1. A fiber optic high frequency vibrating lidar device, comprising: the device comprises a laser vibration transmitting unit, a receiving unit and a processing unit;

the laser vibration transmitting unit comprises a laser and a vibration module, wherein the laser is used for generating laser with a specific wavelength and then coupled into the optical fiber, and the vibration module is arranged at the foremost end of the device and drives the optical fiber to vibrate at ultrahigh frequency so as to generate laser with a divergence angle beta;

the receiving units and the laser vibration transmitting units are arranged in a staggered mode or the vibration transmitting units are distributed around each receiving unit;

the processing unit is used for comparing the emitted laser signals with the reflected laser signals, obtaining the conditions of the surroundings through a specific algorithm and feeding back the conditions to the central processing unit of the automobile to act.

2. The fiber high frequency vibration lidar apparatus according to claim 1, wherein the vibration module further comprises a voice coil motor, a piezoelectric ceramic, or an ultrasonic motor, which is capable of generating a vibration frequency > 100Hz, and a restoring mechanism for realizing the vibration > 100Hz in cooperation with the vibration module.

3. A fiber optic high frequency vibration lidar apparatus according to claim 2, wherein the fiber end is connected to the voice coil motor or piezoelectric ceramic or ultrasonic motor transducer just past the voice coil motor or piezoelectric ceramic or ultrasonic motor or the fiber end.

4. The fiber high frequency vibration lidar apparatus according to claim 2, wherein the return mechanism is mounted inside or outside a voice coil motor or a piezoelectric ceramic or an ultrasonic motor, and is used together with the voice coil motor or the piezoelectric ceramic or the ultrasonic motor for acting on the optical fiber.

5. A fiber optic high frequency vibration lidar apparatus according to claim 1 or 2, wherein the fiber optic generates a scanning range of β angle under the combined action of a voice coil motor or a piezoelectric ceramic or an ultrasonic motor and a restoring mechanism.

6. The fiber high-frequency vibration lidar device according to claim 1, wherein a light sensing device is disposed in the receiving unit, and the light sensing device is configured to collect and perform preliminary calculation processing on the reflected laser signal.

7. The fiber high-frequency vibration lidar device according to claim 1 or 6, wherein the receiving unit communicates with the processing unit. The processing unit is used for comparing and analyzing the emitted laser signals and the reflected laser signals and obtaining information such as the state of the objects around the radar through a specific algorithm.

8. The fiber high-frequency vibration lidar device according to claim 1 or 5, wherein the outgoing laser divergence angle β is adjustable, and the divergence angle β is adjustable in a range of 0 to 120 ° for different scenes.

9. The fiber high-frequency vibration lidar device according to claim 1 or 2, wherein the frequency of the vibration module is adjustable, the ambient environment can be sensed through machine learning, the optimal vibration frequency is adaptively adjusted, and the frequency can be adjusted within the range of 100-10000 Hz.

10. The fiber high-frequency vibration lidar apparatus according to claim 1, wherein the receiving unit and the vibro-lasing unit are arranged in a plurality of ways including staggered arrangement, with the vibro-lasing unit being arranged around the receiving unit.

Background

The laser radar is a product of combining traditional radar and laser technology, and is a radar system for detecting characteristic quantities such as position, speed and the like of a target by emitting laser beams. Based on the microwave radar principle, a laser beam is emitted to a target object to serve as a detection signal, and then received signals reflected from the target object and the emission signal are analyzed and processed, so that characteristic parameters of the target object, such as target distance, direction, height, speed, posture, even shape and other parameters, can be obtained, and a three-dimensional image of the target object can also be obtained. The laser radar gives full play to the characteristics of high laser brightness, good directivity, color and coherence, has the technical advantages of high resolution, long detection distance, strong interference resistance to observation background, capability of realizing all-day observation and the like, and is widely applied to a plurality of fields of national defense, aerospace, industry, medicine and the like.

However, the conventional scanning imaging lidar system generally adopts a scanning mode of a rotating drum tilting mirror, a double-tilting mirror or a double-vibrating mirror, and a scanning system formed by the optical elements is large and heavy, generally needs to consume more electric energy, and is difficult to realize high-speed scanning due to inertia and the like, so that the conventional scanning imaging lidar system is not suitable for high-speed imaging application. In addition, the defects of high cost, large volume, low capacity, reduction of the reliability of the motor along with the lengthening of the working time and the like of the traditional laser radar are increasingly prominent in practical application.

The voice coil motor (piezoelectric ceramic, ultrasonic motor) and the like have the characteristics of high frequency, small size and the like, and just meet the requirements of the vibration type laser radar. And can utilize characteristics such as voice coil motor is small, abandon the combination of many lenses among the traditional laser radar, directly drive optic fibre and carry out high frequency vibration, avoided the error that lens installation accuracy brought, also avoided defects such as current laser radar is bulky simultaneously, structure is complicated, consequently, this optic fibre high frequency vibration formula laser radar has very big application prospect.

Disclosure of Invention

The invention aims to provide an optical fiber high-frequency vibration type laser radar device, and provides a laser radar device which is high in sensitivity, wide in detection range and high in integration level.

In order to achieve the purpose, the invention provides the following scheme:

a fiber optic high frequency vibrating lidar device, comprising: the device comprises a laser vibration transmitting unit, a receiving unit and a processing unit;

the laser vibration transmitting unit comprises a laser and a vibration module. Wherein the laser is used for generating laser light with a specific wavelength and then coupled into the optical fiber. The vibration module is arranged at the foremost end of the device and drives the optical fiber to vibrate at ultrahigh frequency, so that laser with a divergence angle beta is generated;

the receiving units and the laser vibration transmitting units are arranged in a staggered mode or the vibration transmitting units are distributed around each receiving unit;

the processing unit is used for comparing the emitted laser signals with the reflected laser signals, obtaining the conditions of the surroundings through a specific algorithm and feeding back the conditions to the central processing unit of the automobile to act.

Optionally, the vibration module further comprises a voice coil motor (piezoelectric ceramic, ultrasonic motor) and a return mechanism, the voice coil motor (piezoelectric ceramic, ultrasonic motor) can generate vibration frequency more than 100Hz, and the return mechanism is used for matching with the vibration module to realize vibration of optical fiber more than 100 Hz.

Optionally, the end of the optical fiber just passes through a voice coil motor (piezoelectric ceramic, ultrasonic motor) or the end of the optical fiber is connected with a vibrator of the voice coil motor (piezoelectric ceramic, ultrasonic motor).

Optionally, the restoring mechanism is installed inside or outside the voice coil motor (piezoelectric ceramic, ultrasonic motor), and acts on the optical fiber together with the voice coil motor (piezoelectric ceramic, ultrasonic motor).

Optionally, the optical fiber generates a scanning range of a β angle under the combined action of a voice coil motor (piezoelectric ceramic, ultrasonic motor) and a restoring mechanism.

Optionally, a light sensing device is arranged in the receiving unit, and the light sensing device is used for collecting and primarily calculating the reflected laser signal.

Optionally, the receiving unit communicates with the processing unit. The processing unit is used for comparing and analyzing the emitted laser signals and the reflected laser signals and obtaining information such as the state of the objects around the radar through a specific algorithm.

Optionally, the divergence angle β of the emitted laser is adjustable, and the divergence angle β is adjustable in a range of 0 to 120 ° for different scenes.

Optionally, the frequency of the vibration module is adjustable, the ambient environment can be sensed through machine learning, the optimal vibration frequency can be adjusted in a self-adaptive manner, and the frequency can be adjusted within the range of 100-10000 Hz.

Optionally, the receiving unit and the laser vibration transmitting unit have multiple arrangement modes, including staggered arrangement, arrangement of the vibration transmitting unit around the receiving unit, and the like, and different arrangement modes can be set for different scenes, so that the application range is expanded.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Fig. 1 is a schematic diagram of an optical fiber high-frequency vibration type laser radar apparatus provided by the present invention;

fig. 2 is an arrangement diagram of a transmitting and receiving device of an optical fiber high-frequency vibration type lidar device provided by the present invention;

fig. 3 is an arrangement diagram of a transmitting and receiving device of an optical fiber high-frequency vibration type lidar device provided by the present invention;

fig. 4 is a schematic diagram of a transmitting device of an optical fiber high-frequency vibration type laser radar device provided by the present invention;

Detailed Description

The invention aims to provide an optical fiber high-frequency vibration type laser radar device, and provides a laser radar device which is high in sensitivity, wide in detection range and high in integration level.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1 to 4, the present invention provides a fiber high-frequency vibration type laser radar apparatus including: the device comprises a laser 1, a processing unit 2, a photosensitive chip 3, a receiving unit 4, a laser vibration transmitting unit 5, a voice coil motor (piezoelectric ceramic and ultrasonic motor) 9 and a return mechanism 10.

The laser 1 is a light source for generating detection laser, and the generated laser has high energy density, concentrated light beam and long detection range. The laser light is led out through an optical fiber and extends to the vibration emitting unit 5.

The vibration emitting unit 5 is installed at the front end of the radar panel, and the front view of the vibration emitting unit is shown in fig. 4, wherein a voice coil motor (piezoelectric ceramic, ultrasonic motor) 9 and the like drives the optical fiber inserted therein to vibrate according to a set frequency and amplitude, and the return mechanism 10 generates an acting force on the optical fiber, so that the optical fiber rebounds rapidly, and the vibration frequency is improved. The vibrating fiber produces a probe beam 6 with an exit angle beta.

A probe beam 6, which strikes the device surroundings 7, produces a reflected beam 8 of a certain wavelength and frequency.

The reflected light beam 8 is received by the receiving unit 4.

The receiving unit 4, which is arranged with the vibration emitting unit 5 as shown in fig. 2 and 3, transmits the received laser light to the photo sensor chip 3.

And the photosensitive chip 3 transmits the received reflected laser signal to the processing unit 2.

The processing unit 2 is used for comparing the information of the outgoing laser wavelength and the reflected laser wavelength, frequency, phase and the like, and deducing various state information of the object 7 through a specific algorithm, so that the automobile can make corresponding avoidance action.

The invention has the technical effects that:

1. the method has a compact structure, and the scanning range of a single optical fiber realized by vibration is equivalent to the scanning range of the existing n (n is more than 2) optical fibers, so that the device has a compact structure and high integration level and has great potential under the condition of compact automobile space.

2. A circular scanning surface is formed by high-frequency vibration of a single optical fiber, a plurality of vibration optical fibers are arranged to form a scanning cross area, the scanning precision is improved, the detection precision of objects around the radar is also improved, and therefore the radar has the characteristic of high sensitivity.

3. The device can adjust the arrangement mode of the emergent unit and the receiving unit according to different vehicle types or radar arrangement directions, namely, the arrangement mode is adjusted according to the figures 2 and 3, but not limited to the arrangement mode of the figures 2 and 3. Therefore, the device has the advantages of high detection efficiency, low cost and the like.

4. The device can adjust outgoing laser angle beta according to different scenes (road conditions, weather, time periods and the like), the adjustment of the angle is realized through the amplitude of a voice coil motor (piezoelectric ceramics and ultrasonic motor), and the device has the characteristics of wide application range and intelligent controllability.

Compare with current mechanical vibration formula lidar, the vibration frequency of voice coil motor (piezoceramics, ultrasonic motor) etc. is far higher than traditional mirror motor or pivot angle motor that shakes, means in the unit interval, the device scanning number of times is more, has obviously promoted the detection precision to voice coil motor (piezoceramics, ultrasonic motor) is small, easily integrates.

Compare with traditional laser radar, the device optic fibre can high-frequency vibration, has promoted detection range, and the multibeam optic fibre in traditional laser radar can be replaced to single optic fibre, therefore the device compares with traditional laser radar and has small, the wide characteristics of detection range.

Compared with the vehicle-mounted MEMS laser radar, the device directly outputs detection laser through the optical fiber, omits a large number of lens combinations used in the MEMS laser radar, and avoids scanning errors caused by installation accuracy. In addition, the scanning frequency of a galvanometer in the MEMS laser radar is low (generally less than 500Hz), which is far less than 10000Hz which can be achieved by the device, so the scanning precision and the scanning speed of the MEMS laser radar are not as good as those of the device.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principle and the implementation manner of the present invention are explained by applying specific examples, the above description of the embodiments is only used to help understanding the method of the present invention and the core idea thereof, the described embodiments are only a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.