CN106597468B - A kind of dual-mode laser imaging system and imaging method - Google Patents
A kind of dual-mode laser imaging system and imaging method Download PDFInfo
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- CN106597468B CN106597468B CN201611007527.2A CN201611007527A CN106597468B CN 106597468 B CN106597468 B CN 106597468B CN 201611007527 A CN201611007527 A CN 201611007527A CN 106597468 B CN106597468 B CN 106597468B
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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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Abstract
The invention discloses a kind of dual-mode laser imaging system and imaging methods.The system includes laser light source, optical splitter, laser processing modules, laser beam splitter module, local oscillator switch, echo signal reception module, detector, frequency mixing module and signal processing module.Dual-mode laser imaging system provided by the invention can detect target be in different modes from laser radar when, switch dual-mode laser imaging system between direct detection and coherent detection by local oscillator switch, not only have many advantages, such as to be imaged at short distance fast, high resolution, realize it is simple, but also have in the ability for utilizing coherent detection high sensitivity target range at a distance, it needs to obtain single-point operating distance as far as possible with practical application medium and long distance, closely needs to obtain target multicast range information and be consistent conducive to target identification.
Description
Technical field
The present invention relates to laser radar field, in particular to a kind of dual-mode laser imaging system and imaging method.
Background technique
Existing visible light and infrared imaging only have the two dimensional image of target without range information, and visible light and red
The performance of outer imaging device is illuminated by the light the influence of condition and target temperature characteristic respectively.
It is the slice gating formula laser imaging radar of existing single-mode, more slit streak tube laser imaging radars, continuous
Wave modulates laser imaging radar, gain modulation laser imaging radar, and laser long distancemeter only has and closely carries out to target
The function of one in three-dimensional imaging or telemeasurement target range obtains as far as possible in practical application being needs remote
Remote operating distance, and need to obtain the demand mismatch that target high-resolution range information is conducive to target identification in short distance.
Summary of the invention
In order to need to obtain single-point operating distance as far as possible with practical application medium and long distance, closely need to obtain mesh
Mark multiple spot range information is consistent conducive to target identification, and the present invention provides a kind of dual-mode laser imaging system and imaging methods.
Dual-mode laser imaging system provided by the invention, including laser light source, optical splitter, laser processing modules, laser point
Beam module, local oscillator switch, echo signal reception module, detector, frequency mixing module and signal processing module:
The laser light source, for generating seed source；
The optical splitter, for the seed source to be divided into two-way, riches all the way is incident upon laser processing modules, all the way as this
Vibration signal, which emits to local oscillator, to be switched；
The laser processing modules, for being modulated, amplifying to the seed source and Shape correction；
The laser beam splitter module, for the seed source after ovennodulation, amplification and Shape correction to be divided into multichannel sub-light
Emit after beam to target to be detected；
The local oscillator switch, for exporting described in the case where the detection target and laser radar are in remote mode
Signal shake to frequency mixing module；In the case where the detection target and laser radar are in short distance mode, forbid exporting the local oscillator letter
Number arrive frequency mixing module；
The echo signal reception module for receiving each road echo-signal of target reflection to be detected, and is exported to institute
State frequency mixing module；
The frequency mixing module, for when receiving the local oscillation signal, by each road echo-signal and the local oscillator
Signal carries out Frequency mixing processing, obtains the mixing road Hou Ge echo-signal and exports to the detector；Described is not being received
When vibration signal, directly each road echo-signal is exported to the detector；
The detector, for carrying out light to by Frequency mixing processing or without each road echo-signal of Frequency mixing processing respectively
It exports after electricity conversion, shaping and enhanced processing to signal processing module；
The signal processing module, for according to by mixing, photoelectric conversion, shaping and the road enhanced processing Hou Ge echo
Signal obtains the range information of target to be detected, or believes according to by photoelectric conversion, shaping and enhanced processing Hou Ge road echo
Number obtain the Range Profile of target each point to be detected.
The imaging method of dual-mode laser imaging system provided by the invention, comprising the following steps:
It generates seed source and is simultaneously divided into two-way, to wherein seed source is modulated, amplifies and Shape correction all the way, by another way
Seed source is as local oscillation signal；
Emit after seed source after ovennodulation, amplification and Shape correction is divided into multichannel beamlet to target to be detected；
Receive each road echo-signal of target reflection to be detected；
In the case where the detection target and laser radar are in remote mode, by each road echo-signal and the local oscillator
Signal carry out Frequency mixing processing, obtain mixing the road Hou Ge echo-signal, will mixing the road Hou Ge echo-signal carry out photoelectric conversion,
Shaping and enhanced processing, and obtain according to by mixing, photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal wait visit
Survey the range information of target；
In the case where the detection target and laser radar are in short distance mode, each road echo-signal is directly subjected to light
Electricity conversion, shaping and enhanced processing, and according to by photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal obtain to
Detect the Range Profile of target each point.
Beneficial effects of the present invention are as follows:
The present invention can make dual-mode laser imaging system straight when detection target is in different modes from laser radar
Connect and switch between detection and coherent detection, not only have many advantages, such as to be imaged at short distance fast, high resolution, realize it is simple, and
And also have in the ability for utilizing coherent detection high sensitivity target range at a distance, it needs to obtain with practical application medium and long distance
Single-point operating distance as far as possible closely needs to obtain target multicast range information and is consistent conducive to target identification.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of apparatus of the present invention embodiment dual-mode laser imaging system；
Fig. 2 is the structural schematic diagram of 1 dual-mode laser imaging system of apparatus of the present invention examples Example；
Fig. 3 is the flow chart of the imaging method of embodiment of the present invention method dual-mode laser imaging system.
Specific embodiment
In order to need to obtain single-point operating distance as far as possible with practical application medium and long distance, closely need to obtain mesh
Mark multiple spot range information is consistent conducive to target identification, during space flight detection lander drops to celestial body surface and swashs
For optical radar in the identification process of target, more efficient safe, more simple and reliable land are on celestial body surface and complete target identification.This
Invention provides a kind of dual-mode laser imaging system and imaging method, below in conjunction with attached drawing and embodiment, carries out to the present invention
It is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, this hair is not limited
It is bright.
Apparatus according to the invention embodiment, provides a kind of dual-mode laser imaging system, and Fig. 1 is that apparatus of the present invention are implemented
The structural schematic diagram of example dual-mode laser imaging system, as shown in Figure 1, system is imaged in the dual-mode laser of Installation practice according to the present invention
System includes including laser light source 10, optical splitter 11, laser processing modules 12, laser beam splitter module 13, local oscillator switch 14, echo letter
Number receiving module 15, frequency mixing module 16, detector 17 and signal processing module 18；Below to each mould of the embodiment of the present invention
Block is described in detail.
Specifically, the laser light source, for generating seed source.More specifically, the laser light source is swashed using pulse
Light device.
The optical splitter, for the seed source to be divided into two-way, riches all the way is incident upon laser processing modules, all the way as this
Vibration signal, which emits to local oscillator, to be switched.
Specifically, the laser processing modules, for being modulated, amplifying to the seed source and Shape correction.
More specifically, the laser processing modules include modulator, amplifier and reshaper；
The modulator is modulated processing for the seed source；
The amplifier, for amplifying processing to modulated seed source；
The reshaper, for carrying out Shape correction to amplified seed source.
Specifically, the laser beam splitter module, more for the seed source after ovennodulation, amplification and Shape correction to be divided into
Emit after way light beam to target to be detected.More specifically, the laser beam splitter module uses diffraction beam splitting system, preferably
Efficiently extend beam splitting system.
In apparatus of the present invention embodiment, the detector uses array APD (avalanche photodide), including N × N number of
Probe unit；Corresponding, the laser beam splitter module is specifically used for, by the seed source after ovennodulation, amplification and Shape correction
Emit after being divided into N × N number of beamlet to target to be detected.
Specifically, the local oscillator switch, for exporting in the case where the detection target and laser radar are in remote mode
The local oscillation signal is to frequency mixing module；In the case where the detection target and laser radar are in short distance mode, forbid described in output
Local oscillation signal is to frequency mixing module.
Specifically, the echo signal reception module, for receiving each road echo-signal of target reflection to be detected.
More specifically, the echo signal reception module is laser pick-off camera lens, and the laser pick-off camera lens can be
Single port diameter camera lens.
Specifically, the frequency mixing module, for when receiving the local oscillation signal, by each road echo-signal and institute
It states local oscillation signal and carries out Frequency mixing processing, obtain the mixing road Hou Ge echo-signal and export to the detector；It is not receiving
When the local oscillation signal, directly each road echo-signal is exported to the detector.
Specifically, the detector, for believing respectively by Frequency mixing processing or without each road echo of Frequency mixing processing
Output number is carried out after photoelectric conversion, shaping and enhanced processing to signal processing module.
In the present invention, the position that adjust echo signal reception module, detector, laser beam splitter module, so that each
Beamlet can return to corresponding detector cells after target to be detected reflection.
Specifically, the signal processing module, for according to after mixing, photoelectric conversion, shaping and enhanced processing
Each road echo-signal obtains the range information of target to be detected, or according to each after photoelectric conversion, shaping and enhanced processing
Road echo-signal obtains the Range Profile of target each point to be detected.
More specifically, the signal processing module is specifically used for,
Segmentation frequency domain processing is carried out to by mixing, photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal, is looked for
The delay of signal segment when frequency spectrum maximum out, the delay of signal segment when according to frequency spectrum maximum obtain the distance letter of target to be detected
Breath；
Time-domain analysis, and the threshold value with setting are carried out to the echo-signal after photoelectric conversion, shaping and enhanced processing
It is compared, generates pulse signal when up to or over threshold value, the distance of target each point to be detected is obtained according to pulse signal
Picture.
The dual-mode laser imaging system of Installation practice in order to better illustrate the present invention, provides example 1, and Fig. 2 is this hair
The structural schematic diagram of bright 1 dual-mode laser imaging system of Installation practice example (some components do not mark title in Fig. 2).
In the dual-mode laser imaging system that apparatus of the present invention embodiment provides, laser light source uses pulse laser, visits
It surveys device and uses array APD (avalanche photodide), using dual-mode laser Detecting System, receive mode and switched by local oscillator straight
It connects and switches between detection and coherent detection, when detecting target range laser radar farther out, open local oscillator and switch, at laser radar
In coherent detection mode, detector array is used as single-element detector, is mixed local oscillation signal and echo-signal, when passing through
Signal after frequency analysis mixing measures the range information of target point；When laser radar distance objective is closer, closes local oscillator and open
It closes, detector array is used as multiunit detector, each probe unit can detect sub-light all the way on detector array
The range information that beam returns, finally obtains high resolution range profile, is conducive to target detail identification.
Compared with visible light and infrared imaging, the dual-mode laser imaging system of apparatus of the present invention embodiment is using actively
Laser lighting, imaging effect and use condition relationship are little；Compared with microwave radar, the bimodulus of apparatus of the present invention embodiment swashs
The spatial resolution and distance resolution (picture quality) that photoimaging systems have microwave radar incomparable, also not vulnerable to electromagnetism
Interference；Compared with sweep type laser radar, the dual-mode laser imaging system of apparatus of the present invention embodiment has imaging rate height, figure
Image quality amount do not influenced by optical quality and scanning accuracy, without high-speed moving part, high reliablity, do not need stabilized platform, use
The features such as facilitating；Formula laser imaging radar, more slit streak tube laser imaging radars, continuous wave are gated with the slice of single-mode
Modulation laser imaging radar, gain modulation laser imaging radar are compared, the dual-mode laser imaging system of apparatus of the present invention embodiment
Fast, high resolution is imaged in addition to having many advantages, such as array detection three-dimensional imaging at short distance, realizes simple, also has in long distance
From the ability using coherent detection high sensitivity target range, need to obtain single-point as far as possible with practical application medium and long distance
Operating distance closely needs to obtain target multicast range information and is consistent conducive to target identification.
Embodiment according to the method for the present invention, provides a kind of imaging method of dual-mode laser imaging system, and Fig. 2 is this hair
The flow chart of the imaging method of the dual-mode laser imaging system of bright embodiment of the method, as shown in Fig. 2, implementing according to the method for the present invention
The imaging method of the dual-mode laser imaging system of example includes following processing:
Step 201, it generates seed source and is divided into two-way, to wherein seed source is modulated, amplifies and Shape correction all the way,
Using another way seed source as local oscillation signal；
Step 202, transmitting is to wait visit after the seed source after ovennodulation, amplification and Shape correction being divided into multichannel beamlet
Survey target；
Step 203, each road echo-signal of target reflection to be detected is received；
Step 204, in the case where the detection target and laser radar be in remote mode, by each road echo-signal and
The local oscillation signal carries out Frequency mixing processing, obtains the mixing road Hou Ge echo-signal, and the mixing road Hou Ge echo-signal is carried out
Photoelectric conversion, shaping and enhanced processing, and believe according to by mixing, photoelectric conversion, shaping and enhanced processing Hou Ge road echo
Number obtain the range information of target to be detected；
Step 205, in the case where the detection target and laser radar are in short distance mode, directly each road echo is believed
Number photoelectric conversion, shaping and enhanced processing are carried out, and believed according to by photoelectric conversion, shaping and enhanced processing Hou Ge road echo
Number obtain the Range Profile of target each point to be detected.
The detector uses array APD, including N × N number of probe unit, and corresponding, step 202 specifically includes following step
It is rapid:
Emit after seed source after ovennodulation, amplification and Shape correction is divided into N × N number of beamlet to mesh to be detected
Mark.
Specifically, to be detected according to being obtained by mixing, photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal
The range information of target specifically includes the following steps:
Segmentation frequency domain processing is carried out to by mixing, photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal, is looked for
The delay of signal segment when frequency spectrum maximum out, the delay of signal segment when according to frequency spectrum maximum obtain the distance letter of target to be detected
Breath.
Specifically, obtaining target to be detected according to by photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal
The Range Profile of each point specifically includes the following steps:
Time-domain analysis, and the threshold value with setting are carried out to the echo-signal after photoelectric conversion, shaping and enhanced processing
It is compared, generates pulse signal when up to or over threshold value, the distance of target each point to be detected is obtained according to pulse signal
Picture.
In order to which the imaging method of dual-mode laser imaging system of the invention is described in detail, example 1 is provided.In example 1,
The imaging method of dual-mode laser imaging system the following steps are included:
(1), pulse laser is opened, seed source is generated；
(2), seed source is divided into two-way, passes through frequency modulation(PFM), copped wave and power amplification all the way, another way enters local oscillator and opens
It closes；
(3), enter laser beam splitter system by shaping by amplified laser signal, beam of laser is divided into N × N
Light beam, then transmitting to detection target, and beam emissions moment tl is recorded, the pixel of detector is also N × N；Adjustment receives
Camera lens, detector, laser beam splitter system position so that each beamlet can be back to corresponding after target object reflects
Detector pixel；
(4) laser pick-off camera lens receives each road echo-signal of target reflection to be detected；
(5) in the case where the detection target and laser radar are in remote mode, keep local oscillator switch in the open state, it will
Each road echo-signal and the local oscillation signal carry out Frequency mixing processing, obtain the mixing road Hou Ge echo-signal；The mixing
The road Hou Ge echo-signal has respectively entered the corresponding probe unit of the face N × N battle array APD, and each probe unit is sharp to detecting
Optical signal carries out photoelectric conversion, and the electric signal after conversion is by shaping, amplification；To by mixing, photoelectric conversion, shaping and amplification
Each road echo-signal that treated carries out segmentation frequency domain processing, the delay of signal segment when finding out frequency spectrum maximum, most according to frequency spectrum
The delay of signal segment when big obtains the range information of target to be detected；
(6) in the case where the detection target and laser radar are in short distance mode, it is in close state local oscillator switch, directly
The corresponding probe unit for making each road echo-signal have respectively entered the face N × N battle array APD is connect, each probe unit is to detection
Photoelectric conversion is carried out to laser signal, the electric signal after conversion is by shaping, amplification, to by photoelectric conversion, shaping and amplification
Echo-signal that treated carries out time-domain analysis, and is compared with the threshold value of setting, generates arteries and veins when up to or over threshold value
Signal is rushed, the Range Profile of target each point to be detected is obtained according to pulse signal；
(7), the Range Profile of target each point is sent to host computer, and be color coded, by target each point three in visual field
Dimension image is shown.
The above description is only an embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (7)
1. a kind of dual-mode laser imaging system is applied to laser radar, which is characterized in that including laser light source, optical splitter, laser
Processing module, laser beam splitter module, local oscillator switch, echo signal reception module, frequency mixing module, detector and signal processing mould
Block:
The laser light source, for generating seed source；
The optical splitter, for the seed source to be divided into two-way, riches all the way is incident upon laser processing modules, believes all the way as local oscillator
Number transmitting to local oscillator switch；
The laser processing modules, for being modulated, amplifying to the seed source and Shape correction；
The laser beam splitter module, after the seed source after ovennodulation, amplification and Shape correction is divided into multichannel beamlet
Emit to target to be detected；
The local oscillator switch, in the case where the detection target and laser radar are in remote mode, exporting the local oscillator letter
Number arrive frequency mixing module；In the case where the detection target and laser radar are in short distance mode, forbid exporting the local oscillation signal and arrive
Frequency mixing module；
The echo signal reception module for receiving each road echo-signal of target reflection to be detected, and is exported to described mixed
Frequency module；
The frequency mixing module, for when receiving the local oscillation signal, by each road echo-signal and the local oscillation signal
Frequency mixing processing is carried out, the mixing road Hou Ge echo-signal is obtained and is exported to the detector；The local oscillator letter is not being received
Number when, directly each road echo-signal is exported to the detector；
The detector, for carrying out photoelectricity turn to by Frequency mixing processing or without each road echo-signal of Frequency mixing processing respectively
It changes, export after shaping and enhanced processing to signal processing module；
The signal processing module is used for,
Segmentation frequency domain processing is carried out to by mixing, photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal, finds out frequency
The delay of signal segment when spectrum is maximum, the delay of signal segment when according to frequency spectrum maximum obtain the range information of target to be detected；
Time-domain analysis is carried out to the echo-signal after photoelectric conversion, shaping and enhanced processing, and is carried out with the threshold value of setting
Compare, generate pulse signal when up to or over threshold value, the Range Profile of target each point to be detected is obtained according to pulse signal.
2. dual-mode laser imaging system as described in claim 1, which is characterized in that the laser processing modules include modulation
Device, amplifier and reshaper；
The modulator is modulated processing for the seed source；
The amplifier, for amplifying processing to modulated seed source；
The reshaper, for carrying out Shape correction to amplified seed source.
3. dual-mode laser imaging system as described in claim 1, which is characterized in that the detector uses array avalanche optoelectronic
Diode APD, the array APD include N × N number of probe unit；
The laser beam splitter module is specifically used for, and the seed source after ovennodulation, amplification and Shape correction is divided into N × N number of son
Emit after light beam to target to be detected.
4. dual-mode laser imaging system as described in claim 1, which is characterized in that the laser light source uses pulse laser
Device.
5. dual-mode laser imaging system as described in claim 1, which is characterized in that the laser beam splitter module is using diffraction point
Photosystem.
6. a kind of imaging method of dual-mode laser imaging system, which comprises the following steps:
It generates seed source and is simultaneously divided into two-way, to wherein seed source is modulated, amplifies and Shape correction all the way, by another way seed
Source is as local oscillation signal；
Emit after seed source after ovennodulation, amplification and Shape correction is divided into multichannel beamlet to target to be detected；
Receive each road echo-signal of target reflection to be detected；
In the case where the detection target and laser radar are in remote mode, by each road echo-signal and the local oscillation signal
Frequency mixing processing is carried out, the mixing road Hou Ge echo-signal is obtained, the mixing road Hou Ge echo-signal is subjected to photoelectric conversion, shaping
And enhanced processing, it is carried out at segmentation frequency domain to by mixing, photoelectric conversion, shaping and the road enhanced processing Hou Ge echo-signal
Reason, the delay of signal segment when finding out frequency spectrum maximum, the delay of signal segment when according to frequency spectrum maximum obtain target to be detected
Range information；
In the case where the detection target and laser radar are in short distance mode, each road echo-signal is directly subjected to photoelectricity and is turned
It changes, shaping and enhanced processing, time-domain analysis is carried out to the echo-signal after photoelectric conversion, shaping and enhanced processing, and with
The threshold value of setting is compared, and generates pulse signal when up to or over threshold value, obtains target to be detected according to pulse signal
The Range Profile of each point.
7. the imaging method of dual-mode laser imaging system as claimed in claim 6, which is characterized in that the detector uses battle array
Column avalanche photodide APD, the array APD include N × N number of probe unit；
Transmitting to target to be detected is specifically wrapped after seed source after ovennodulation, amplification and Shape correction is divided into multichannel beamlet
Include following steps:
Emit after seed source after ovennodulation, amplification and Shape correction is divided into N × N number of beamlet to target to be detected.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107238843A (en) * | 2017-06-07 | 2017-10-10 | 深圳市东方宇之光科技股份有限公司 | laser imaging control method and device |
| CN109100743A (en) * | 2018-09-07 | 2018-12-28 | 中国科学院上海光学精密机械研究所 | Active-passive composite laser hologram radar |
| CN109655841B (en) * | 2018-12-13 | 2020-08-14 | 北京遥测技术研究所 | Terahertz multimode real-time imaging system |
| CN110007291B (en) * | 2019-04-16 | 2021-07-02 | 深圳市速腾聚创科技有限公司 | Receiving system and laser radar |
| CN110133615A (en) * | 2019-04-17 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | A kind of laser radar system |
| CN110133617A (en) * | 2019-04-17 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | A kind of laser radar system |
| CN110133616B (en) * | 2019-04-17 | 2021-08-17 | 深圳市速腾聚创科技有限公司 | Laser radar system |
| CN114174866A (en) * | 2019-07-30 | 2022-03-11 | 深圳源光科技有限公司 | Image sensor for laser radar system |
| WO2021056333A1 (en) | 2019-09-26 | 2021-04-01 | 深圳市速腾聚创科技有限公司 | Laser frequency modulation method and apparatus, and storage medium and laser |
| CN114552362A (en) * | 2022-04-28 | 2022-05-27 | 武汉镭晟科技有限公司 | Laser for laser radar |
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