simulated wavelength of a first echo optical signal provided in this application.
  • the light intensity of the first echo optical signal is significantly higher than that of the ambient light, that is, the ambient light has less interference to the first echo optical signal, and the spectral width of the first echo optical signal is ⁇ 2 . It can be seen from FIGS. 3a and 3b that the spectral width ⁇ 2 of the first echo optical signal is much smaller than the spectral width ⁇ 1 of the optical signal.
  • the optical signal from the detection area is split through the grating component to obtain the first spectrum of different central wavelengths with a smaller spectral width, and the optical energy of the optical signal is concentrated at the central wavelength equal to the wavelength of the laser beam
  • the first echo optical signal is obtained, that is, the spectral width of the first echo optical signal is smaller than the spectral width of the optical signal.
  • the splitting of the optical signal by the grating component and the concentration of the optical energy of the optical signal on the first spectrum whose center wavelength is equal to the wavelength of the laser beam are not affected by the temperature drift of the laser. In this way, the interference of ambient light on the laser detection system can be reduced while taking into account the temperature drift of the laser, thereby increasing the ranging range of the laser detection system.
  • the above beneficial effects are described in detail in combination with the simulation results.
  • the simulation results are based on the existing SIPM lidar system and the laser detection system shown in Figure 2 above. Referring to Table 1, taking the existing SIPM lidar system with a spectral width of 40nm toward the detection component, using the laser detection system shown in Figure 2 to send the first echo optical signal to the detection component with a spectral width of 1nm as an example, it can be simulated by Obtained: the detectable distance of the existing SIPM lidar system is 90m, and the detectable distance of the laser detection system shown in Figure 2 is 155m, that is, the detection distance of the laser detection system shown in Figure 2 is increased by 72%.
  • Table 1 The relationship between detection distance and laser detection system
  • FIG. 2 The functional components and structures shown in FIG. 2 are respectively introduced and explained below to provide exemplary specific implementation solutions.
  • the laser is the light source of the laser detection system, and may be a semiconductor laser, or a fiber laser, etc. If the laser detection system is applied to a vehicle-mounted laser radar, the laser can emit a laser beam with a wavelength of 905 nm, or a laser beam with a wavelength of 940 nm, or a laser beam with a wavelength of 1550 nm.
  • the laser may be a vertical cavity surface emitting laser (VCSEL) or an edge emitting laser (EEL).
  • VCSEL vertical cavity surface emitting laser
  • EEL edge emitting laser
  • the center wavelength of the laser beam emitted by the laser may be different. For example, at a temperature of T 1 °C, the center wavelength of the laser beam emitted by the laser is ⁇ 1 ; at a temperature of T 2 °C, the center wavelength of the laser beam emitted by the laser is ⁇ 2 , where ⁇ 1 and ⁇ 2 may be different.
  • the center wavelength of the laser beam emitted by the laser is ⁇ 1
  • the center wavelength of the first echo optical signal is also ⁇ 1
  • the center wavelength of the first echo optical signal is also ⁇ 2 .
  • the grating component is used to split the optical signal to obtain first spectra with different center wavelengths, and concentrate the light energy of the received optical signal on the first spectrum with the center wavelength equal to the wavelength of the laser beam to obtain the first echo optical signal .
  • Three possible structures of grating components are exemplarily given as follows.
  • the grating component is the first blazed grating.
  • the grating component in the first structure adopts a single-stage grating (that is, the first blazed grating) to split the light signal from the detection area.
  • the first blazed grating is used to receive the optical signal from the detection area, to split the optical signal to obtain first spectra with different central wavelengths, and to concentrate the optical energy of the optical signal at the central wavelength equal to On the first spectrum of the wavelength of the laser beam, the first echo optical signal is obtained, and the first echo optical signal is transmitted to the detection component.
  • FIG. 4a a schematic structural diagram of a first blazed grating provided in this application.
  • the interval (also referred to as the period) of the first blazed grating is p
  • the incident angle of the optical signal (that is, the incident light) from the detection area to the first blazed grating is ⁇ in
  • the exit angle of the outgoing light is ⁇ out
  • the center wavelength of the incident light is ⁇ i
  • the following formula 1 is satisfied among the four:
  • the interval p of the first blazed grating can be designed.
  • the exit angle can be adjusted by designing the interval p, that is, the exit direction of the first echo optical signal from the first blazed grating can be adjusted by designing the interval p.
  • the material of the first blazed grating may be polyethylene terephthalate (PET), polypropylene (PP) or polyvinyl chloride (PVC).
  • the schematic diagrams of the light path through the grating assembly at two different temperatures (T 1 °C and T 2 °C) provided in this application.
  • the grating component is the first blazed grating.
  • T 1 °C the optical signal from the detection area is directed to the first blazed grating at an incident angle of ⁇ 1 , and the first blazed grating is used to receive the optical signal from the detection area and perform processing on the optical signal.
  • Spectroscopy obtain the first spectra with different center wavelengths, and concentrate the optical energy of the optical signal from the detection area on the first spectrum with the center wavelength equal to the wavelength of the laser beam to obtain the first echo optical signal with the center wavelength ⁇ 1 ,
  • the spectral width of the first optical signal is ⁇ A
  • the exit angle of the first echo optical signal at the first blazed grating is ⁇ out .
  • the optical signal from the detection area is directed to the first blazed grating with an incident angle of ⁇ 2
  • the first blazed grating concentrates the optical energy of the optical signal from the detection area at the center wavelength equal to the wavelength of the laser beam.
  • the first echo optical signal with a center wavelength of ⁇ 2 is obtained, the spectral width is ⁇ B , and the exit angle of the first echo optical signal at the first blazed grating is ⁇ out .
  • the wavelength of the laser beam directed to the first blazed grating is different at different temperatures, resulting in a different angle of the laser beam directed to the detection area through the first blazed grating.
  • the incident angle of the optical signal from the detection area to the first blazed grating is different. Refer to Figure 3a and Figure 3b above.
  • the incident angle at a temperature of T 1 °C is ⁇ 1 .
  • the angle of incidence of the temperature T 2 °C is ⁇ 2 . It can be understood that the incident angle to the first blazed grating and the center wavelength of the incident light are different at different temperatures, that is, both the incident angle and the incident wavelength have changed.
  • the exit angles of the emitted first echo optical signals may be the same.
  • the exit angle of the first echo optical signal on the first blazed grating may remain unchanged.
  • the optical signal with a wider spectral width can be split to obtain a spectrum with a narrower spectral width, and the light energy of the optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam
  • the first echo optical signal with a narrow spectral width can be obtained, which can reduce the interference of ambient light on the laser detection system.
  • the ambient light is suppressed by about 40dB, thereby increasing the ranging range of the laser detection system.
  • the grating component includes a first blazed grating and a second blazed grating.
  • the structure of the second blazed grating can refer to the introduction of the structure of the first blazed grating, which will not be repeated here.
  • the grating component in the second structure adopts a two-stage tandem structure composed of two blazed gratings, so as to realize that the detection component in the laser detection system receives the first echo optical signal with an ultra-narrow spectral width.
  • the first blazed grating is used to receive the optical signal from the detection area, to split the optical signal to obtain each second spectrum with different center wavelengths, and to concentrate the optical energy of the optical signal on On the second spectrum with the center wavelength equal to the wavelength of the laser beam, the second echo optical signal is obtained, and the second echo optical signal is transmitted to the second blazed grating; the second blazed grating is used to compare the received second echo light The signal is split again to obtain the first spectra with different center wavelengths. The light energy of the second echo optical signal is concentrated on the first spectrum with the center wavelength of the laser beam wavelength to obtain the first echo optical signal.
  • the echo optical signal is transmitted to the corresponding detector, and the spectral width of the first echo optical signal is smaller than the spectral width of the second echo optical signal. That is to say, the first blazed grating is used to split the optical signal from the detection area to obtain the second echo optical signal; the second blazed grating is used to split the second echo optical signal from the first blazed grating. Obtain the first echo optical signal.
  • FIG. 3c a schematic diagram of an analog waveform of a second echo optical signal provided in this application.
  • FIG 3a, 3b, and 3c can be seen, the spectral width of the second wave optical signal back ⁇ 3 ⁇ 1 is narrower than the spectral width of the light signal from the detection area, and a width wider than ⁇ 2 spectral width of the signal wave back to the first.
  • the two-stage blazed grating series structure can further reduce the ambient light entering the laser detection system, which can further reduce the interference of the ambient light on the laser detection system, thereby helping to further increase the detection range of the laser detection system. Scope.
  • the grating assembly includes a first blazed grating and a second blazed grating.
  • T 1 °C the optical signal from the detection area is directed to the first blazed grating at an incident angle of ⁇ 0.
  • the first blazed grating is used to receive the optical signal from the detection area and split the optical signal to obtain different central wavelengths.
  • the spectral width of the wave light signal is ⁇ AA , where the spectral width ⁇ AA of the first echo optical signal is smaller than the spectral width ⁇ A of the second echo optical signal.
  • the optical signal from the detection area is directed to the first blazed grating at an incident angle of ⁇ 0.
  • the first blazed grating is used to receive the optical signal from the detection area and split the optical signal to obtain different central wavelengths.
  • the spectral width of the wave optical signal is ⁇ BB , where the spectral width ⁇ BB of the first echo optical signal is smaller than the spectral width ⁇ B of the second echo optical signal.
  • the second echo optical signal is obtained through the first blazed grating, and the spectral width of the second echo optical signal is smaller than the spectral width of the optical signal, which can reduce the interference of ambient light on the laser detection system. Furthermore, the second echo optical signal is further split by the second blazed grating, and the optical energy of the second echo optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal.
  • the spectral width of one echo optical signal is smaller than that of the second echo optical signal, that is, the spectral width of the echo optical signal incident on the detector is further reduced, thereby further reducing the interference of ambient light on the laser detection system, and thus Further increase the range of laser detection system. It can be determined by simulation that the tandem structure of the two-stage blazed grating can achieve suppression of ambient light higher than 80dB.
  • the grating component includes a first blazed grating and a fiber grating array.
  • the grating component in the third structure adopts a two-stage series structure composed of a blazed grating and a fiber grating, so as to realize that the laser detection system receives the echo optical signal with an ultra-narrow spectral width.
  • the first blazed grating is used to receive the optical signal from the detection area, to split the optical signal, to obtain the second spectra with different center wavelengths, and to combine the The optical energy of the optical signal is concentrated on the second spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain a second echo optical signal, and transmit the second echo optical signal to the corresponding fiber grating;
  • Each fiber grating is used to split the received second echo optical signal again to obtain the first spectra with different center wavelengths, and concentrate the optical energy of the second echo optical signal on the wavelength of the laser beam at the center wavelength.
  • the first echo optical signal is obtained, and the first echo optical signal is transmitted to the detector corresponding to the fiber grating, and the spectral width of the first echo optical signal is smaller than that of the second optical signal.
  • the spectral width of the echo optical signal That is to say, the optical signal from the detection area is split through the first blazed grating to obtain the second echo optical signal; the second echo optical signal from the first blazed grating is split through the fiber grating to obtain the first An echo optical signal.
  • FIG. 6a it is a schematic diagram of the structure of a fiber grating provided in this application.
  • the fiber grating interval ⁇ i, i Lambda fiber grating spaced from the first wave optical signal back to the center wavelength ⁇ 2 between the i satisfies the following formula.
  • n eff is the effective refractive index of the fiber grating
  • i is an integer greater than or equal to 1.
  • a carbon dioxide (CO2) or femtosecond laser can be used to write fiber gratings with an interval of ⁇ i on the fiber.
  • the grating assembly includes a first blazed grating and a fiber grating.
  • T 1 °C the optical signal from the detection area is directed to the first blazed grating at an incident angle of ⁇ 0.
  • the first blazed grating is used to receive the optical signal from the detection area and split the optical signal to obtain different central wavelengths.
  • the fiber grating is used to split the received second echo optical signal with a center wavelength of ⁇ 1 again to obtain different center wavelengths.
  • the first spectrum, and the light energy of the second echo optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam, and the first echo optical signal with the center wavelength ⁇ 1 is obtained.
  • the spectrum of the first echo optical signal The width is ⁇ AA , where the spectral width ⁇ AA of the first echo optical signal is smaller than the spectral width ⁇ A of the second echo optical signal.
  • the optical signal from the detection area is directed to the first blazed grating at an incident angle of ⁇ 0.
  • the first blazed grating is used to receive the optical signal from the detection area and split the optical signal to obtain different central wavelengths. And concentrate the optical energy of the optical signal on the second spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain a second echo optical signal with a center wavelength of ⁇ 2 , and the spectral width of the second echo optical signal is ⁇ B , and transmit the second echo optical signal to the fiber grating at an incident angle of ⁇ b ; the fiber grating is used to split the received second echo optical signal with a center wavelength of ⁇ 2 again to obtain different center wavelengths.
  • the first spectrum, and the optical energy of the second echo optical signal is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam, and the first echo optical signal with the center wavelength ⁇ 2 is obtained.
  • the spectral width of the first echo optical signal Is ⁇ BB , where the spectral width ⁇ BB of the first echo optical signal is smaller than the spectral width ⁇ B of the second echo optical signal.
  • the second echo optical signal is obtained through the first blazed grating.
  • the spectral width of the second echo optical signal is smaller than the spectral width of the optical signal, which can reduce the environmental light Interference of the laser detection system.
  • the first echo optical signal is obtained through the fiber grating, and the spectral width of the first echo optical signal is smaller than that of the second echo optical signal, that is, the spectral width of the first echo optical signal incident on the detector is further reduced, thereby
  • the influence of ambient light on the laser detection system can be further reduced, and the ranging range of the laser detection system can be further increased. It can be determined by simulation that the two-stage series connection of the first blazed grating and the fiber grating can achieve suppression of ambient light higher than 80dB.
  • the center wavelength of the laser beam emitted by the laser is ⁇ 1
  • the center wavelengths of the first echo optical signal and the second echo optical signal are both ⁇ 1
  • the center wavelength of the laser beam emitted by the laser is ⁇ 2
  • the center wavelengths of the first echo optical signal and the second echo optical signal are also both ⁇ 2 .
  • the detection component is used to convert the received first echo optical signal from the grating component into a first echo electrical signal for storage.
  • the detection component may include a detector or a detector array.
  • the detector can be, for example, a photodetector (PD), a single-photon avalanche diode (SPAD), a P-type semiconductor-intrinsic layer-N-type semiconductor (positive intrinsic negative, PIN) photodiode (Also known as PIN junction diode), or avalanche photodiode (APD); the detector array can be a SPAD array, a PIN photodiode array, or an APD array.
  • PD photodetector
  • SPAD single-photon avalanche diode
  • Also known as PIN junction diode positive intrinsic negative, PIN photodiode
  • APD avalanche photodiode
  • the detector array can be a SPAD array, a PIN photodiode array, or
  • each detector in the detector or detector array can be used to convert the received first echo optical signal into a first echo electrical signal, and to store the first echo electrical signal .
  • the detection component may further include a processing circuit, which may obtain the stored first echo electrical signal, and determine the associated information of the target in the detection area according to the first echo electrical signal, such as the distance of the target , Azimuth, height, speed, posture, shape and physical characteristics of the reflecting surface (such as reflectivity, roughness, etc.).
  • the processing circuit may be a processor, a field programmable gate array (FPGA), a signal data processing (digital signal processing, DSP) circuit, an application specific integrated circuit (ASIC), or Other programmable logic devices.
  • the laser detection system may also include a spectroscopic component. Further, optionally, the laser detection system may further include an optical focusing component, a scanning component, a beam emitting component, and a beam receiving component.
  • the light splitting component may be a polarization beam splitter, or a half mirror, or a perforated reflector, or a fiber circulator.
  • the polarizing beam splitter may be two polarizing beam splitter (PBS) slopes that are attached to each other through a glue layer (as shown in FIG. 7a).
  • PBS polarizing beam splitter
  • FIG. 7a a glue layer
  • PBS is a multi-layer film structure coated on the inclined surface of a right-angle prism, and then a cubic structure is synthesized through a glue layer.
  • the polarization beam splitter separates the incident light beam (P-polarized light and S-polarized light) into horizontally polarized light and vertically polarized light, that is, P-polarized light and S-polarized light.
  • the P-polarized light passes completely, the S-polarized light is reflected at an angle of 45 degrees, and the exit direction of the S-polarized light forms an angle of 90 degrees with the exit direction of the P-polarized light.
  • the perforated reflector refers to a reflective surface with holes.
  • the hole of the perforated reflector can allow the laser beam from the laser to pass through, and the reflective surface of the perforated reflector can reflect the received light beam.
  • the fiber circulator is a multi-port non-reciprocal optical device, and the beam can only travel in one direction. As shown in Figure 7b, if the beam is input from port 1, it will be output from port 2. If the beam is input from port 2, it will be output from port 3. The output loss is very small. If the light beam is input from port 2, the loss is great when it is output from port 1. Similarly, when the light is input from port 3, the loss is great when it is output from port 1 or port 2.
  • the optical focusing component is used to focus the received echo optical signal (for example, the second echo optical signal or the first echo optical signal) on the image-side focal plane.
  • the optical focusing component may be a single lens or a lens group.
  • FIG. 8a it is a schematic structural diagram of an optical focusing assembly provided in this application.
  • the optical focusing assembly may include two convex lenses, and the two convex lenses may converge the received first echo optical signal to the corresponding detector.
  • the specific shapes and optical parameters of the two convex lenses can be determined according to the positions of the structures in the laser detection system, which is not limited in this application.
  • the detector in the laser detection system can be located at the image-side focal plane of the optical focusing component superior.
  • the second blazed grating can be located on the image-side focal plane of the optical focusing assembly.
  • the entrance port of each fiber grating in the fiber grating array can be located in the optical focus
  • the fiber grating array refers to an array formed by multiple fiber gratings, and the interval d between the fiber gratings may be equal or unequal, which is not limited in this application.
  • the scanning component is configured to receive the laser beam from the laser, respectively emit the laser beam to the detection area at different detection angles, and combine the laser beam from the detection area
  • the optical signal is transmitted to the grating assembly.
  • the scanning component may be a scanner, such as a reflective scanner.
  • the reflective scanner changes the scanning direction of the scanner through mechanical rotation.
  • Reflective scanners include but are not limited to mechanical rotating mirrors and MEMS micro galvanometers.
  • the scanner may be in a continuous operation mode or a stepping operation mode.
  • the scanning of the detection area is completed by changing the detection angle of the scanning component.
  • multiple detection angles can be preset, and the scanning component can emit a laser beam to the detection area at each detection angle of the multiple detection angles, and the associated information of the target in the detection area can be obtained.
  • FIG. 9 it is a schematic structural diagram of a scanning assembly provided in this application.
  • the scanning component can change the detection angle in the second dimension (2D) direction (such as horizontal and vertical). Changing the detection angle can also be understood as the scanning component can be rotated in the horizontal direction and then in the vertical direction, or first in the vertical direction. After rotating, it rotates in the horizontal direction, or the vertical direction and the horizontal direction are rotated together, or the horizontal direction and the vertical direction are alternately rotated, etc., so that the scanning assembly is at different detection angles.
  • the laser beam is projected to a position in the detection area through the scanning component.
  • Figure 9 uses three different detection angles as an example. The laser beam is projected to three positions in the detection area through the scanning component.
  • the scanning component may also be an optical phased array (OPA).
  • OPA optical phased array
  • the working principle of OPA is: by adjusting the phase relationship between the light waves radiated from each phase control unit (such as an optical phase shifter) so that they are in phase with each other in the set direction, resulting in mutually reinforcing interference.
  • the result of the interference is A high-intensity beam is generated in this direction, but the light waves emitted from the phase control units in other directions do not meet the condition of being in phase with each other, and the results of interference cancel each other out, so the radiation intensity is close to zero.
  • Each phase control unit forming the phased array can scan the direction of one laser beam or multiple laser beams according to the designed program.
  • the laser detection system may also include a beam emitting component, which is used to receive the laser beam from the laser and Expand and collimate the received laser beam, and launch the expanded and collimated laser beam to the detection area.
  • a beam emitting component can expand and collimate the received laser beam into a surface beam, and irradiate the laser beam in the form of the surface beam onto the target in the detection area.
  • the surface beam means that the cross section of the laser beam is an ellipse, circle, rectangle, or other possible shapes.
  • the laser detection system can eliminate the element that drives the scanner to rotate or vibrate, so that the size of the laser detection system can be miniaturized. .
  • the beam emitting component may be a single lens or a lens group.
  • the lens may be a simple spherical lens or an aspheric lens, for example, a concave lens or a convex lens.
  • a single lens can be a convex lens;
  • the lens group can be a combination of a convex lens and a concave lens, a combination of a concave lens, or a combination of a convex lens.
  • convex lenses have bi-convex lenses, plano-convex lenses and meniscus lenses, and concave lenses have bi-concave lenses, plano-concave lenses, and meniscus lenses.
  • the specific shapes of the convex lens and the concave lens are not limited here. Any single lens or a combination of lenses that can transmit the laser beam from the laser to the detection area as much as possible is applicable to the present application. Further, optionally, since the divergence angle of the laser beam from the laser may be relatively large, and there may be a beam with poor astigmatic quality, the beam emitting component can also collimate and shape the laser beam so as to be emitted to the detection area The divergence angle of the laser beam is smaller, and more signal light can be irradiated into the detection area.
  • the beam emitting component is a lens group, including three lenses, which are a meniscus lens 1, a meniscus lens 2 and a biconvex lens 3 in order.
  • the surface of the meniscus lens 1 facing the laser is a concave surface
  • the surface facing the meniscus lens 2 is a convex surface
  • the surface of the meniscus lens 2 facing the meniscus lens 1 is a convex surface
  • the surface facing the lenticular lens 3 is a concave surface.
  • the beam receiving component may be a Cassegrain optical system or a simple spherical lens (for example, a spherical lens group, or an aspheric lens, or an aspheric lens group), etc., wherein the Cassegrain
  • the system is also called Cassegrain telephoto optical system or inverted telephoto optical system, which refers to a reflective telephoto system in which one of the focal points of the secondary reflector coincides with the focal point of the main reflector.
  • laser detection systems used for distance measurement use simple spherical or aspheric lenses, or lens groups as beam receiving components.
  • a single lens may be a meniscus lens; the lens group may be a combination of a convex lens and a concave lens, a combination of a concave lens, or a combination of a convex lens.
  • convex lenses have bi-convex lenses, plano-convex lenses and meniscus lenses
  • concave lenses have bi-concave lenses, plano-concave lenses, and meniscus lenses.
  • the specific shapes of the convex lens and the concave lens are not limited here. Any single lens or a combination of lenses that can transmit the optical signal from the detection area to the grating assembly as much as possible is applicable to the present application.
  • the light beam receiving component can also be used to collect as much as possible the echo optical signal after the target reflection, so as to increase the range of the laser detection system. Therefore, when the aperture of the light beam receiving component toward the detection area is larger, more echo optical signals can be received.
  • the beam receiving component may include a concave-convex lens.
  • the concave surface of the concave-convex lens faces the detection area to receive the echo light signal from the detection area as much as possible.
  • the laser detection system may include a laser, a grating component, and a detection component.
  • the grating component includes a first blazed grating
  • the detecting component includes a detector.
  • the laser detection system may further include a beam splitting component, an optical focusing component, a scanning component, a beam emitting component, and a beam receiving component.
  • the detector is located on the image-side focal plane of the optical focusing assembly.
  • the laser is used to emit the laser beam and transmit the laser beam to the beam emitting component; the beam emitting component is used to expand and collimate the received laser beam, and transmit the expanded and collimated laser beam through the beam splitting component
  • the first blazed grating is used to transmit the laser beam to the scanning component; the scanning component is used to transmit the laser beam to the detection area through the beam receiving component at different detection angles. It should be understood that at different temperatures, due to the influence of temperature drift, the wavelength of the laser beam incident on the first blazed grating may be different, and therefore, the exit angle of the laser beam emitted from the first blazed grating may also be different.
  • the first blazed grating can also concentrate the light energy in the received laser beam on a certain order of spectrum, and transmit the order of spectrum to the scanning component. In addition, the scanning component only changes the optical path of the beam.
  • the optical signal from the detection area is directed to the beam receiving component.
  • the beam receiving component is used to receive the optical signal from the detection area, converge and reshape the optical signal, and transmit the converged and reshaped optical signal to the scanning component.
  • the first blazed grating is also used to concentrate the light energy of the optical signal on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal, and transmit the first echo optical signal to
  • the light splitting component is also used to transmit the first echo light signal to the optical focusing component
  • the optical focusing component is used to focus the first echo light signal from the light splitting component on the image-side focal plane, and the focused first return
  • the wave light signal is transmitted to the detector.
  • the laser detection system may further include a reflector, which is used to receive the first echo optical signal from the light splitting component and reflect the received first echo optical signal to the optical focusing component. In this way, it helps to shorten the optical path, thereby contributing to the miniaturization of the laser detection system.
  • the exit angle of the laser beam emitted from the first blazed grating is different; according to the reversibility of the optical path, the incident angle of the light signal directed to the first blazed grating is also different at different temperatures ( Realization and the dotted line indicate two different temperatures), the exit angle of the first echo optical signal emitted from the first blazed grating is the same.
  • the first blazed grating is used to split the optical signal to obtain the first echo optical signal with a spectral width much smaller than that of the optical signal from the detection area.
  • the detector is based on the narrower spectral width
  • the first echo optical signal determines the target of the detection area, thereby reducing the interference of ambient light on the detector in the laser detection system, thereby increasing the detection distance of the laser detection system.
  • FIG. 13 exemplarily shows a schematic structural diagram of another laser detection system provided by the present application.
  • the laser detection system may include a laser, a grating component, and a detection component.
  • the grating component includes a first blazed grating and a second blazed grating
  • the detection component includes a detector array (as shown in FIG. 13, the detector array includes two detectors as an example).
  • the laser detection system may further include a beam splitting component, an optical focusing component, a scanning component, a beam emitting component, and a beam receiving component.
  • each detector in the detector array may be located on the image-side focal plane of the optical focusing assembly.
  • the laser is used to emit the laser beam and transmit the laser beam to the beam emitting component; the beam emitting component is used to expand and collimate the received laser beam, and transmit the expanded and collimated laser beam to the beam splitting component
  • the beam splitting component is used to transmit the received laser beam to the first blazed grating; the first blazed grating is used to transmit the laser beam to the scanning component; the scanning component is used to transmit the laser to the detection area through the beam receiving component at different detection angles bundle. It should be understood that at different temperatures, since the wavelength of the laser beam emitted by the laser is affected by the temperature, the wavelength of the laser beam incident on the first blazed grating may be different.
  • the exit angle of the laser beam emitted from the first blazed grating is also different. It may be different.
  • the light paths emitted from the first blazed grating are represented by solid lines and dashed lines, respectively.
  • the solid line represents the optical path at a temperature T 1 °C
  • the dashed line represents the optical path at a temperature T 2 °C.
  • the first blazed grating can also concentrate the light energy in the received laser beam on a certain order of spectrum, and transmit the order of spectrum to the scanning component.
  • the optical signal from the detection area is directed to the beam receiving component.
  • the beam receiving component is used to receive the optical signal from the detection area, converge and reshape the optical signal, and transmit the converged and reshaped optical signal to the scanning component.
  • the first blazed grating, the first blazed grating is also used to concentrate the light energy of the optical signal on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the second echo optical signal, and transmit the second echo optical signal to the beam splitter Component;
  • the light splitting component is also used to transmit the received second echo optical signal to the second blazed grating;
  • the second blazed grating is used to further split the received second echo optical signal, that is, the light of the second echo optical signal
  • the energy is concentrated on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first echo optical signal, and transmit the first echo optical signal to the optical focusing component;
  • the optical focusing component is used to transfer the first optical signal from
  • the spectral width of the first echo optical signal is smaller than the spectral width of the second echo optical signal. It should be understood that at different temperatures, the incident angles of the second echo optical signals directed to the second blazed grating are the same, and the exit angles of the first echo optical signals emitted from the second blazed grating are different.
  • a center wavelength range of the first echo optical signal corresponds to one detector in the detector array.
  • the center wavelength range of ⁇ 1 - ⁇ 5 corresponds to detector 1
  • the center wavelength range of ⁇ 6 - ⁇ 9 corresponds to detector 2, and so on. Since each detector corresponds to a range of field of view, the temperature drift causes the center wavelength of the first echo optical signal to change. Therefore, the angle at which the first echo optical signal enters the detector may also drift, but if it does not drift When the field of view range of the detector is out, the first echo optical signal whose center wavelength has changed still corresponds to the detector.
  • the first echo optical signal is obtained by using the first blazed grating and the second blazed grating two-stage series grating assembly, and the first blazed grating and the second blazed grating are divided into two levels.
  • the spectral width of one echo optical signal is smaller than the spectral width of the second echo optical signal, so that the influence of ambient light on the laser detection system can be further reduced, and the ranging range of the laser detection system can be further increased.
  • Fig. 14 exemplarily shows a schematic structural diagram of another laser detection system provided by the present application.
  • the laser detection system may include a laser, a grating component, and a detection component.
  • the grating component includes a first blazed grating and a fiber grating array
  • the detection component includes a detector array (as shown in Fig. 14 taking the detector array including two detectors as an example), the detector in the detector array and the fiber grating array
  • the detector in the detector array and the fiber grating array
  • the laser detection system may further include a beam splitting component, a reflecting mirror, an optical focusing component, a scanning component, a beam emitting component, and a beam receiving component.
  • the inlet port of each fiber grating in the fiber grating array is located on the image-side focal plane of the optical focusing component, see Figure 8b.
  • the laser is used to emit the laser beam and transmit the laser beam to the beam emitting component; the beam emitting component is used to expand and collimate the received laser beam, and transmit the expanded and collimated laser beam to the beam splitting component
  • the beam splitting component is used to transmit the received laser beam to the reflecting mirror; the reflecting mirror is used to reflect the laser beam to the scanning component; the scanning component is used to emit the laser beam to the detection area through the beam receiving component at different detection angles.
  • the optical signal from the detection area returns according to the original optical path, and is transmitted to the first blazed grating through the optical splitting component.
  • the first blazed grating is used to concentrate the optical energy of the optical signal on the first spectrum whose center wavelength is equal to the wavelength of the laser beam to obtain the first spectrum.
  • Two echo optical signals and transmit the second echo optical signal to the optical focusing component;
  • the optical focusing component is used to focus the second echo optical signal from the first blazed grating on the image-side focal plane, and
  • the focused second echo optical signal is coupled into the corresponding fiber grating;
  • the fiber grating is used to concentrate the received optical energy of the corresponding second echo on the first spectrum with the center wavelength equal to the wavelength of the laser beam ,
  • Obtain the first echo optical signal and transmit the first echo optical signal to a detector corresponding to the fiber grating, and the spectral width of the first echo optical signal is smaller than that of the second echo optical signal Spectral width.
  • an optical fiber array may also be included between the fiber grating array and the optical focusing component.
  • the optical fibers in the optical fiber array correspond to the fiber gratings in the fiber grating array in a one-to-one correspondence, that is, the first focus after the optical focusing component is focused.
  • the two-echo optical signal can be coupled to the corresponding optical fiber first, and then coupled to the corresponding fiber grating after being transmitted through the optical fiber.
  • the first blazed grating and the fiber grating are divided into two levels to obtain the first echo optical signal, the first echo optical signal
  • the spectral width of is smaller than the spectral width of the second echo optical signal, so that the influence of ambient light on the laser detection system can be further reduced, and the ranging range of the laser detection system can be further increased.
  • the number of the first blazed grating, the second blazed grating, and the fiber grating can be one or more than one.
  • the various functional components in the above-mentioned laser detection system can be referred to the above introduction, which will not be repeated here.
  • the present application may also provide a vehicle, as shown in FIG.
  • the first echo electrical signal of the system plans the travel path of the vehicle. For example, avoid obstacles on the driving path.
  • the vehicle may also include other devices, such as memory, wireless communication devices, and sensors.
  • the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (digital signal processors, DSP), and application specific integrated circuits (application specific integrated circuits). integrated circuit, ASIC), field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.
  • the general-purpose processor may be a microprocessor or any conventional processor.

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Abstract

一种激光探测***及车辆，可应用于自动驾驶或网联车等领域，用于解决现有技术中因激光器温漂的影响导致环境光对激光探测***的干扰。该激光探测***包括：激光器用于向探测区域发射激光束；光栅组件用于对来自探测区域的光信号进行分光，得到不同中心波长的第一光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，向探测组件传输第一回波光信号，第一回波光信号的光谱宽度小于光信号的光谱宽度，第一回波光信号是激光束被探测区域中目标反射回来的信号；探测组件用于将接收到的来自光栅组件的第一回波光信号转为第一回波电信号后进行存储。如此，可以降低环境光对激光探测***的干扰。

Description

一种激光探测***及车辆 技术领域
本申请涉及探测技术领域，尤其涉及一种激光探测***及车辆。
背景技术
激光雷达(light detection and ranging，LiDAR)为发射激光束探测目标的位置、速度等特征量的雷达***。激光雷达的工作原理是光源向目标(例如车辆、飞机或导弹)发射探测信号(激光束)，然后将从目标反射回来的信号(回波光信号)与发射信号进行比较和处理后，可获得目标的有关信息，如目标距离、方位、高度、速度、姿态、甚至形状等参数，从而可对目标进行探测、跟踪和识别。
近年来越来越多的LiDAR用于高级驾驶辅助***(advanced driving assistant system，ADAS)***、手势识别和三维(three dimensional，3D)映射等应用。尤其在汽车领域，随着传感器融合的趋势，LiDAR结合成像、超声波、毫米波雷达，为汽车提供全方位感知，为迈向更安全的自动驾驶铺路。目前，硅光电倍增器(silicon photomuliplier，SiPM)激光雷达具有高增益、高探测效率、快速响应、优良时间分辨率和宽光谱响应等特定，可以大幅度提高激光雷达的信号采集速度和信号分辨率能力。
然而，SiPM激光雷达受激光器温度漂移的影响，因此，SiPM激光雷达中的滤光片允许通过的波长范围较宽，导致环境光对SiPM激光雷达中的探测器的干扰较大。
发明内容
本申请提供一种激光探测***及车辆，用于解决现有技术中因激光器温漂的影响导致环境光对激光探测***的干扰的问题。
第一方面，本申请提供一种激光探测***，该激光探测***包括激光器、光栅组件和探测组件。其中，激光器用于发射激光束至探测区域，即激光器向探测区域发射激光束；光栅组件用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的第一光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，并向探测组件传输第一回波光信号，第一回波光信号是激光束被探测区域中的目标反射回来的信号，第一回波光信号的光谱宽度小于光信号的光谱宽度；探测组件用于将接收到的来自光栅组件的第一回波光信号转为第一回波电信号后进行存储。
基于该方案，通过光栅组件对光信号进行分光，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，由于将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，因此，可得到光谱宽度小于光信号的光谱宽度的第一回波光信号。而且，光栅组件对光信号进行分光和将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上均不受激光器温漂的影响。如此，可在兼顾激光器温漂的条件下，降低环境光对激光探测***的干扰，从而可增大激光探测***的测距范围。
本申请中，示例性地的给出了如下三种光栅组件的结构。
结构一，光栅组件为第一闪耀光栅。
基于该结构一，探测组件为一个探测器。
在一种可能的实现方式中，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的各第一光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，并将第一回波光信号传输至探测器。
通过该结构一中的第一闪耀光栅，可对光谱宽度较宽的光信号进行分光(或称为过滤)，得到光谱宽度较窄的第一光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，第一回波光信号，即探测器接收到的是第一回波光信号，因此，可降低环境光对激光探测***的干扰，从而可增大激光探测***的测距范围。
在一种可能的实现方式中，激光探测***还可包括分光组件；分光组件用于将来自激光器的激光束透射至第一闪耀光栅，并将来自第一闪耀光栅的第一回波光信号反射至探测器。
进一步，可选地，光学探测***还可包括光学聚焦组件，探测器位于光学聚焦组件的像方焦平面上；光学聚焦组件用于将来自第一闪耀光栅的第一回波光信号聚焦于像方焦平面，并将聚焦后的第一回波光信号传输至探测器。
通过光学聚焦组件，既可以尽可能的将第一回波光信号输入至探测器，从而提高第一回波光信号的利用率；又可缩短聚焦光路，有助于激光探测***的小型化。
结构二，光栅组件包括第一闪耀光栅和第二闪耀光栅。
基于该结构二，探测组件包括探测器阵列，第一回波光信号的一个中心波长范围与探测器阵列中的一个探测器对应。
在一种可能的实现方式中，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的各第二光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到第二回波光信号，并将第二回波光信号传输至第二闪耀光栅；第二闪耀光栅用于对接收到的第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，将第二回波光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，并将第一回波光信号传输至对应的探测器，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度。
该结构二中的光栅组件采用第一闪耀光栅和第二闪耀光栅两级串联式的结构，通过第一闪耀光栅得到第二回波光信号，第二回波光信号的光谱宽度小于光信号的光谱宽度，可减小环境光对激光探测***的影响。进一步，通过第二闪耀光栅进一步将第二回波光信号的能量再集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度，即可进一步减小了射入探测器的第一回波光信号的光谱宽度，从而可进一步减小环境光对激光探测***的影响，进而可进一步增大激光探测***的测距范围。
进一步，可选地，激光探测***还包括光学聚焦组件，探测器阵列位于光学聚焦组件的像方焦平面上；光学聚焦组件用于将来自第二闪耀光栅的第一回波光信号聚焦于像方焦平面，并将聚焦后的第一回波光信号传输至对应的探测器。
通过光学聚焦组件，既可以尽可能的将较多的第一回波光信号输入至对应的探测器，从而提高第一回波光信号的利用率；又可缩短聚焦光路，有助于激光探测***的小型化。
在一种可能的实现方式中，该激光探测***还包括分光组件；分光组件用于将来自激光器的激光束透射至第一闪耀光栅，并将来自第一闪耀光栅的第二回波光信号反射至第二闪耀光栅。
结构三，光栅组件包括第一闪耀光栅和光纤光栅阵列。
基于该结构三，探测组件包括探测器阵列，探测器阵列中的探测器与光纤光栅阵列中的光纤光栅一一对应，第二回波光信号的一个中心波长范围与光纤光栅阵列中的一个光纤光栅对应。
在一种可能的实现方式中，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的各第二光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到第二回波光信号，并向对应的光纤光栅传输第二回波光信号；光纤光栅阵列中的每个光纤光栅用于对接收到的对应的第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，将第二回波光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，并将第一回波光信号传输至与光纤光栅对应的探测器，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度。
该结构三中的光栅组件采用第一闪耀光栅和光纤光栅两级串联式的结构，通过第一闪耀光栅得到第二回波光信号，第二回波光信号的光谱宽度小于光信号的光谱宽度，可减小环境光对激光探测***的影响。进一步，通过光纤光栅进一步将第二回波光信号的能量再集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度，即可进一步减小了射入探测器的第一回波光信号的光谱宽度，从而可进一步减小环境光对激光探测***的影响，进而可进一步增大激光探测***的测距范围。
进一步，可选地，激光探测***还包括光学聚焦组件，光纤光栅阵列中的每个光纤光栅的入端口均位于光学聚焦组件的像方焦平面上；光学聚焦组件用于将来自第一闪耀光栅的第二回波光信号聚焦于像方焦平面，并将聚焦后的第二回波光信号耦合进对应的光纤光栅。
通过光学聚焦组件，既可以尽可能的将较多的第二回波光信号输入至对应的光纤光栅，提高第二回波光信号的利用率；又可缩短聚焦光路，有助于激光探测***的小型化。
在一种可能的实现方式中，激光探测***还可包括分光组件和反射镜；分光组件用于将来自激光器的激光束透射至反射镜；反射镜用于将来自分光组件的激光束反射至探测区域，并将来自探测区域的光信号反射至分光组件；分光组件还用于将来自反射镜的光信号反射至第一闪耀光栅。
通过反射镜将激光束反射至探测区域，有助于缩短光路，从而有助于激光探测***的小型化。
本申请中，第一闪耀光栅的间隔p满足
Figure PCTCN2020077277-appb-000001
其中，λ i为射向第一闪耀光栅的入射光的中心波长，θ in为入射光与第一闪耀光栅的法线之间的入射角，θ out为从第一闪耀光栅射出的出射光与第一闪耀光栅的法线之间的出射角。
通过设计第一闪耀光栅的间隔，可实现将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上。
在一种可能的实现方式中，激光探测***还包括扫描组件；扫描组件用于接收来自激光器的激光束，在不同探测角度下分别向探测区域发射激光束，并将来自探测区域的光信号传输至光栅组件。
通过扫描组件，可实现对探测区域的扫描，从而可精确的确定出探测区域中目标的关 联信息。
第二方面，本申请提供一种车辆，包括处理器及上述第一方面或第一方面中的任意一种中激光探测***，处理器用于根据来自激光探测***的第一回波电信号，对车辆的行驶路径进行规划。
该第二方面可达到的技术效果可以参照上述第一方面中有益效果的描述，此处不再重复赘述。
附图说明
图1为本申请提供的一种激光雷达探测目标的原理示意图；
图2为本申请提供的一种激光探测***的结构示意图；
图3a为本申请提供的一种光信号的波形示意图；
图3b为本申请提供的一种第一回波光信号的波形示意图；
图3c为本申请提供的一种第二回波光信号的波形示意图；
图4a为本申请提供的一种第一闪耀光栅的结构示意图；
图4b为本申请提供的一种经过光栅组件的光路示意图；
图4c为本申请提供的另一种经过光栅组件的光路示意图；
图5a为本申请提供的又一种经过光栅组件的光路示意图；
图5b为本申请提供的又一种经过光栅组件的光路示意图；
图6a为本申请提供的一种光纤光栅的结构示意图；
图6b为本申请提供的又一种经过光栅组件的光路示意图；
图6c为本申请提供的又一种经过光栅组件的光路示意图；
图7a为本申请提供的一种PBS的分光原理示意图；
图7b为本申请提供的一种光纤环形器的分光原理示意图；
图8a为本申请提供的一种光学聚焦组件的结构示意图；
图8b为本申请提供的一种光学聚焦组件与光纤光栅阵列的位置关系示意图；
图9为本申请提供的一种扫描组件的结构示意图；
图10为本申请提供的一种光束发射组件的结构示意图；
图11为本申请提供的一种光束接收组件的结构示意图；
图12为本申请提供的另一种激光探测***的结构示意图；
图13为本申请提供的又一种激光探测***的结构示意图；
图14为本申请提供的又一种激光探测***的结构示意图；
图15为本申请提供的一种车辆的结构示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请作进一步地详细描述。
以下，对本申请中的部分用语进行解释说明，以便于本领域技术人员理解。
1)硅光电倍增器(silicon photomuliplier，SiPM)
SiPM是一种光电探测器，由多个雪崩光电二极管(avalanche photodiode，APD)阵列 组成，具有高增益、高探测效率、快速响应、优良时间分辨率和宽光谱响应等特定。每个APD称为SiPM的一个像素(或称为微元)，每个像素探测到光子后，产生一个相同幅值的脉冲，SiPM的输出信号为同一时间各个像素脉冲信号的叠加。
SiPM具有10 6级内部增益，单个光子入射也能产生可读取信号，使其具备单光子级灵敏度，这个在激光功率较低、探测距离较远的情况下也能探测到反射回的微弱的激光信号；SiPM具有小于1ns的上升时间，可以大幅度提高激光雷达的信号采集速度和信号分辨率能力。
2)闪耀光栅
当用复色光(如环境光)照射到光栅上时，除零级衍射光外，不同波长的同一级衍射光不重合，即光栅可以实现分光。光栅的分光是同时产生着许多级的光谱，这样使得光栅分光时的能量分配较分散，每级光谱的能量很弱，尤其是零级光谱占去很大部分，但是它不产生色散，不能利用。解决的办法即是在光栅表面刻划出锯齿形状的刻槽，即形成闪耀光栅。射向闪耀光栅的光线的光能量可集中在预定的方向上，即某一级次的光谱上。从这个预定的方向探测时，该级次的光谱的强度最大。也就是说，光栅分光后，在每一级次的光谱的光能量分配取决于光栅刻槽的微观形状，因此在反射光栅中，可以控制刻槽平面和光栅平面之间的夹角，使每个刻槽平面好像一面镜子把光能量高度集中一个方向，即将光能量集中到某一级光谱上，实现该级次光谱的闪耀。
3)光纤光栅
光纤光栅又称为光纤布拉格光栅(fiber bragg grating，FBG)，是一种纤芯的折射率呈周期性变化的光纤。通过全息干涉法或者相位掩模法等将对光敏感的一小段光纤暴露在光强呈周期性变化的光波下，这一小段的折射率就可以相应的发生永久性的改变。当一束光通过光线布拉格光栅进行传输时，每一小段被改变折射率的光纤只可以反射相应特定波长的光波，即布拉格波长，且布拉格波长与光栅之间的间隔长度有关。而其他波长的光波就被继续传输，这就使得光纤布拉格光栅只反射特定波长的光。
光纤布拉格光栅的反射波长受光栅特性(例如，FBG的周期或称为间隔)的影响。
本申请中，激光探测***可应用于高级驾驶辅助***(advanced driving assistant system，ADAS)(例如自动驾驶)、机器人、无人机、网联车、安防监控等领域。示例性地，本申请中的激光探测***可被用于激光雷达***(如SIPM激光雷达***)，激光雷达***包括但不限于车载激光雷达、机载激光雷达等，其中，激光雷达***也可称为激光雷达。此外，该激光探测***还可以安装于移动平台，如卫星。在此情况下，激光探测***需要移动平台中的其它装置的协助以确定自身当前的位置和转向信息，这样可保证测量数据的可用性。例如，移动平台中还可以包括全球定位***(global positioning system，GPS)装置和惯性测量单元(inertial measurement unit，IMU)装置，激光探测***可以结合GPS装置和IMU装置的测量数据进而得到目标的位置、速度等特征量。例如，激光探测***可以通过移动平台中的GPS装置提供移动平台的地理位置信息，通过IMU装置记录移动平台的姿态和转向信息。在根据回波光信号确定与目标之间的距离后，可以通过GPS装置提供的地理位置信息或IMU装置提供的姿态和转向信息中的至少一种，将目标的测量点由相对坐标系转换为绝对坐标系上的位置点，得到目标的地理位置信息，从而使激光探测***可以应用于移动平台中。
为了便于说明，如下以激光雷达***为例来说明激光探测***的工作过程。激光雷达***通常是通过发射高频电磁波并接收目标反射的电磁能量(即回波光信号)来工作的，通过比较分析接收到的回波光信号与发射的激光束，可以提取与目标相关的信息，例如与目标的距离、目标的点云密度等。如图1所示，为本申请提供的一种激光雷达***探测目标的原理示意图。该激光雷达***可包括激光器和探测器。激光器用于发射激光束，若在沿激光束的发射方向的一定距离内存在目标，则该激光束被目标反射。图1以激光束的发射方向存在目标(如图1中的汽车)为例，激光器发射的激光束在到达目标后，在目标的表面发生反射，被反射的信号作为回波光信号返回至激光雷达***的探测器，探测器用于根据接收到的回波光信号和发射的激光束，确定出与目标相关的信息。
目前，激光探测***在工作过程中，由于激光探测***中的激光器发射激光束的波长范围受温度的影响，因此，激光器发射的激光束的波长会随温度的变化出现漂移。因此，为了减少环境光对激光探测***的干扰，目前，通常会在接收端(即探测器端)设置滤光片，为了同时兼顾激光器的温漂的影响，滤光片允许通过的波长范围比较宽。如此，仍然有较多的环境光通过滤光片射入探测器，即环境光对激光探测***的干扰仍然较大。现有的一种解决方式为：使用温漂范围较小的垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)配合2nm左右的窄带滤光片。然而，大功率VCSEL激光器和2nm的窄带滤光片的工艺均较复杂且不成熟，难以实现量产；而且大功率VCSEL激光器的发光截面较大，导致发射光路焦距较大，难以实现激光探测***小型化。
鉴于上述问题，本申请提出一种激光探测***。该激光探测***可在兼顾激光器的温漂下，减少进入激光探测***的环境光，从而可增大激光探测***的测距范围。
下面结合附图2至附图14，对本申请提出的激光探测***进行具体阐述。
基于上述内容，如图2所示，为本申请提供的一种激光探测***的结构示意图。该激光探测***可包括激光器、光栅组件和探测组件。其中，激光器用于发射激光束至探测区域；即激光器用于向探测区域发射激光束；光栅组件用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的第一光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，并向探测组件传输(例如反射或透射)第一回波光信号，第一回波光信号的光谱宽度小于光信号的光谱宽度，第一回波光信号是激光束被探测区域中目标反射回来的信号；探测组件用于将接收到的来自光栅组件的第一回波光信号转为第一回波电信号后进行存储。
其中，第一回波电信号可用于确定探测区域中的目标的关联信息，例如，目标的距离、方位、高度、速度、姿态、形状和反射面的物理特性(例如反射率、粗糙度等)等。
需要说明的是，来自探测区域的光信号是指照射到目标(例如人或物体)后的反射光，该反射光包括环境光照射到目标的反射光和来自激光器的激光束照射到目标的反射光。也就是说，来自探测区域的光信号包括环境光对应的反射光和激光束对应的回波光信号。另外，中心波长等于激光束的波长的第一光谱上为光信号经光栅组件衍射的一个级次的光谱。例如，可以是±1级的衍射光，也可以是其它级次的衍射光，本申请对此不做限定。另外，图2所示的探测区域的形状仅是示例性地的，本申请对探测区域不做限定。
如图3a所示，为本申请提供的一种光信号的模拟波长示意图。该光信号指来自探测区 域的光信号，包括环境光对应的反射光和激光束对应的回波光信号。由图3a可知，光信号中的环境光对回波光信号的干扰比较严重，光信号的光谱宽度为Δλ 1。如图3b所示，为本申请提供的一种第一回波光信号的模拟波长示意图。该第一回波光信号的光强度明显高于环境光的光强度，即环境光对第一回波光信号的干扰较小，第一回波光信号的光谱宽度为Δλ 2。由图3a和图3b可知，第一回波光信号的光谱宽度Δλ 2远小于光信号的光谱宽度Δλ 1。
基于上述激光探测***，通过光栅组件对来自探测区域的光信号进行分光，得到光谱宽度较小的各不同中心波长的第一光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，即第一回波光信号的光谱宽度小于光信号的光谱宽度。而且，光栅组件对光信号的分光和将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上均不受激光器温漂的影响。如此，可在兼顾激光器温漂的条件下，降低环境光对激光探测***的干扰，从而可增大激光探测***的测距范围。
结合模拟结果对上述有益效果进行详细说明。该模拟结果是基于现有SIPM激光雷达***和上述图2所示的激光探测***进行模拟的。参考表1，以现有SIPM激光雷达***射向探测组件的光谱宽度为40nm，采用图2所示激光探测***射向探测组件的第一回波光信号的光谱宽度为1nm为例，通过模拟可得到：现有SIPM激光雷达***可探测的距离为90m，图2所示的激光探测***可探测的距离155m，即采用图2所示的激光探测***的探测距离提升了72％。
表1探测距离与激光探测***的关系
Figure PCTCN2020077277-appb-000002
下面对图2所示的各个功能组件和结构分别进行介绍说明，以给出示例性的具体实现方案。
一、激光器
本申请中，激光器为激光探测***的光源，可以为半导体激光器、或光纤激光器等。若激光探测***应用于车载激光雷达，该激光器可以发射905nm波长的激光束、或者也可发射940nm波长的激光束、或者也可发射1550nm波长的激光束。
在一种可能的实现方式中，激光器可为垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)，或边缘发射激光器(edge emitting laser，EEL)。在不同的温度下，激光器发射的激光束的中心波长可以不相同。例如，在温度T 1℃时，激光器发射的激光束的中心波长为λ 1；在温度T 2℃时，激光器发射的激光束的中心波长为λ 2，其中，λ 1和λ 2可以不同。应理解，激光器发射的激光束的中心波长为λ 1时，第一回波光信号的中心波长也为λ 1；激光器发射的激光束的中心波长为λ 2时，第一回波光信号的中心波长也为λ 2。
二、光栅组件
光栅组件用于对光信号进行分光，得到不同中心波长的第一光谱，并将接收到的光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号。如下 示例性的给出了三种可能的光栅组件的结构。
结构一，光栅组件为第一闪耀光栅。
也可以理解为，该结构一中的光栅组件采用单级光栅(即第一闪耀光栅)对来自探测区域的光信号进行分光。在一种可能的实现方式中，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的第一光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，向探测组件传输第一回波光信号。
如图4a所示，为本申请提供的一种第一闪耀光栅的结构示意图。该第一闪耀光栅的间隔(也可称为周期)为p，来自探测区域的光信号(即入射光)射向第一闪耀光栅的入射角为θ in，出射光的出射角为θ out，入射光的中心波长为λ i，四者之间满足下述公式1：
Figure PCTCN2020077277-appb-000003
本申请中，可设计第一闪耀光栅的间隔p。在一种可能的实现方式中，入射角和入射波长固定后，可通过设计间隔p来调整出射角，即可通过设计间隔p来调整第一回波光信号从第一闪耀光栅的出射方向。进一步，可选地，第一闪耀光栅的材料可为聚对苯二甲酸乙二醇酯(polyethylene terephthalate，PET)、聚丙烯(polypropylene，PP)或聚氯乙烯(polyvinyl chloride，PVC)。
如图4b和图4c所示，为本申请提供的在两种不同温度(T 1℃和T 2℃)下，经过光栅组件的光路示意图。其中，光栅组件为第一闪耀光栅。在温度T 1℃时，来自探测区域的光信号以入射角为θ 1射向第一闪耀光栅，第一闪耀光栅用于接收来自所述探测区域的所述光信号，对所述光信号进行分光，得到不同中心波长的各第一光谱，并将来自探测区域的光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到中心波长为λ 1的第一回波光信号，该第一光信号的光谱宽度为Δλ A，第一回波光信号在第一闪耀光栅的出射角为θ out。在温度T 2℃时，来自探测区域的光信号以入射角为θ 2射向第一闪耀光栅，第一闪耀光栅将来自探测区域的光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到中心波长为λ 2的第一回波光信号，光谱宽度为Δλ B，第一回波光信号在第一闪耀光栅的出射角为θ out。
由于受激光器温漂的影响，在不同的温度下，射向第一闪耀光栅的激光束的波长不同，导致经过第一闪耀光栅射向探测区域的激光束的角度也不同。基于光路的可逆性，在不同温度下，来自探测区域的光信号射向第一闪耀光栅的入射角不同，参阅上述图3a和图3b，在温度T 1℃时的入射角为θ 1，在温度T 2℃的入射角为θ 2。可以理解的是，在不同温度下，射向第一闪耀光栅的入射角和入射光的中心波长均不相同，即入射角和入射波长都发生了变化，根据上述公式1，从第一闪耀光栅出射的第一回波光信号的出射角可能是相同的。也就是说，在温度从T 1℃变化到T 2℃时，第一回波光信号在第一闪耀光栅上的出射角可能保持不变。
通过该结构一中的第一闪耀光栅，可对光谱宽度较宽的光信号进行分光，得到光谱宽度较窄的光谱，将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到光谱宽度较窄的第一回波光信号，可降低环境光对激光探测***的干扰，通过模拟可得到约40dB环境光被抑制，从而可增大激光探测***的测距范围。
结构二，光栅组件包括第一闪耀光栅和第二闪耀光栅。
此处，第二闪耀光栅的结构可参见上述第一闪耀光栅的结构的介绍，此处不再赘述。
也可以理解为，该结构二中的光栅组件采用两个闪耀光栅组成的两级串联式结构，以实现激光探测***中的探测组件接收光谱宽度超窄的第一回波光信号。在一种可能的实现方式中，第一闪耀光栅用于接收来自探测区域的光信号，对所述光信号进行分光，得到不同中心波长的各第二光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到第二回波光信号，并将第二回波光信号传输至第二闪耀光栅；第二闪耀光栅用于对接收到的所述第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，将第二回波光信号的光能量集中在中心波长为激光束的波长的第一光谱上，得到第一回波光信号，并将第一回波光信号传输至对应的探测器，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度。也就是说，经第一闪耀光栅对来自探测区域的光信号进行一级分光，得到第二回波光信号；经第二闪耀光栅对来自第一闪耀光栅的第二回波光信号进行二级分光，得到第一回波光信号。
如图3c所示，为本申请提供的一种第二回波光信号的模拟波形示意图。由图3a、图3b和图3c可知，第二回波光信号的光谱宽度Δλ 3比来自探测区域的光信号的光谱宽度Δλ 1窄，且比第一回波光信号的光谱宽度宽Δλ 2宽。由此可以说明，两级闪耀光栅串联式的结构可进一步降低进入激光探测***的环境光，即可进一步降低环境光对激光探测***的干扰，从而有助于进一步增大激光探测***探测距离的范围。
如图5a和图5b所示，为本申请提供的在两种不同温度(T 1℃和T 2℃)下，经过光栅组件的光路示意图。该光栅组件包括第一闪耀光栅和第二闪耀光栅。在温度T 1℃时，来自探测区域的光信号以入射角为θ 0射向第一闪耀光栅，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的各第二光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到中心波长为λ 1的第二回波光信号，第二回波光信号的光谱宽度为Δλ A，并将第二回波光信号以入射角为θ 0′传输至第二闪耀光栅；第二闪耀光栅用于对接收到的中心波长为λ 1的第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，并将第二回波光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到中心波长为λ 1的第一回波光信号，第一回波光信号的光谱宽度为Δλ AA，其中，第一回波光信号的光谱宽度Δλ AA小于第二回波光信号的光谱宽度Δλ A。
在温度T 2℃时，来自探测区域的光信号以入射角为θ 0射向第一闪耀光栅，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的各第二光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到中心波长为λ 2的第二回波光信号，第二回波光信号的光谱宽度为Δλ B，并将第二回波光信号以入射角为θ 0′传输至第二闪耀光栅；第二闪耀光栅用于对接收到的中心波长为λ 2的第二回波光信号进行再次分光，得到不同中心波长得各第一光谱，并将第二回波光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到中心波长为λ 2的第一回波光信号，第一回波光信号的光谱宽度为Δλ BB，其中，第一回波光信号的光谱宽度Δλ BB小于第二回波光信号的光谱宽度Δλ B。
通过第一闪耀光栅得到第二回波光信号，第二回波光信号的光谱宽度小于光信号的光谱宽度，可减小环境光对激光探测***的干扰。进一步，通过第二闪耀光栅进一步对第二回波光信号进行分光，并将第二回波光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，第一回波光信号的光谱宽度小于第二回波光信号的光 谱宽度，即进一步减小了射入探测器的回波光信号的光谱宽度，从而可进一步减小环境光对激光探测***的干扰，进而可进一步增大激光探测***的测距范围。通过模拟可确定，两级闪耀光栅的串联式结构可实现高于80dB的环境光的抑制。
结构三，光栅组件包括第一闪耀光栅和光纤光栅阵列。
也可以理解为，该结构三中的光栅组件采用闪耀光栅和光纤光栅组成的两级串联式结构，以实现激光探测***接收光谱宽度超窄的回波光信号。在一种可能的实现方式中，所述第一闪耀光栅用于接收来自所述探测区域的所述光信号，对所述光信号进行分光，得到不同中心波长的各第二光谱，并将所述光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到第二回波光信号，并向对应的光纤光栅传输所述第二回波光信号；所述光纤光栅阵列中的每个光纤光栅用于对接收到的所述第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，将第二回波光信号的光能量集中在中心波长为激光束的波长的第一光谱上，得到所述第一回波光信号，并将所述第一回波光信号传输至与所述光纤光栅对应的探测器，所述第一回波光信号的光谱宽度小于所述第二回波光信号的光谱宽度。也就是说，经第一闪耀光栅对来自探测区域的光信号进行一级分光，得到第二回波光信号；经光纤光栅对来自第一闪耀光栅的第二回波光信号进行二级分光，得到第一回波光信号。
如图6a所示，为本申请提供的一种光纤光栅的结构示意图。该光纤光栅的间隔为Λ i,光纤光栅的间隔Λ i与第一回波光信号的中心波长λ i间满足以下公式2。
λ i＝2n eff*Λ i     公式2
其中，n eff为光纤光栅的有效折射率，i为大于或等于1的整数。
在一种可能的实现方式中，可通过二氧化碳(CO2)或飞秒激光器在光纤上刻写间隔为Λ i的光纤光栅。
如图6b和图6c所示，为本申请提供的在两种不同温度(T 1℃和T 2℃)下，经过光栅组件的光路示意图。该光栅组件包括第一闪耀光栅和光纤光栅。在温度T 1℃时，来自探测区域的光信号以入射角为θ 0射向第一闪耀光栅，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的各第二光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到中心波长为λ 1的第二回波光信号，第二回波光信号的光谱宽度为Δλ A，并将第二回波光信号以入射角为θ A传输至光纤光栅；光纤光栅用于对接收到的中心波长为λ 1的第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，并将第二回波光信号的光的能量集中在中心波长等于激光束的波长的第一光谱上，得到中心波长为λ 1的第一回波光信号，第一回波光信号的光谱宽度为Δλ AA，其中，第一回波光信号的光谱宽度Δλ AA小于第二回波光信号的光谱宽度Δλ A。
在温度T 2℃时，来自探测区域的光信号以入射角为θ 0射向第一闪耀光栅，第一闪耀光栅用于接收来自探测区域的光信号，对光信号进行分光，得到不同中心波长的各第二光谱，并将光信号的光能量集中在中心波长等于激光束的波长的第二光谱上，得到中心波长为λ 2的第二回波光信号，第二回波光信号的光谱宽度为Δλ B，并将第二回波光信号以入射角为θ b传输至光纤光栅；光纤光栅用于对接收到的中心波长为λ 2的第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，并将第二回波光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到中心波长为λ 2的第一回波光信号，第一回波光信号的光谱宽度为Δλ BB，其中，第一回波光信号的光谱宽度Δλ BB小于第二回波光信号的光谱宽度Δλ B。
通过采用第一闪耀光栅和光纤光栅两级串联式的光栅组件，经第一闪耀光栅得到第二 回波光信号，第二回波光信号的光谱宽度小于光信号的光谱宽度，可减小环境光对激光探测***的干扰。进一步，通过光纤光栅得到第一回波光信号，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度，即进一步减小了射入探测器的第一回波光信号的光谱宽度，从而可进一步减小环境光对激光探测***的影响，进而可进一步增大激光探测***的测距范围。通过模拟可确定，第一闪耀光栅和光纤光栅两级串联可实现高于80dB的环境光的抑制。
需要说明的是，在温度T 1℃时，激光器射出的激光束的中心波长为λ 1，第一回波光信号和第二回波光信号的中心波长均为λ 1。在温度T 2℃时，激光器射出的激光束的中心波长为λ 2，第一回波光信号和第二回波光信号的中心波长也均为λ 2。
三、探测组件
本申请中，探测组件用于将接收到的来自所述光栅组件的所述第一回波光信号转为第一回波电信号后进行存储。在一种可能的实现方式中，探测组件可包括一个探测器或探测器阵列。探测器例如可为光电探测器(photon detector，PD)、单光子雪崩二极管(single-photon avalanche diode，SPAD)、P型半导体-本征层-N型半导体(positive intrinsic negative，PIN)型光电二极管(亦称为PIN结二极管)、或雪崩光电二极管(avalanche photodiode，APD)；探测器阵列可为SPAD阵列、PIN型光电二极管阵列、或APD阵列。
在一种可能的实现方式中，探测器或探测器阵列中每个探测器可用于将接收到的第一回波光信号转换为第一回波电信号，并将第一回波电信号进行存储。进一步，可选地，探测组件还可包括处理电路，处理电路可从获取存储的第一回波电信号，并根据第一回波电信号确定探测区域中的目标的关联信息，例如目标的距离、方位、高度、速度、姿态、形状和反射面的物理特性(例如反射率、粗糙度等)等。其中，处理电路可为处理器、现场可编程门阵列(field programmable gate array，FPGA)、信号数据处理(digital signal processing，DSP)电路、专门应用的集成电路(application specific integrated circuit，ASIC)、或者其他可编程逻辑器件。
本申请中，激光探测***还可包括分光组件。进一步，可选地，激光探测***还可包括光学聚焦组件、扫描组件、光束发射组件和光束接收组件。如下分别进行详细介绍。
四、分光组件
本申请中，分光组件可以为偏振分束器，或者也可为半透半反镜、或者也可以为打孔反射镜、或者也可以是光纤环形器。偏振分束器可以是两个偏振分光棱镜(polarizing beam splitter，PBS)的斜面通过胶层相贴合(如图7a所示)。其中，PBS是通过在直角棱镜的斜面镀制多层膜结构，然后通过胶层合成一个立方体结构，利用光束以布鲁斯特角入射时P偏振光透射率为1而S偏振光透射率小于1的性质，在光束以布鲁斯特角多次通过多层膜结构以后，达到使的P偏振分量完全透过，而绝大部分S偏振分量反射(至少90％以上)的一个光学元件。偏振分束器将入射的光束(P偏振光和S偏振光)分离为的水平偏振光和垂直偏振光，即P偏振光和S偏振光。其中，P偏振光完全通过，S偏振光以45度角被反射，且S偏振光的出射方向与P偏振光的出射方向成90度角。打孔反射镜是指带孔的反射面，打孔反射镜的孔可使得来自激光器的激光束透过，打孔反射镜的反射面可将接收到的光束进行反射。光纤环形器是一种多端口非互易光学器件，光束只能沿一个方向传播。如图7b所示，若光束从端口1输入，则从端口2输出；若光束从端口2输入，则将从端 口3输出，其输出损耗都很小。若光束从端口2输入时，从端口1输出时损耗很大，同样光从端口3输入时，从端口1或端口2中输出时损耗很大。
五、光学聚焦组件
本申请中，光学聚焦组件用于将接收到的回波光信号(例如第二回波光信号或第一回波光信号)聚焦于像方焦平面。在一种可能的实现方式中，光学聚焦组件可以是单个透镜或透镜组。如图8a所示，为本申请提供的一种光学聚焦组件的结构示意图。该光学聚焦组件可包括两个凸透镜，这两个凸透镜可实现将接收到第一回波光信号汇聚至对应的探测器上。具体这两个凸透镜的形状以及光学参数可根据激光探测***中各结构的位置进行确定，本申请对此不做限定。
结合上述结构一，由于从光学聚焦组件射出的第一回波光信号的光斑在光学聚焦组件的像方焦平面上重合，因此，激光探测***中的探测器可位于光学聚焦组件的像方焦平面上。
结合上述结构二，由于从光学聚焦组件出射的第二回波光信号的光斑在光学聚焦组件的像方焦平面上重合，因此，第二闪耀光栅可位于光学聚焦组件的像方焦平面上。
结合上述结构三，由于从光学聚焦组件出射的第二回波光信号的光斑在光学聚焦组件的像方焦平面上重合，因此，光纤光栅阵列中的每个光纤光栅的入端口的可位于光学聚焦组件的像方焦平面上，可参阅图8b；光纤光栅阵列是指多个光纤光栅形成的阵列，光纤光栅之间的间隔d可以相等，也可以不相等，本申请对此不做限定。
六、扫描组件
在一种可能实现方式中，所述扫描组件用于接收来自所述激光器的激光束，在不同探测角度下分别向所述探测区域发射所述激光束，并将来自所述探测区域的所述光信号传输至所述光栅组件。
本申请中，扫描组件可以为扫描器，例如反射式扫描器。反射式扫描器是通过机械转动来改变扫描器的扫描方向。反射式扫描器包括但不限于机械旋转镜和MEMS微振镜。可选地，扫描器可以是连续运转模式，也可以是步进运转模式。
通过改变扫描组件的探测角度完成对探测区域的扫描。例如，可预设多个探测角度，扫描组件可以在多个探测角度的每个探测角度下向探测区发射激光束，可得到探测区域内目标的关联信息。
如图9所示，为本申请提供的一种扫描组件的结构示意图。该扫描组件可以在二维(second dimension，2D)方向(如水平方向和垂直方向)上变换探测角度，变换探测角度也可理解为扫描组件可先水平方向旋转后垂直方向旋转，或者先垂直方向旋转后水平方向旋转，或者垂直方向和水平方向一起旋转，或者水平方向和垂直方向交替旋转等，使得扫描组件处于不同的探测角度下。在一个探测角度下，激光束经过扫描组件被投射至探测区域的一个位置，图9以在三个不同的探测角度下为例，激光束经过扫描组件被投射到探测区的三个位置。
在另一种可能的实现方式中，扫描组件也可以是光学相位阵列(optical phased array，OPA)。OPA工作原理为：通过调节从各个相控单元(如光学移相器)辐射出的光波之间的相位关系，使其在设定方向上彼此同相，产生相互加强的干涉，干涉的结果是在该方向上产生一束高强度光束，而在其他方向上从各相控单元射出的光波都不满足彼此同相的条件，干涉的结果彼此相抵消，因此，辐射强度接近于零。组成相控阵的各相控单元可使一 个激光束或多个激光束的指向按设计的程序实现扫描。
七、光束发射组件
为了将激光束尽可能的覆盖到探测区域，从而实现尽可能的照射到探测区域内的目标上，该激光探测***还可包括光束发射组件，光束发射组件用于接收来自激光器的激光束，并将接收到的激光束进行扩束和准直，并将扩束和准直后的激光束发射至探测区域。也可以理解为，在一种可能的实现方式中，光束发射组件可将接收到的激光束扩展和准直为面光束，并将面光束形式的激光束照射到探测区域的目标上。其中，面光束是指激光束的横截面是一个椭圆或圆形或矩形或其它可能的形状。由于面光束形式的激光束照射到探测区域的范围比较大，甚至可覆盖整个探测区域，因此，可省去激光探测***带动扫描器转动或振动的元件，从而可实现激光探测***体积的小型化。
本申请中，光束发射组件可以是单个透镜，或者也可以是透镜组。其中，透镜可以是简单的球面透镜或者非球面透镜，例如，凹透镜或凸透镜。单个透镜可以为凸透镜；透镜组可以是凸透镜和凹透镜的组合，也可以是凹透镜的组合，或者凸透镜的组合。由于凸透镜和凹透镜有多种不同的形状，例如凸透镜有双凸透镜，平凸透镜以及凹凸透镜，凹透镜有双凹透镜，平凹透镜以及凹凸透镜。此处不限定凸透镜和凹透镜的具体形状，凡是能够满足将来自激光器的激光束尽可能传输至探测区域的单个透镜或者透镜的组合均适用于本申请。进一步，可选地，由于来自激光器的激光束的发散角可能比较大，而且可能存在象散质量差的光束，因此光束发射组件还可以对激光束进行准直和整形，从而使发射至探测区域的激光束的发散角较小，能有较多的信号光照射到探测区域中。
如图10所示，为本申请提供的一种光束发射组件的结构示意图。该光束发射组件为透镜组，包括三个透镜，依次为凹凸透镜1、凹凸透镜2和双凸透镜3。其中，凹凸透镜1朝向激光器的面为凹面，朝向凹凸透镜2的面为凸面；凹凸透镜2朝向凹凸透镜1的面为凸面，朝向双凸透镜3的面为凹面。
八、光束接收组件
在一种可能的实现方式中，光束接收组件可以是卡塞格伦光学***或简单的球面透镜(例如球面透镜组、或者非球面透镜、或非球面透镜组)等，其中，卡塞格伦***又称卡塞格伦望远光学***或倒置望远光学***，是指次反射镜焦点之一与主反射镜焦点重合的一种反射式望远***。一般用于测距的激光探测***多采用简单的球面或非球面透镜，或者透镜组作为光束接收组件。示例性地，单个透镜可以是凹凸透镜；透镜组可以是凸透镜和凹透镜的组合，也可以是凹透镜的组合，或者凸透镜的组合。由于凸透镜和凹透镜有多种不同的形状，例如凸透镜有双凸透镜，平凸透镜以及凹凸透镜，凹透镜有双凹透镜，平凹透镜以及凹凸透镜。此处不限定凸透镜和凹透镜的具体形状，凡是能够满足将来自探测区域的光信号尽可能传输至光栅组件的单个透镜或者透镜的组合均适用于本申请。进一步可选地，光束接收组件还可用于尽可能的收集目标反射后的回波光信号，以增大激光探测***的测距的范围。因此，光束接收组件的朝向探测区域的通光口径较大的时候，可以接收到较多的回波光信号。
如图11所示，为本申请提供的一种光束接收组件的结构示意图。该光束接收组件可包括一个凹凸透镜。该凹凸透镜的凹面朝向探测区域，以尽可能的接收来自探测区域的回波光信号。
基于上述内容，下面结合具体的硬件结构，给出上述激光探测***的三种具体实现方式。以便于进一步理解上述激光探测***的结构。
示例一
如图12所示，为本申请提供的另一种激光探测***的结构示意图。该激光探测***可包括激光器、光栅组件和探测组件。其中，光栅组件包括第一闪耀光栅，探测组件包括一个探测器。进一步，可选地，该激光探测***还可包括分光组件、光学聚焦组件、扫描组件、光束发射组件和光束接收组件。在一种可能的实现方式中，所述探测器位于所述光学聚焦组件的像方焦平面上。
激光器用于发射激光束，并将激光束传输至光束发射组件；光束发射组件用于将接收到的激光束进行扩束和准直，并将扩束和准直后的激光束经分光组件透射至第一闪耀光栅；第一闪耀光栅用于将激光束传输至扫描组件；扫描组件用于在不同探测角度下经光束接收组件向探测区域传输激光束。应理解，在不同温度下，由于温漂的影响，射入第一闪耀光栅的激光束的波长可能不同，因此，从第一闪耀光栅射出的激光束的出射角也可能不同。图12以实线和虚线分别表示在不同温度下，从第一闪耀光栅出射的激光束的光路。例如，实线表示在温度T 1℃时的光路，虚线表示在温度T 2℃时的光路。应理解，第一闪耀光栅也可将接收到的激光束中的光能量集中某一级次的光谱上，并将该级次的光谱传输至扫描组件。另外，扫描组件仅会改变光束的光路。
来自探测区域的光信号射向光束接收组件，光束接收组件用于接收来自探测区域的光信号，并对光信号进行收束和整形，并将收束和整形后的光信号经扫描组件传输至第一闪耀光栅后，第一闪耀光栅还用于将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，并将第一回波光信号传输至分光组件；分光组件还用于将第一回波光信号传输至光学聚焦组件；光学聚焦组件用于将来自分光组件的第一回波光信号聚焦于像方焦平面，并将聚焦后的第一回波光信号传输至探测器。
在一种可能的实现方式中，该激光探测***还可包括反射镜，反射镜用于接收来自分光组件的第一回波光信号，并将接收到的第一回波光信号反射至光学聚焦组件。如此，有助于缩短光路，从而有助于激光探测***的小型化。
需要说明的是，在不同温度下，从第一闪耀光栅射出的激光束的出射角不同；根据光路的可逆性，在不同温度下，射向第一闪耀光栅的光信号的入射角也不同(实现和虚线表示两个不同的温度)，从第一闪耀光栅射出的第一回波光信号的出射角相同。
基于图12所示的激光探测***，通过采用第一闪耀光栅对光信号进行分光，得到光谱宽度远小于来自探测区域的光信号的光谱宽度的第一回波光信号，探测器基于光谱宽度较窄的第一回波光信号确定探测区域的目标，从而可减少环境光对激光探测***中探测器的干扰，从而可提高该激光探测***的探测距离。
示例二
图13示例性示出了本申请提供的又一种激光探测***的结构示意图。该激光探测***可包括激光器、光栅组件和探测组件。其中，光栅组件包括第一闪耀光栅和第二闪耀光栅，探测组件包括探测器阵列(如图13以探测器阵列包括两个探测器为例)。进一步，可选地，该激光探测***还可包括分光组件、光学聚焦组件、扫描组件、光束发射组件和光束接收组件。在一种可能的实现方式中，探测器阵列中的每个探测器可位于光学聚焦组件的像方焦平面上。
激光器用于发射激光束，并将激光束传输至光束发射组件；光束发射组件用于将接收到的激光束进行扩束和准直，并将扩束和准直后的激光束传输至分光组件；分光组件用于将接收到的激光束透射至第一闪耀光栅；第一闪耀光栅用于将激光束传输至扫描组件；扫描组件用于在不同探测角度下经光束接收组件向探测区域传输激光束。应理解，在不同温度下，由于激光器发射的激光束的波长受温度的影响，射入第一闪耀光栅的激光束的波长可能不同，因此，从第一闪耀光栅射出的激光束的出射角也可能不同。图13中，在不同温度下，从第一闪耀光栅出射的光路分别以实线和虚线表示。例如，实线表示在温度T 1℃时的光路，虚线表示在温度T 2℃时的光路。第一闪耀光栅也可将接收到的激光束中的光能量集中某一级次的光谱上，并将该级次的光谱传输至扫描组件。
来自探测区域的光信号射向光束接收组件，光束接收组件用于接收来自探测区域的光信号，并对光信号进行收束和整形，并将收束和整形后的光信号经扫描组件传输至第一闪耀光栅，第一闪耀光栅还用于将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第二回波光信号，并将第二回波光信号传输至分光组件；分光组件还用于将接收到的第二回波光信号传输至第二闪耀光栅；第二闪耀光栅用于对将接收到的第二回波光信号进一步分光，即将第二回波光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第一回波光信号，并将第一回波光信号传输至光学聚焦组件；光学聚焦组件用于将来自第二闪耀光栅的第一回波光信号聚焦于像方焦平面，并将聚焦后的第一回波光信号传输至对应的探测器，第一回波光信号的光谱宽度小于所述第二回波光信号的光谱宽度。应理解，在不同温度下，射向第二闪耀光栅的第二回波光信号的入射角相同，从第二闪耀光栅出射的第一回波光信号的出射角不同。
需要说明的是，第一回波光信号的一个中心波长范围与所述探测器阵列中的一个探测器对应。例如，中心波长范围在λ 1-λ 5时对应探测器1，中心波长范围在λ 6-λ 9时对应探测器2，等等。由于每个探测器对应一个范围的视场角，温漂造成第一回波光信号的中心波长发生变化，因此，第一回波光信号射入探测器的角度也可能发生了漂移，但若未漂移出这个探测器的视场角范围时，该中心波长发生变化的第一回波光信号仍与该探测器对应。
基于图13所示的激光探测***，通过采用第一闪耀光栅和第二闪耀光栅两级串联式的光栅组件，经第一闪耀光栅和第二闪耀光栅两级分光得到第一回波光信号，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度，从而可进一步减小环境光对激光探测***的影响，进而可进一步增大激光探测***的测距范围。
示例三
图14示例性示出了本申请提供的又一种激光探测***的结构示意图。该激光探测***可包括激光器、光栅组件和探测组件。其中，光栅组件包括第一闪耀光栅和光纤光栅阵列，探测组件包括探测器阵列(如图14以探测器阵列包括两个探测器为例)，探测器阵列中的探测器与光纤光栅阵列中的光纤光栅一一对应，即一个探测器对应一个光纤光栅。进一步，可选地，该激光探测***还可包括分光组件、反射镜、光学聚焦组件、扫描组件、光束发射组件和光束接收组件。在一种可能的实现方式中，光纤光栅阵列中的每个光纤光栅的入端口均位于光学聚焦组件的像方焦平面上，可参阅图8b。
激光器用于发射激光束，并将激光束传输至光束发射组件；光束发射组件用于将接收到的激光束进行扩束和准直，并将扩束和准直后的激光束传输至分光组件；分光组件用于将接收到的激光束透射至反射镜；反射镜用于将激光束反射至扫描组件；扫描组件用于在 不同探测角度下经光束接收组件向探测区域发射激光束。
来自探测区域的光信号按原光路返回，经分光组件传输至第一闪耀光栅，第一闪耀光栅用于将光信号的光能量集中在中心波长等于激光束的波长的第一光谱上，得到第二回波光信号，并将第二回波光信号传输至光学聚焦组件；光学聚焦组件用于将来自所述第一闪耀光栅的所述第二回波光信号聚焦于所述像方焦平面，并将聚焦后的第二回波光信号耦合进所述对应的光纤光栅；光纤光栅用于将接收到的所述对应的第二回波的光能量集中在中心波长等于激光束的波长的第一光谱上，得到所述第一回波光信号，并将所述第一回波光信号传输至与所述光纤光栅对应的探测器，所述第一回波光信号的光谱宽度小于所述第二回波光信号的光谱宽度。
在一种可能的实现方式中，光纤光栅阵列和光学聚焦组件之间还可包括光纤阵列，光纤阵列中的光纤与光纤光栅阵列中的光纤光栅一一对应，即经光学聚焦组件聚焦后的第二回波光信号可先耦合进行对应的光纤，经光纤传输再耦合至对应的光纤光栅中。
基于图14所示的激光探测***，通过采用第一闪耀光栅和光纤光栅两级串联式的光栅组件，经第一闪耀光栅和光纤光栅两级分光得到第一回波光信号，第一回波光信号的光谱宽度小于第二回波光信号的光谱宽度，从而可进一步减小环境光对激光探测***的影响，进而可进一步增大激光探测***的测距范围。
需要说明的是，上述第一闪耀光栅、第二闪耀光栅和光纤光栅的数量可以是1个，也可以是1个以上，上述为了便于方案的说明，以1个示例，本申请对此不做限定。另外，上述激光探测***中的各个功能组件可参见上述介绍，此处不再一一赘述。
基于上述描述的激光探测***的结构和功能原理，本申请还可以提供一种车辆，如图15所示，该车辆可以包括上述激光探测***和处理器，处理器可用于根据来自所述激光探测***的第一回波电信号，对所述车辆的行驶路径进行规划。例如躲避行驶路径上的障碍物等。当然，车辆还可以包括其他器件，例如存储器、无线通信装置和传感器等。
在一种可能的实现方式中，处理器可以是中央处理单元(central processing unit，CPU)，还可以是其它通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field programmable gate array，FPGA)或者其它可编程逻辑器件、晶体管逻辑器件，硬件部件或者其任意组合。通用处理器可以是微处理器，也可以是任何常规的处理器。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
可以理解的是，在本申请中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定。术语“第一”、“第二”等是用于分区别类似的对象，而不必用于描述特定的顺序或先后次序。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元。方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
尽管结合具体特征及其实施例对本申请进行了描述，显而易见的，在不脱离本申请的精神和范围的情况下，可对其进行各种修改和组合。相应地，本说明书和附图仅仅是所附权利要求所界定的方案进行示例性说明，且视为已覆盖本申请范围内的任意和所有修改、变化、组合或等同物。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本申请实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (13)

  1. 一种激光探测***，其特征在于，包括：
    激光器，用于向探测区域发射激光束；
    光栅组件，用于接收来自所述探测区域的光信号，对所述光信号进行分光，得到不同中心波长的第一光谱，并将所述光信号的光能量集中在中心波长等于所述激光束的波长的第一光谱上，得到第一回波光信号，向所述探测组件传输所述第一回波光信号，所述第一回波光信号是所述激光束被所述探测区域中的目标反射回来的信号，所述第一回波光信号的光谱宽度小于所述光信号的光谱宽度；
    探测组件，用于将接收到的所述第一回波光信号转为第一回波电信号后进行存储。
  2. 如权利要求1所述的激光探测***，其特征在于，所述光栅组件为第一闪耀光栅，所述探测组件为一个探测器。
  3. 如权利要求2所述的激光探测***，其特征在于，所述激光探测***还包括分光组件；
    所述分光组件，用于将来自所述激光器的激光束透射至所述第一闪耀光栅，并将来自所述第一闪耀光栅的所述第一回波光信号反射至所述探测器。
  4. 如权利要求3所述的激光探测***，其特征在于，所述光学探测***还包括光学聚焦组件，所述探测器位于所述光学聚焦组件的像方焦平面上；
    所述光学聚焦组件，用于将来自所述第一闪耀光栅的所述第一回波光信号聚焦于所述像方焦平面，并将聚焦后的第一回波光信号传输至所述探测器。
  5. 如权利要求1所述的激光探测***，其特征在于，所述光栅组件包括第一闪耀光栅和第二闪耀光栅，所述探测组件包括探测器阵列，所述第一回波光信号的一个中心波长范围与所述探测器阵列中的一个探测器对应；
    所述光栅组件用于接收来自所述探测区域的光信号，对所述光信号进行分光，得到不同中心波长的各第一光谱，并将所述光信号的光能量集中在中心波长等于所述激光束的波长的第一光谱上，得到第一回波光信号，向所述探测组件传输所述第一回波光信号，包括：
    所述第一闪耀光栅，用于接收来自所述探测区域的所述光信号，对所述光信号进行分光，得到不同中心波长的各第二光谱，并将所述光信号的光能量集中在中心波长等于所述激光束的波长的第二光谱上，得到第二回波光信号，并将所述第二回波光信号传输至所述第二闪耀光栅；
    所述第二闪耀光栅，用于对接收到的所述第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，将所述第二回波光信号的光能量集中在中心波长为所述激光束的波长的第一光谱上，得到所述第一回波光信号，并将所述第一回波光信号传输至对应的探测器，所述第一回波光信号的光谱宽度小于所述第二回波光信号的光谱宽度。
  6. 如权利要求5所述的激光探测***，其特征在于，所述激光探测***还包括光学聚焦组件，所述探测器阵列位于所述光学聚焦组件的像方焦平面上；
    所述光学聚焦组件，用于将来自所述第二闪耀光栅的所述第一回波光信号聚焦于所述像方焦平面，并将聚焦后的第一回波光信号传输至所述对应的探测器。
  7. 如权利要求5或6所述的激光探测***，其特征在于，所述激光探测***还包括分光组件；
    所述分光组件，用于将来自所述激光器的所述激光束透射至所述第一闪耀光栅，并将来自所述第一闪耀光栅的所述第二回波光信号反射至所述第二闪耀光栅。
  8. 如权利要求1所述的激光探测***，其特征在于，所述光栅组件包括第一闪耀光栅和光纤光栅阵列，所述探测组件包括探测器阵列，所述探测器阵列中的探测器与所述光纤光栅阵列中的光纤光栅一一对应，第二回波光信号的一个中心波长范围与所述光纤光栅阵列中的一个光纤光栅对应；
    所述光栅组件用于接收来自所述探测区域的光信号，对所述光信号进行分光，得到不同中心波长的各第一光谱，并将所述光信号的光能量集中在中心波长等于所述激光束的波长的第一光谱上，得到第一回波光信号，向所述探测组件传输所述第一回波光信号，包括：
    所述第一闪耀光栅，用于接收来自所述探测区域的所述光信号，对所述光信号进行分光，得到不同中心波长的各第二光谱，并将所述光信号的光能量集中在中心波长等于所述激光束的波长的第二光谱上，得到第二回波光信号，并向对应的光纤光栅传输所述第二回波光信号；
    所述光纤光栅阵列中的每个光纤光栅，用于对接收到的所述对应的第二回波光信号进行再次分光，得到不同中心波长的各第一光谱，将所述第二回波光信号的光能量集中在所述中心波长等于所述激光束的波长的第一光谱上，得到所述第一回波光信号，并将所述第一回波光信号传输至与所述光纤光栅对应的探测器，所述第一回波光信号的光谱宽度小于所述第二回波光信号的光谱宽度。
  9. 如权利要求8所述的激光探测***，其特征在于，所述激光探测***还包括光学聚焦组件，所述光纤光栅阵列中的每个光纤光栅的入端口均位于所述光学聚焦组件的像方焦平面上；
    所述光学聚焦组件，用于将来自所述第一闪耀光栅的所述第二回波光信号聚焦于所述像方焦平面，并将聚焦后的第二回波光信号耦合进所述对应的光纤光栅。
  10. 如权利要求8或9所述的激光探测***，其特征在于，所述激光探测***还包括分光组件和反射镜；
    所述分光组件，用于将来自所述激光器的所述激光束透射至所述反射镜；
    所述反射镜，用于将来自所述分光组件的所述激光束反射至所述探测区域，并将来自所述探测区域的所述光信号反射至所述分光组件；
    所述分光组件，还用于将来自所述反射镜的所述光信号反射至所述第一闪耀光栅。
  11. 如权利要求2至10任一项所述的激光探测***，其特征在于，所述第一闪耀光栅的间隔p满足：
    Figure PCTCN2020077277-appb-100001
    其中，λ i为射向所述第一闪耀光栅的所述光信号的中心波长，θ in为所述光信号与所述第一闪耀光栅的光栅平面的法线之间的入射角，θ out为从所述第一闪耀光栅射出的出射光与所述第一闪耀光栅的法线之间的出射角。
  12. 如权利要求1至11任一项所述的激光探测***，其特征在于，所述激光探测***还包括扫描组件；
    所述扫描组件，用于接收来自所述激光器的激光束，在不同探测角度下分别向所述探测区域发射所述激光束，并将来自所述探测区域的所述光信号传输至所述光栅组件。
  13. 一种车辆，其特征在于，包括如权利要求1～12任一项所述的激光探测***、以及处理器，所述处理器用于根据来自所述激光探测***的第一回波电信号，对所述车辆的行驶路径进行规划。
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