CN104931974A - Light source modulation and demodulation-based ICMOS high-speed 3D imaging laser radar - Google Patents
Light source modulation and demodulation-based ICMOS high-speed 3D imaging laser radar Download PDFInfo
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- CN104931974A CN104931974A CN201510325937.0A CN201510325937A CN104931974A CN 104931974 A CN104931974 A CN 104931974A CN 201510325937 A CN201510325937 A CN 201510325937A CN 104931974 A CN104931974 A CN 104931974A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/483—Details of pulse systems
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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
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Abstract
The invention relates to a light source modulation and demodulation-based ICMOS high-speed 3D imaging laser. The system is composed of a laser light source module, a laser emitting optical system, a laser receiving optical system, a high-speed ICMOS imaging module, a main control circuit module and an upper computer; the main control circuit module generates two paths of modulation and demodulation signals of which the frequencies are approximate to each other, wherein one path of the signals is adopted as modulation signals of the light source module, the other path of the signals is adopted as demodulation signals of the photocathode of an image intensifier; the two paths of modulation signals have tiny frequency difference; after modulated laser is demodulated through the photocathode, low-frequency optical signals will be generated; a high-speed CMOS camera acquires the low-frequency optical signals and uploads images to the upper computer; the upper computer processes the images and obtains the phase information of the low-frequency optical signals; and therefore, the 3D information of a target can be calculated. The 3D imaging frame frequency of the system can achieve thousands of frames, and therefore, the light source modulation and demodulation-based ICMOS high-speed 3D imaging laser radar is especially suitable for continuous 3D imaging of high-speed moving objects. The system has the advantage of high imaging speed, high resolution, concise structure and large acting distance.
Description
Technical field
The present invention relates to laser radar, particularly a kind of ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation.
Background technology
Three-dimensional imaging laser radar has a wide range of applications background, the field related to widely, first, engineering has the application such as mining site detection, terrain rendering, bridge monitoring, highway detection, industrial can be used for production line balance product quality monitoring, automobile the widespread use such as unmanned, machine vision, also play the effect of key in fields such as military affairs, space flight simultaneously.At present in engineer applied field; there is the three-dimensional imaging laser radar realizing two-dimensional scan based on high precision stepper motor; can realize on a large scale, the three-dimensional measurement of high dot density; but there is the shortcomings such as image taking speed is slow, volume is large, quality is large simultaneously; 3-D view needs tens of second that usual acquisition one is complete; can not meet and high special occasions is required to image taking speed, as the selection in automatic Pilot, spacecraft landing place, unmanned plane keep away barrier and navigation etc.Due to the limitation of the three-dimensional imaging laser radar based on scanning method, at present domestic and international for realize no-raster fast 3 Dimension Image Technique carried out the research of multiple technologies approach.Research method mainly comprises following several method:
1. based on the three-dimensional imaging laser radar of the direct flight time telemetry of no-raster of face battle array focus planardetector.High-precision time difference measurements circuit is integrated into after each detection pixel by this detector, each pixel of detector is as an independently detector, can output signal separately, subsequent conditioning circuit can be measured from Laser emission to the mistiming receiving return laser beam, be finally inversed by the range information that each pixel is corresponding, therefore, only need launch a laser pulse, just can obtain the view picture 3-D view being irradiated with a laser object, image taking speed is fast.The APD planar array detector with time measurement ability and the GM-APD planar array detector of larger battle array are developed at present abroad, due to this highly sensitive large planar array detector complex manufacturing technology, the resolution of current face battle array only has 128 × 32, imaging resolution is low, and the domestic research to this kind of device is in the laboratory sample development stage at present, without finished product supply, the method that there is no realizes the three-dimensional imaging laser radar technique based on the direct flight time measurement method of no-raster of face battle array focus planardetector.
2. based on the three-dimensional imaging laser radar of the no-raster indirect flight time telemetry of dedicated modulation demodulation planar array detector.The difference of this device and common image sensor: one is have high-speed shutter, can reach 10ns level film speed; Two is have exposure accumulation function, the signal accumulation that continuous several times exposure can be produced.Distance-finding method adopts the indirect flight time telemetry based on cosine wave (CW)-square wave Phase Demodulation, the cosine modulation light camera being shot after reflections off objects sent from light source receives, photon mixing detector within the monocycle at equal intervals continuous four exposures obtain four sampled values, in the counting circuit that photon mixing detector is follow-up, the phase place of incident light corresponding to each pixel, amplitude and off-set value is directly calculated finally by four sampled values, thus calculate the Distance geometry gray-scale value of each point, obtain depth map and gray-scale map.Developed the modulation /demodulation planar array detector of relative maturity at present abroad, but this detector integrates time is short, detection sensitivity is low, therefore image-forming range only has tens meters, cannot realize the three-dimensional imaging of long distance.
3. based on the three-dimensional imaging laser radar of the no-raster indirect flight time telemetry of ICCD.Initial no-raster 3 Dimension Image Technique, all based on ICCD sensor, carries out the waveform modulated such as cosine wave (CW), square wave or triangular wave to light source and image intensifier gain, theoretical according to the range finding of indirect flight time, realizes three-dimensional information and measures.There are U.S.'s Sandia National Labs and Japan Broadcasting Corporation in the representative studies mechanism of this technology.The domestic research also having a small amount of research institution to carry out this respect.Because ICCD frame frequency is low, energy of light source utilization factor is low, the shortcomings such as it is low that this imaging technique has image taking speed equally, and operating distance is near.
Low for overcoming slow and based on ICCD the no-raster three-dimensional imaging capacity usage ratio of conventional three-dimensional image taking speed, the shortcoming that operating distance is near, simultaneously based on the consideration of current domestic conditions, ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation is proposed, utilize high-speed cmos camera high frame rate, the feature that the image intensifier time shutter can modulate, intensity modulation is carried out to light source simultaneously, the light that camera receives is that modulated laser is by the mixing light signal after image intensifier demodulation, the mistiming of such laser time of flight is presented as the phase differential of mixed frequency signal, high speed camera gathers mixed frequency signal, finally by calculating each pixel-phase value, thus obtain the three-dimensional information of whole target.Because High Speed ICs MOS camera imaging speed is fast, this formation method has that image taking speed is fast, resolution is high, system architecture is simple and the advantage such as operating distance is far away.
Summary of the invention
Low for overcoming slow and based on ICCD the no-raster three-dimensional imaging capacity usage ratio of conventional three-dimensional image taking speed, the shortcoming that operating distance is near, the present invention proposes a kind of ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation, utilize the feature that high-speed cmos camera high frame rate and image intensifier time shutter can modulate, intensity modulation is carried out to light source simultaneously, at image intensifier receiving end, demodulation is carried out to laser echo signal, signal after demodulation is low frequency light signal, the mistiming of such laser time of flight is presented as the phase differential of low frequency light signal, high-speed cmos camera gathers low frequency light signal, finally by calculating each pixel-phase value, thus obtain the three-dimensional information of whole target.Because High Speed ICs MOS camera imaging speed is fast, this formation method has that image taking speed is fast, resolution is high, system architecture is simple and the advantage such as operating distance is far away.
Technical solution of the present invention is as follows:
A kind of ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation, be characterized in: this laser radar system is by governor circuit module, laser light source module, High Speed ICs MOS camera model, host computer, laser emission optical system and laser pick-off optical system composition, described governor circuit module comprises modulation signal generator and restituted signal generator, laser light source module comprises semiconductor laser and semiconductor laser device driving circuit module two parts, described semiconductor laser device driving circuit module is by current/charge-voltage convertor, current amplification circuit and protection circuit connect and compose successively, described High Speed ICs MOS camera model comprises image intensifier and high-speed cmos camera, described image intensifier is by photocathode, microchannel plate, video screen, coupling optical system connects and composes successively, the modulation of source signal that described modulation signal generator produces, pass through described current/charge-voltage convertor successively, current amplification circuit, protection circuit, be input to described semiconductor laser, this semiconductor laser produces the laser signal consistent with modulation signal waveform, this laser signal is launched through laser emission optical system, laser after outgoing is reflected rear formation laser echo signal, this laser echo signal returns and is received by described laser pick-off optical system, described laser echo signal incides on the photocathode of described image intensifier, the restituted signal that described restituted signal generator produces, be input to the photocathode of described image intensifier, when laser echo signal incides photocathode, realize the demodulation to laser echo signal, the photoelectron that photocathode produces is after microchannel plate amplifies, impact fluorescence screen produces fluoroscopic image, this fluoroscopic image is collected after coupling optical system, this fluoroscopic image is uploaded to described host computer by described high-speed cmos camera, this host computer processes described fluoroscopic image, obtain the phase information of laser echo signal, thus extrapolate the range information of target.
The modulation signal that described modulation signal generator produces is the square-wave signal of dutycycle 50%, or sine wave signal, and the frequency range of modulation signal is 10kHz ~ 10MHz; The restituted signal that described restituted signal generator produces is the square-wave signal of dutycycle 50%, and the frequency range of restituted signal is 10kHz ~ 10MHz.
Described high-speed cmos camera is the camera that frame frequency is high and the time shutter is controlled, the time shutter of high speed camera is adjustable within the scope of 1 μ s ~ 50ms, and Timing resolution is 1 μ s, and the thousands of frame of frame frequency of camera is per second, when camera resolution is 256 × 256, the frame frequency of camera is 4000fps.
Described host computer has image acquisition and image real time transfer function, and host computer is to four width images of continuous acquisition or more several process, and can calculate the range information of target corresponding to each pixel, obtains 3-D view.
Described laser emission optical system is made up of optical emitting lens and homogenize sheet, be mainly used in the angle of divergence of homogenize hot spot and control laser, and the angle of divergence of laser is adjustable, to adapt to the demand of different occasion.
The invention has the advantages that:
1. three-dimensional imaging speed of the present invention is high, can reach 1000fps the soonest, can be applicable to the occasion high to image taking speed requirement.
2. present invention uses High Speed ICs MOS as image device, therefore have higher image resolution, and image resolution ratio is adjustable, ultimate resolution is 1024 × 1024, is greater than the resolution of existing special face three-dimensional imaging detector.
3. system architecture of the present invention is simple, and utilization ratio of laser energy is high, and image-forming range is comparatively far away, and when laser power is 20W, operating distance can reach 200m.
Accompanying drawing explanation
Fig. 1 is the integrated model schematic diagram of the ICMOS high speed three-dimensional imaging laser radar that the present invention is based on modulation of source demodulation;
Fig. 2 is active laser modulation-demodulation technique principle schematic of the present invention;
In figure: 100---governor circuit module, 200---laser light source module, 210---semiconductor laser device driving circuit module, 211---current/charge-voltage convertor, 212---current amplification circuit, 213---protection circuit, 220---semiconductor laser, 300---High Speed ICs MOS camera model, 310---image intensifier, 311---photocathode, 312---microchannel plate, 313---video screen, 314---coupling optical system, 320---high-speed cmos camera, 400---host computer, 500---laser emission optical system, 600---laser pick-off optical system.
Embodiment
The present invention is to be imaged as embodiment to the 3 D video of object under certain occasion, and adopt large-power semiconductor laser instrument 220 as light source, the emissive power of laser instrument is 20W, and optical maser wavelength is 808nm; Governor circuit module 100 generates two-way modulation signal and restituted signal, the modulation signal being wherein loaded into semiconductor laser device driving circuit module 110 is the square-wave signal of frequency 1MHz, dutycycle 50%, the restituted signal be loaded on image intensifier 310 is the square-wave signal of frequency 999kHz, dutycycle 50%, can produce the low frequency light signal of 1kHz after demodulation; The resolution of high-speed cmos camera 320 is 1024 × 1024, and during ultimate resolution, frame frequency is 1000fps, and when resolution is 256 × 256, frame frequency is 4000fps, can gather the low frequency light signal after the demodulation of 1kHz.Below in conjunction with specific embodiments and the drawings, the invention will be further described, but should not limit the scope of the invention with this.
First please refer to Fig. 1, Fig. 1 is the integrated model schematic diagram of the ICMOS high speed three-dimensional imaging laser radar that the present invention is based on modulation of source demodulation.
1. modulation signal generator 110 generated frequency is 1MHz, dutycycle is the square-wave modulation signal of 50%, and this modulation signal is loaded on the current/charge-voltage convertor 211 of semiconductor laser device driving circuit module 210, in order to modulated laser output intensity; The square wave restituted signal that restituted signal generator 120 generated frequency is 999kHz, dutycycle is 50%, this restituted signal is loaded on the photocathode 311 of image intensifier 310, in order to control time and the frequency of image intensifier exposure.
2. the current/charge-voltage convertor 211 of semiconductor laser device driving circuit module 210 is after the modulation signal receiving modulation signal generator input; after its conversion; amplify through current amplification circuit 212; again by being loaded on semiconductor laser 220 after protection circuit 213; semiconductor laser 220 produces, laser signal that dutycycle identical identical with frequency modulating signal, laser collimates through laser emission optical system 500, after homogenize to objective emission.
3. the laser echo signal that laser pick-off optical system 600 receiving target reflects, and wiping out background light, laser echo signal is collected on the photocathode 311 of image intensifier 310, laser echo signal is after passing through photocathode 311 demodulation, produce the low frequency light signal of 1kHz, realize the demodulation of laser echo signal.320 when resolution is 256 × 256, and most high frame rate can reach 4000fps, gathers, within the cycle of a low frequency light signal, can collect four width images to the low frequency light signal of 1kHz, high-speed cmos camera by the image uploading that collects to host computer 400.
4. host computer 400 is upon receiving the image, processes one by one each pixel in four width images of continuous acquisition, if the gray-scale value of certain pixel is respectively A0, A1, A2, A3 in four width images, phase value corresponding to this pixel is by following formulae discovery:
Due to the point that the corresponding target of different pixels is different, therefore the time of arrival of the laser echo signal of different pixels is different, and corresponding phase value is not identical yet, the three-dimensional information of the target that laser is irradiated to can be calculated thus, meanwhile, by the gray-scale value of image, the half-tone information of target can be obtained.In addition, also by carrying out Fourier transform to multiple image to obtain phase information corresponding to each pixel, thus inverse goes out the range information of target, obtains 3-D view.
Next please refer to Fig. 2, and Fig. 2 is the principle schematic of active laser modulation-demodulation technique of the present invention.As shown in the figure, the modulation signal of long represented by dotted arrows LASER Light Source, the frequency of signal is 100kHz, solid line represents the restituted signal of image intensifier 310, and the frequency of signal is 110kHz, when laser echo signal is by after image intensifier demodulation, produce the low frequency light signal shown in short dash line in figure, the frequency of light signal is the difference on the frequency 10kHz of two modulation signals, and when the time that laser echo signal arrives image intensifier 310 changes, after demodulation, corresponding change can occur the phase value of signal.High-speed cmos camera is sampled to the signal after demodulation, and the time shutter of high-speed cmos camera is 1/4th of the low frequency light signal cycle, and sample frequency is four times of low frequency optical signal frequency.
The main devices that the present embodiment adopts has: for generation of the multi-channel signals generator 100 of different frequency square-wave signal; With the drive circuit module 210 of the semiconductor laser of the functions such as Voltage-current conversion, Current amplifier and overcurrent protection; The high power semiconductor lasers 220 that average power is 20W, centre wavelength is 808nm; The image intensifier 310 that time shutter can modulate; High-speed cmos camera 320 adopts IDT_nx4_s1 camera, and the resolution of camera is 1024 × 1024, and during ultimate resolution, frame frequency is 1000fps, and when resolution is 256 × 256, frame frequency is 4000fps; Laser emission optical system 500 adopts the homogenize sheet launched the adjustable optical lens group of field angle and have light spot homogenizing effect; Laser pick-off optical system 600 adopts the adjustable receiver lens group of narrow band pass filter and field of view of receiver angle; Host computer 400 adopts computer editing's program to carry out acquisition process to image.
Composition graphs 1, Fig. 2, the course of work of the ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation of the present embodiment is:
1. optimum configurations and device prepare: arrange modulation signal generator 110 and restituted signal generator 120 parameter, modulation signal generator 110 generated frequency is 1MHz, dutycycle is the square-wave modulation signal of 50%, this modulation signal is loaded on the current/charge-voltage convertor 211 of semiconductor laser device driving circuit module 210, in order to modulated laser output intensity; The square wave restituted signal that restituted signal generator 120 generated frequency is 999kHz, dutycycle is 50%, this restituted signal is loaded on the photocathode 311 of image intensifier 310, in order to control time and the frequency of image intensifier exposure.
2. the current/charge-voltage convertor 211 of semiconductor laser device driving circuit module 210 is after the modulation signal receiving modulation signal generator input; after its conversion; amplify through current amplification circuit 212; again by being loaded on semiconductor laser 220 after protection circuit 213; semiconductor laser 220 produces, laser signal that dutycycle identical identical with frequency modulating signal, and laser collimates through laser emission optical system 500, outgoing after homogenize.
3. the laser echo signal that laser pick-off optical system 600 receiving target reflects, and wiping out background light, collected by laser echo signal on the photocathode 311 of image intensifier 310, laser echo signal, by after photocathode 311 demodulation, produces the low frequency light signal of 1kHz.High-speed cmos camera 320 is when resolution is 256 × 256, and most high frame rate can reach 4000fps, gathers the low frequency light signal of 1kHz, and by the image uploading that collects to host computer 400.
4. host computer 400 upon receiving the image, each pixel in image is processed one by one, by four width images of continuous acquisition, just can calculate phase value corresponding to each pixel, because the time of arrival of laser echo signal corresponding to different pixels is different, therefore corresponding phase value is not identical yet, thus calculate the three-dimensional information of target, meanwhile, by the gray-scale value of image, the half-tone information of target can be obtained.When the resolution of image is 256 × 256, the frame frequency of camera is 4000fps, and therefore, the highest three-dimensional imaging speed can up to 1000fps.When laser emitting power is 20W, operating distance can reach 200m farthest, and range resolution is 0.15m.
Claims (5)
1. the ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation, it is characterized in that: this laser radar system is by governor circuit module (100), laser light source module (200), High Speed ICs MOS camera model (300), host computer (400), laser emission optical system (500) and laser pick-off optical system (600) composition: described governor circuit module (100) comprises modulation signal generator (110) and restituted signal generator (120), described laser light source module (200) comprises semiconductor laser (220) and semiconductor laser device driving circuit module (210), described semiconductor laser device driving circuit module (210) is by current/charge-voltage convertor (211), current amplification circuit (212) and protection circuit (213) connect and compose successively, described High Speed ICs MOS camera model (300) comprises image intensifier (310) and high-speed cmos camera (320), described image intensifier (310) is by photocathode (311), microchannel plate (312), video screen (313), coupling optical system (314) connects and composes successively, the modulation of source signal that described modulation signal generator (110) produces, pass through described current/charge-voltage convertor (211) successively, current amplification circuit (212), protection circuit (213), be input to described semiconductor laser (220), this semiconductor laser (220) produces the laser signal consistent with described modulation signal waveform, this laser signal is launched through laser emission optical system (500), laser after outgoing is reflected rear formation laser echo signal, this laser echo signal returns and is received by described laser pick-off optical system (600), described laser echo signal incides on the photocathode (311) of described image intensifier (310), the restituted signal that described restituted signal generator (120) produces is input to the photocathode (311) of described image intensifier (310), when laser echo signal incides photocathode (311), realize the demodulation to laser echo signal, the photoelectron that photocathode (311) produces is after microchannel plate (312) amplifies, impact fluorescence screen (313) produces fluoroscopic image, this fluoroscopic image is gathered by described high-speed cmos camera (320) after coupling optical system (314), this fluoroscopic image is uploaded to described host computer (400) by described high-speed cmos camera (320), this host computer processes described fluoroscopic image, obtain the phase information of laser echo signal, thus extrapolate the range information of target.
2. the ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation according to claim 1, it is characterized in that: the modulation signal that described modulation signal generator (110) produces is the square-wave signal of dutycycle 50%, or sine wave signal, the frequency range of modulation signal is 10kHz ~ 10MHz; The restituted signal that described restituted signal generator (120) produces is the square-wave signal of dutycycle 50%, and the frequency range of restituted signal is 10kHz ~ 10MHz.
3. the ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation according to claim 1, it is characterized in that: described high-speed cmos camera (320) is the camera that frame frequency is high and the time shutter is controlled, the time shutter of high speed camera is adjustable within the scope of 1 μ s ~ 50ms, Timing resolution is 1 μ s, the thousands of frame of frame frequency of camera is per second, when camera resolution is 256 × 256, the frame frequency of camera is 4000fps.
4. the ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation according to claim 1, it is characterized in that: described host computer (400) has image acquisition and image real time transfer function, host computer is to four width images of continuous acquisition or more several process, the range information of target corresponding to each pixel can be calculated, obtain 3-D view.
5. the ICMOS high speed three-dimensional imaging laser radar based on modulation of source demodulation according to any one of Claims 1-4, it is characterized in that: described laser emission optical system (500) is made up of optical emitting lens and homogenize sheet, be mainly used in the angle of divergence of homogenize hot spot and control laser, and the angle of divergence of laser is adjustable, to adapt to the demand of different occasion.
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