CN103576134B - A kind of Full-waveform laser radar system based on coaxial two-channel data acquisition - Google Patents
A kind of Full-waveform laser radar system based on coaxial two-channel data acquisition Download PDFInfo
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- CN103576134B CN103576134B CN201310610608.1A CN201310610608A CN103576134B CN 103576134 B CN103576134 B CN 103576134B CN 201310610608 A CN201310610608 A CN 201310610608A CN 103576134 B CN103576134 B CN 103576134B
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
Abstract
The invention discloses a kind of Full-waveform laser radar system based on coaxial two-channel data acquisition, breach the restriction that conventional laser radar can only measure limited Distance geometry intensity data, solve the problem of non-coaxial laser radar detection blind area simultaneously; Full-waveform laser radar system based on coaxial two-channel data acquisition of the present invention comprises pulsed laser, Laser emission and receiving element, data acquisition unit, control module and software unit; The pulse of control module gating pulse laser instrument Emission Lasers, laser pulse is divided into after Laser emission and receiving element: outgoing beam, capture card control signal produce light beam and transmitted waveform writing light beam, outgoing beam is launched after target scattering to collect with receiving element enters data acquisition unit, collected as Received signal strength; Software unit is used for providing Man Machine Interface.The present invention can stored transmit laser pulse and the complete waveform receiving laser pulse, the effectively detectivity of enhancing Full wave shape laser radar.
Description
Technical field
The present invention relates to lidar measurement field, especially a kind of Full-waveform laser radar system based on coaxial two-channel data acquisition.
Background technology
Laser radar is a kind of active remote sensing technology by means of laser, the time between target and laser radar platform is travelled to and fro between mainly through measurement laser pulse, the distance between laser radar platform and target is obtained according to distance and the relation of the light velocity and time, coordinate the action of scanister, laser radar can complete the scanning to target surface, simultaneously in conjunction with position and the attitude data of laser radar platform, thus obtain digital surface model and the digital elevation model of target.Because pulsed laser used in practice exists certain angle of divergence, cause launched laser pulse light beam with the form forward direction of approximate circular cone, it is no longer a point when laser pulse light beam and objectives interation, but a round spot, this circle spot is called as laser facula, again due to complicacy and the diversity of target in measurement environment, thus in a laser facula, multiple Scattering Targets is likely comprised or a target has multiple scattering surface, thus cause the complicacy of laser pulse echoed signal waveform, such as, comprise multiple pulse in an echo or pulse broadened.But conventional laser radar just obtains the distance value (present stage mostly is 6 most) of one or more target in laser facula by means of certain threshold method (rising edge, peak value or center of gravity etc.), again because different target has different echo waveforms, therefore only adopt fixing threshold detection method, different targets can be caused to have different distance accuracies.Although some foreign vendor can provide laser pulse echo acquirement module, expensive.The laser radar of present stage is all adopt approximately axial metering system (emitting light path is parallel with echo light path) on the other hand, can cause the loss of backward energy, short-distance blind section like this and adjust the complicacy of parallel light path.Finally, due to the instability of laser instrument in laser radar, cause the laser pulse shape of transmitting in measuring for each time different, if do not consider this species diversity when subsequent treatment data, will measuring accuracy be reduced.Full wave shape laser radar refers to laser pulse signal complete collection and storage in regular hour interval by means of high-speed data acquiring device, thus obtain the complete waveform of laser pulse, the waveform signal collected is called as Full wave shape signal, according to comprising the abundant physics of target and geometrical property information in the known Full wave shape signal of mechanism of laser pulse and objectives interation.
Summary of the invention
The invention discloses a kind of Full-waveform laser radar system based on coaxial two-channel data acquisition, object is improve the detectivity of conventional laser radar and reduce the detection blind area of laser radar, and records Emission Lasers pulse and the complete waveform receiving laser pulse simultaneously.
Described laser radar system comprises pulsed laser, Laser emission and receiving element, data acquisition unit, control module and software unit, described Laser emission and receiving element form by beam splitter with axle module, described data acquisition unit is by Emission Lasers detector, receive laser detector, High-Speed Double-Channel data collecting card and capture card control module composition, described control module is made up of main control computer and laser control unit, described pulsed laser receives the laser control signal from laser control unit, send the laser pulse of certain frequency and pulse width, in order to realize the full storage of Emission Lasers pulse and reception laser pulse shape, and eliminate the emission delay of pulsed laser, the beam splitter of described laser pulse in Laser emission and receiving element is divided into 3 bundles, the 1st same axle module outgoing of bundle laser pulse in Laser emission and receiving element is shone to target, laser pulse is after target scattering, the reception laser detector in data acquisition unit is focused on by the same axle module in Laser emission and receiving element, receive laser detector and the light signal received is converted to electric signal, thus gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of sample frequency at a high speed, the waveform receiving laser pulse can by complete collection, thus the Full wave shape realizing receiving laser pulse stores, 2nd bundle laser pulse incides the Emission Lasers detector in data acquisition unit, laser pulse is converted to electric signal by Emission Lasers detector, thus gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of sample frequency at a high speed, the waveform of Emission Lasers pulse can by complete collection, thus the Full wave shape realizing Emission Lasers pulse stores, due to the instability of pulsed laser work, launched laser pulse is caused to have different waveforms, stored transmit laser pulse shape and reception laser pulse shape simultaneously, in the signal transacting in later stage, the otherness of Emission Lasers pulse waveform can be considered, thus get a more accurate measurement result, and can according to Emission Lasers pulse waveform and the otherness receiving laser pulse shape, be finally inversed by physics and the geometrical property of target, 3rd bundle laser pulse enters capture card control module in data acquisition unit for generation of capture card control signal, this signal is used for setting data and reads reference position, for the reference position in main control computer reading High-Speed Double-Channel data collecting card during data, can realize the complete reading of Emission Lasers pulse waveform by means of digital independent reference position, and transmitted waveform and reception waveform time coordinate is consistent, described control module completes the control of paired pulses laser instrument and data acquisition unit high speed double channel data acquisition card, and the data collected in High-Speed Double-Channel data collecting card are read, show, store and calculated, and provide hardware platform for software unit, described software unit provides Man Machine Interface, the configuration of data acquisition unit and control module, the data collected and the display of data processed result, patent of the present invention can realize Emission Lasers pulse light path in laser radar light path and receive the completely coaxial of laser pulse light path, can realize Emission Lasers pulse simultaneously and receive the Full wave shape collection of laser pulse, display and according to the storage of setting form.
Described Laser emission and receiving element can realize Emission Lasers pulse and receive the completely coaxial of laser pulse light path, and realize the light splitting of paired pulses laser instrument institute Emission Lasers pulse, thus the laser pulse signal of different component is respectively used to produce capture card control signal, Emission Lasers pulse waveform collection signal, and shoot laser pulse signal, described Laser emission and receiving element are by two beam splitters and form with axle module, the reflection and transmission of first beam splitter is than being 9:1, thus be divided into by the laser pulse that pulsed laser is launched the ratio of light intensity to be that two of 9:1 restraints laser pulses, folded light beam accounts for significant proportion mainly because folded light beam will be shone to target as shoot laser pulse by same axle module, the energy of shoot laser pulse is larger, measuring distance is far away, laser pulse signal signal to noise ratio (S/N ratio) through target scattering is higher, thus the remote and accurately measurement of realize target, transmitted light beam is through second beam splitter beam splitting again, the reflection and transmission of second beam splitter is than being 1:9, wherein transmitted light beam accounts for significant proportion mainly because transmitted light beam is launched laser detector reception as Emission Lasers pulse waveform collection signal, higher signal energy ensure that the Emission Lasers pulse waveform collected has higher signal to noise ratio (S/N ratio), thus ensures the accurate storage of Emission Lasers pulse waveform, folded light beam enters the capture card control module in data acquisition unit, for generation of capture card control signal, described same axle module is by plane mirror, catoptron base, base support, sleeve and condenser lens composition, described plane mirror is coated with the deielectric-coating improving reflectivity, mainly for reducing the energy loss of folded light beam, the thickness of plane mirror is 1-2mm, width is 2mm, length is 4mm, less thickness, mainly in order to ensure that catoptron is fixed to center support being still in same axle module, is to reduce catoptron blocking the laser pulse signal through target scattering compared with the catoptron of small size, thus reduces the loss of backward energy, the half that the square of described catoptron base to be the length of side be 2mm diagonally cuts, described plane mirror is fixed on the inclined-plane of catoptron base by the mode of gummed, described base support is made up of round base and concurrent three line bracket, the width of three line brackets is 2mm, to ensure on the one hand on the concurrent that catoptron base can be fixed on three line brackets and the weight of catoptron base can be born, reducing three line brackets blocking echoed signal on the other hand, described catoptron base is fixed on the concurrent of base support by the mode of gummed, and the round base of described base support is fixed on the front portion of sleeve by nut, and described condenser lens is also fixed on the inside of sleeve by nut, because plane mirror is positioned at the center of base support, condenser lens optical axis overlaps with the round base central shaft of base support, and therefore plane mirror is positioned on the optical axis of condenser lens, laser pulse through first beam splitter reflection incides on the plane mirror of same axle module in the mode of 45° angle, thus make direction of beam propagation change 90 ° with horizontal direction outgoing, because plane mirror is positioned on condenser lens optical axis, thus make Emission Lasers pulse emitting light path and condenser lens optical axis coincidence, Emission Lasers pulse returns along optical axis after target scattering, thus it is coaxial with reception laser pulse light path to realize Emission Lasers pulse light path, scattering laser pulse echo can focus on and receive on laser detector by condenser lens simultaneously, thus increase the reception laser pulse luminous energy detected.
Described data acquisition unit can realize Emission Lasers pulse and gather with the binary channels receiving laser pulse simultaneously, realize complete collection and the storage of Emission Lasers pulse and reception laser pulse shape simultaneously, thus the Full wave shape realizing laser pulse stores, described data acquisition unit comprises: Emission Lasers detector, reception laser detector, High-Speed Double-Channel data collecting card and capture card control module, Emission Lasers detector and reception laser detector realize Emission Lasers pulse respectively and receive the opto-electronic conversion of laser pulse, and connect respectively at two acquisition channels of High-Speed Double-Channel data collecting card, High-Speed Double-Channel data collecting card completes the conversion of simulating signal to digital signal, and carries in storer by the signal storage collected to from body, capture card control module is made up of photodiode and signal conditioning circuit, photodiode receives the laser pulse signal from Laser emission and receiving element, laser pulse signal is converted to electric pulse, electric pulse produces capture card control signal after described signal conditioning circuit shaping, filtering and amplification, thus completes the control to capture card, after collection terminates, the main control computer in control module reads the data in double channel data acquisition card, thus realizes storage and the calculating of Emission Lasers pulse and reception laser pulse shape, double detector double channels acquisition gathers while can ensureing transponder pulse and received pulse, guarantee transmits and Received signal strength has identical time coordinate, can eliminate relative to the collection of simple detector single channel and measure blind area, realize close-in measurement, can avoid transmitting and the mutual interference of Received signal strength simultaneously, because transmitted waveform collection signal and capture card control signal come from different modules, capture card control signal is caused to postpone relative to Emission Lasers pulse signal life period, when transponder pulse signal arrives capture card, capture card is not also triggered collection, in order to ensure the full storage of Emission Lasers pulse waveform, High-Speed Double-Channel data collecting card is operated in Real-time Collection pattern, and the data collected are stored into plate carry in storer, when High-Speed Double-Channel data collecting card receives the capture card control signal from capture card control module, reading reference position data will be set at current sampling point place, after sampling meets sampling configuration requirement, main control computer is to read reference position data for benchmark, the data of certain length are read respectively in the front and back of reading reference position data, the data reading certain length before storage mark are to eliminate delayed relative to Emission Lasers pulse of capture card control signal, the data reading certain length after storage mark are the integralities in order to ensure data, thus realize the complete reading of Emission Lasers pulse waveform, finally complete Emission Lasers pulse waveform and the full storage receiving laser pulse shape.
Described software unit comprises: High-Speed Double-Channel data collecting card configuration section, laser control unit configuration section and waveform display section composition.High-Speed Double-Channel data collecting card configuration section comprises file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input setting, capture card triggering setting.File arranges the display of the setting that comprises file store path and storage file number.Acquisition channel voltage arranges the setting of the bias voltage of reference voltage setting and the acquisition channel comprising acquisition channel 0 and acquisition channel 1.Sampling channel set of time comprises the setting of the setting of sample frequency, the setting of record length and reference position.Acquisition channel input arranges and comprises the maximum incoming frequency (passing through low-pass filtering before sampling) of acquisition channel 0 and acquisition channel 1 and the setting of input signal coupling scheme.Capture card triggering setting comprises trigger source setting, triggering level size is arranged, trigger port coupling scheme are arranged and the selection of triggering edge.Laser control unit configuration section comprises laser control signal frequency, amplitude and dutycycle and arranges.Waveform display window is used for transmitted waveform and receives the real-time display of waveform.
Described data memory format is that configuration parameter separates with data block and stores, and data block is divided into data sub-block again; 1-17 bytes store configuration parameter, the 17th byte stores data block later; Concrete storage format, as described below: the 1-4 bytes store system starts time, wherein the system starts time comprises year, month and day; 5th byte is sampling channel connected mode, 0 represents Emission Lasers detector is connected with the 1st passage of High-Speed Double-Channel data collecting card, receive laser detector to be connected with the 2nd passage of High-Speed Double-Channel data collecting card simultaneously, 1 represents Emission Lasers detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card, receives laser detector simultaneously and is connected with the 1st passage of High-Speed Double-Channel data collecting card; The sampling number of 6-9 bytes store High-Speed Double-Channel data collecting card the 1st path setting, adopts high-order at the posterior storage mode of front low level; The sampling number of 10-13 bytes store High-Speed Double-Channel data collecting card the 2nd path setting, adopts high-order at the posterior storage mode of front low level; The sample frequency of 14-15 bytes store High-Speed Double-Channel data collecting card setting, sample frequency, in units of megahertz, adopts high-order at the posterior storage mode of front low level; The reference voltage of the 16th bytes store High-Speed Double-Channel data collecting card the 1st path setting, described reference voltage is in units of millivolt; The reference voltage of the 17th bytes store High-Speed Double-Channel data collecting card the 2nd path setting, described reference voltage is in units of millivolt, 17th byte stores each data sub-block measured later respectively, each data sub-block corresponds to a laser pulse of pulsed laser transmitting and the scattering laser pulse of reception, and data sub-block comprises x time, the Emission Lasers pulse Full wave shape data of laser pulse and receives laser pulse Full wave shape data.
Described control module comprises laser control unit and main control computer, adopt the distributed control mode that main control computer and each unit independence sub-controller combine, sub-controller controls subordinate's unit respectively, overhead control is that realization is to the configuration of sub-controller and monitoring, the working load of overhead control unit can be reduced like this, realize the stability controlling increase system more accurately; Because the microprocessor of present stage adopts single-threaded executive mode mostly, multiple task is realized as needed at operational process, can influence each other between task, again because native system needs data acquisition at a high speed and storage, slight influence all can cause loss and the entanglement of data, thus cause the instability of system, therefore adopt distributed control mode can ensure the stable operation of whole system.
Described laser control unit is made up of microprocessor and adapter, and described microprocessor can be single-chip microcomputer, CPLD or FPGA; Described microprocessor receives the configuration signal from master controller; export the square-wave signal of certain frequency, amplitude and dutycycle; described adapter amplifies square-wave signal according to the requirement of laser instrument to control signal; thus go drive laser to launch the laser of certain frequency; adapter, also for the isolation between laser instrument and microprocessor, realizes the protection to microprocessor.
Beneficial effect of the present invention, Full-waveform laser radar system based on coaxial two-channel data acquisition can provide the Emission Lasers pulse waveform in single measurement simultaneously and receive laser pulse shape, and make Emission Lasers pulse light path completely coaxial with reception laser pulse light path, thus eliminate the measurement blind area of Full wave shape laser radar, increase the detection range of Full wave shape laser radar simultaneously.
Accompanying drawing explanation
Fig. 1 is the Full-waveform laser radar system sketch based on coaxial two-channel data acquisition.
Fig. 2 is the Full-waveform laser radar system complete diagram based on coaxial two-channel data acquisition.
Fig. 3 is the mechanical schematic of same axle module.
Fig. 4 is Data acquisition and storage sequential chart.
Fig. 5 is data memory format schematic diagram.
Fig. 6 is the Full-waveform laser radar system software interface based on coaxial two-channel data acquisition.
Embodiment
As shown in Figure 2, pulsed laser 1 is light source, for the measurement of system provides laser pulse.The wavelength chooses of pulsed laser 1 depends on the transmission window of transmission medium and the scattering properties of measured target in measurement environment, such as in Tactics of Urban Surveying, Laser Transmission medium is air, and measured target is high building, meadow and road surface, and the wavelength of laser instrument 1 can be chosen as 1064nm; For another example in Ocean Surveying, the transmission medium of laser is water, and now laser instrument 1 wavelength can be chosen as 532nm.Pulsed laser has the characteristic that repetition frequency is high and peak power is large, thus can meet requirement that is quick and telemeasurement, and therefore LASER Light Source is chosen as pulsed laser 1.The laser pulse width that pulsed laser 1 is launched generally selects 5-10ns.Narrow laser pulse cause on the one hand laser pulse and target short for duration of contact, echoed signal fails to comprise abundant target information, loses the advantage of Full wave shape laser radar; Cause laser instrument cost to increase on the other hand and the increase of laser detector bandwidth requirement, thus increase the cost of system.Under same frequency, identical measuring distance, wide laser pulse can increase the power demand of laser instrument, thus increases energy consumption.Pulsed laser 1 is frequency-tunable laser, can flexibly according to the transmission frequency needing adjustment laser instrument of the task of measurement.
Pulsed laser 1 receives the laser control signal 14 from laser control unit, launches the laser pulse of certain frequency and pulsewidth, and described laser pulse is divided into light beam 20 and light beam 21 through beam splitter 2, and beam splitter 2 is for reflection and transmission is than being 9:1 light splitting plain film.Light beam 20 is folded light beam, and light beam 21 is transmitted light beam.Folded light beam accounts for significant proportion mainly because folded light beam will be shone to target as outgoing beam by same axle module, the energy of outgoing beam is larger, measuring distance is far away, the laser pulse signal signal to noise ratio (S/N ratio) detected by reception laser detector is higher, thus the remote and accurately measurement of realize target.Light beam 20 is by shining to target with horizontal direction outgoing with axle module.
Coaxial module mechanics as shown in Figure 3, Fig. 3 (1) is plane mirror 24, mainly complete the transformation of 90 °, laser beam propagation direction, the width of catoptron is 2mm, length is 4mm, size depends on the spot size of light beam 20, the thickness of catoptron is 1-2mm, less thickness is mainly in order to ensure that catoptron is fixed to center support being still in same axle module, in order under ensureing the prerequisite that laser facula reflects completely compared with the catoptron of small size, reduce plane mirror blocking the laser pulse echoed signal through target scattering, thus reduce the loss of backward energy.Fig. 3 (2) is catoptron base 25, for fixed pan catoptron 24, make catoptron 24 from the horizontal by 45° angle, catoptron base 25 length of side is the half that the square of 2mm diagonally cuts, length of side size depends on the size of plane mirror 24, and aluminum material mainly in order to the weight compared with small reflector base, thus increases bonding strength.Plane mirror 24 is fixed on the inclined-plane 26 of catoptron base 25 by the mode of gummed.Fig. 3 (3) is base support 27, described base support is made up of round base and concurrent three line bracket, the width of three line brackets is 2mm, to ensure on the one hand on the concurrent that catoptron base can be fixed on three line brackets and the weight of catoptron base can be born, reducing three line brackets blocking the laser pulse echoed signal through target scattering on the other hand.Catoptron base 25 is fixed on center 28 place of base support 27 by the mode of gummed.Base support 27 is for stationary mirror base 25 and be connected with the sleeve 30 in Fig. 3 (4), is connected between sleeve 30 and base support 27 by three threaded holes 29 with threaded hole 31 through nut.Fig. 3 (6) is focus lens group 34, and the laser pulse signal for scattering being returned focuses on and receives laser detector photosurface, and focus lens group 34 is fixed on inside 33 place of sleeve 30 by three threaded holes 32.Fig. 3 (6) is complete wiring layout.Because plane mirror is positioned at the center of base support, the optical axis of condenser lens and the round datum axle of base support, therefore plane mirror is positioned on the optical axis of condenser lens, because plane mirror is positioned at the center of base support, condenser lens optical axis overlaps with the round base central shaft of base support, and therefore plane mirror is positioned on the optical axis of condenser lens, laser pulse through first beam splitter reflection incides on the plane mirror of same axle module in the mode of 45° angle, thus make direction of beam propagation change 90 ° with horizontal direction outgoing, because plane mirror is positioned on condenser lens optical axis, thus make Emission Lasers pulse emitting light path and condenser lens optical axis coincidence, Emission Lasers pulse returns along optical axis after target scattering, thus it is coaxial with reception laser pulse light path to realize Emission Lasers pulse light path, scattering laser pulse echo can focus on and receive on laser detector by condenser lens simultaneously, thus increase the reception laser pulse luminous energy detected.
In Fig. 2, light beam 21 is divided into light beam 22 and light beam 23 through reflection and transmission than the beam splitter 3 for 1:9 again.Light beam 22 is transmitted light beam, and light beam 23 is folded light beam.Wherein transmitted light beam accounts for significant proportion mainly because transmitted light beam is launched laser detector reception as Emission Lasers pulse waveform collection signal, higher laser pulse energy energy ensure that the Emission Lasers pulse waveform collected has very high signal to noise ratio (S/N ratio), thus ensures the accurate storage of Emission Lasers pulse waveform.Light beam 22 incides Emission Lasers detector 6, is converted to transmitted waveform electric signal 16.Light beam 23 enters photodiode 12, laser pulse signal is converted to electric impulse signal by photodiode 12, electric impulse signal becomes the capture card control signal 15 that can drive High-Speed Double-Channel data collecting card 7 through the filtering of signal conditioning circuit 11, shaping and amplification, thus arranges the digital independent reference position of High-Speed Double-Channel data collecting card 7.Because signal conditioning circuit 11 exists time delay relative to the time of light beam 22, therefore capture card control signal 15 is later than transmitted waveform electric signal 16 and arrives High-Speed Double-Channel data collecting card 7, and the transmitted waveform that collects therefore can be caused imperfect.In order to head it off, configuration high-speed double channel data acquisition card 7 is operated in Real-time Collection mode, when High-Speed Double-Channel data collecting card 7 receives capture card control signal 15, reference position is read in current sample point setting data, after sampling meets sampling configuration requirement, main control computer 8 with digital independent reference position for benchmark, a certain number of sampled point is read before digital independent reference position, thus eliminate capture card control signal 15 relative to the time delays between transmitted waveform electric signal 16, then read residue to count, complete the full storage of Emission Lasers pulse waveform.
Data acquisition and reading sequential are as shown in Figure 4.Be operated in Real-time Collection pattern after High-Speed Double-Channel data collecting card powers on, and the data collected are stored in plate carry in storer.Laser control unit sends laser control signal according to setpoint frequency and dutycycle, pulsed laser postpones through the regular hour after receiving laser control signal, launch laser pulse, laser pulse is through Laser emission and receiving element beam splitting, wherein a branch of capture card control module entering into data acquisition unit, thus produce capture card control signal, because laser pulse needs through opto-electronic conversion and shaping, filtering and amplification, capture card control signal is caused to there is time delay relative to laser pulse signal, when capture card control signal arrives High-Speed Double-Channel data collecting card 7, reference position can be read in current sample point setting data, after High-Speed Double-Channel data collecting card 7 meets sampling configuration, main control computer 8 is to read reference position data for benchmark, the data of certain length are read respectively in the front and back of reading reference position data, thus complete the complete reading of Emission Lasers pulse waveform, the data reading certain length before storage mark are to eliminate delayed relative to Emission Lasers pulse of capture card control signal, the data reading certain length after storage mark are the integralities in order to ensure data, realize Emission Lasers pulse waveform and the full storage receiving laser pulse shape.
The binary mode of the data read in units of byte stores by main control computer 8, and storage format as shown in Figure 6.Data memory format is that configuration parameter separates with data block and stores, and data block is divided into data sub-block again.1-17 bytes store configuration parameter, the 17th byte stores data block later; Concrete storage format, as described below: the 1-4 bytes store system starts time, wherein the working time comprises year, month and day; 5th byte is sampling channel connected mode, 0 represents Emission Lasers detector is connected with the 1st passage of High-Speed Double-Channel data collecting card, receive laser detector to be connected with the 2nd passage of High-Speed Double-Channel data collecting card simultaneously, 1 represents Emission Lasers detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card, receives laser detector simultaneously and is connected with the 1st passage of High-Speed Double-Channel data collecting card; The sampling number of 6-9 bytes store High-Speed Double-Channel data collecting card the 1st path setting, adopts high-order at the posterior storage mode of front low level; The sampling number of 10-13 bytes store High-Speed Double-Channel data collecting card the 2nd path setting, adopts high-order at the posterior storage mode of front low level; The sample frequency of 14-15 bytes store High-Speed Double-Channel data collecting card setting, sample frequency, in units of megahertz, adopts high-order at the posterior storage mode of front low level; The reference voltage of the 16th bytes store High-Speed Double-Channel data collecting card the 1st path setting, described reference voltage is in units of millivolt; The reference voltage of the 17th bytes store High-Speed Double-Channel data collecting card the 2nd path setting, described reference voltage is in units of millivolt, 17th byte stores each data sub-block measured later respectively, each data sub-block corresponds to the laser pulse that pulsed laser is launched, and data sub-block comprises x time, the Emission Lasers pulse Full wave shape data of laser pulse and receives laser pulse Full wave shape data.
Parameter configuration before starting working based on the Full-waveform laser radar system software unit of the coaxial two-channel data acquisition Full-waveform laser radar system mainly completed based on coaxial two-channel data acquisition, and the display of Emission Lasers pulse waveform and reception laser pulse shape, as shown in Figure 6, software unit interface is made up of High-Speed Double-Channel data collecting card configuration section, laser control unit configuration section and waveform display section at software unit interface.High-Speed Double-Channel data collecting card configuration section comprises again file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input setting, capture card triggering setting.File arranges and comprises file store path and arrange and the display of storage file number.Acquisition channel voltage arranges the setting of the bias voltage of reference voltage setting and acquisition channel 0 and the acquisition channel 1 comprising acquisition channel 0 and acquisition channel 1.Sampling channel set of time comprises the setting of the setting of sample frequency, the setting of record length and reference position.Acquisition channel input arranges and comprises the maximum incoming frequency of acquisition channel 0 and acquisition channel 1 and the setting of input signal coupling scheme.Capture card triggering setting comprises trigger source setting, triggering level size is arranged, trigger port coupling scheme are arranged and the selection of triggering edge.Laser control unit configuration section comprises laser control signal frequency, amplitude and dutycycle and arranges.Waveform display window is used for transmitted waveform and receives the real-time display of waveform.
The above; be only the basic scheme of specific implementation method of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art are in technical scope disclosed by the invention; the change that can expect or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.All fall into claim equivalent implication and scope in change all by be included in claim scope within.
Claims (5)
1. the Full-waveform laser radar system based on coaxial two-channel data acquisition, it is characterized in that, described laser radar system comprises pulsed laser, Laser emission and receiving element, data acquisition unit, control module and software unit, described Laser emission and receiving element form by beam splitter with axle module, described data acquisition unit is by Emission Lasers detector, receive laser detector, High-Speed Double-Channel data collecting card and capture card control module composition, described control module is made up of main control computer and laser control unit, described pulsed laser receives the laser control signal from laser control unit, send the laser pulse of certain frequency and pulse width, in order to realize the full storage of Emission Lasers pulse and reception laser pulse shape, and eliminate the emission delay of pulsed laser, the beam splitter of described laser pulse in Laser emission and receiving element is divided into 3 bundles, the 1st same axle module outgoing of bundle laser pulse in Laser emission and receiving element is shone to target, laser pulse is after target scattering, the reception laser detector in data acquisition unit is focused on by the same axle module in Laser emission and receiving element, receive laser detector and the light signal received is converted to electric signal, thus gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of data sampling at a high speed, the waveform receiving laser pulse can by complete collection, thus the Full wave shape realizing receiving laser pulse stores, 2nd bundle laser pulse incides the Emission Lasers detector in data acquisition unit, laser pulse is converted to electric signal by Emission Lasers detector, thus gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of data sampling at a high speed, the waveform of Emission Lasers pulse can by complete collection, thus the Full wave shape realizing Emission Lasers pulse stores, due to the instability of pulsed laser work, launched laser pulse is caused to have different waveforms, stored transmit laser pulse shape and reception laser pulse shape simultaneously, make in the signal transacting in later stage, consider Emission Lasers pulse waveform width and amplitude otherness, get a more accurate measurement result, and can according to Emission Lasers pulse waveform and the difference received between laser pulse shape, be finally inversed by physics and the geometrical property of target, 3rd bundle laser pulse enters capture card control module in data acquisition unit for generation of capture card control signal, this signal is used for setting data and reads reference position, for the reference position in main control computer reading High-Speed Double-Channel data collecting card during data, can realize the complete reading of Emission Lasers pulse waveform by means of digital independent reference position, and transmitted waveform and reception waveform time coordinate is consistent, described control module completes the control of paired pulses laser instrument and data acquisition unit high speed double channel data acquisition card, and the data collected in High-Speed Double-Channel data collecting card are read, show, store and calculated, and provide hardware platform for software unit, described software unit provides Man Machine Interface, the configuration of data acquisition unit and control module, the data collected and the display of data processed result, Emission Lasers pulse light path in laser radar light path can be realized and receive the completely coaxial of laser pulse light path, Emission Lasers pulse can be realized simultaneously and receive the Full wave shape collection of laser pulse, display and according to the storage of setting form.
2. a kind of Full-waveform laser radar system based on coaxial two-channel data acquisition according to claim 1, it is characterized in that, described Laser emission and receiving element can realize Emission Lasers pulse and receive the completely coaxial of laser pulse light path, and realize the light splitting of paired pulses laser instrument institute Emission Lasers pulse, thus the laser pulse signal of different component is respectively used to produce capture card control signal, Emission Lasers pulse waveform collection signal, and shoot laser pulse signal, described Laser emission and receiving element are by two beam splitters and form with axle module, the reflection and transmission of first beam splitter is than being 9:1, thus be divided into by the laser pulse that pulsed laser is launched the ratio of light intensity to be that two of 9:1 restraints laser pulses, folded light beam accounts for significant proportion mainly because folded light beam will be shone to target as shoot laser pulse by same axle module, the energy of shoot laser pulse is larger, measuring distance is far away, laser pulse signal signal to noise ratio (S/N ratio) through target scattering is higher, thus the remote and accurately measurement of realize target, transmitted light beam is through second beam splitter beam splitting again, the reflection and transmission of second beam splitter is than being 1:9, wherein transmitted light beam accounts for significant proportion mainly because transmitted light beam is launched laser detector reception as Emission Lasers pulse waveform collection signal, higher signal energy ensure that the Emission Lasers pulse waveform collected has higher signal to noise ratio (S/N ratio), thus ensures the accurate storage of Emission Lasers pulse waveform, folded light beam enters the capture card control module in data acquisition unit, for generation of capture card control signal, described same axle module is by plane mirror, catoptron base, base support, sleeve and condenser lens composition, described plane mirror is coated with the deielectric-coating improving reflectivity, mainly for reducing the energy loss of folded light beam, the thickness of plane mirror is 1-2mm, width is 2mm, length is 4mm, less thickness, mainly in order to ensure that catoptron is fixed to center support being still in same axle module, is to reduce catoptron blocking the laser pulse signal through target scattering compared with the catoptron of small size, thus reduces the loss of backward energy, the half that the square of described catoptron base to be the length of side be 2mm diagonally cuts, described plane mirror is fixed on the inclined-plane of catoptron base by the mode of gummed, described base support is made up of round base and concurrent three line bracket, the width of three line brackets is 2mm, to ensure on the one hand on the concurrent that catoptron base can be fixed on three line brackets and the weight of catoptron base can be born, reducing three line brackets blocking echoed signal on the other hand, described catoptron base is fixed on the concurrent of base support by the mode of gummed, and the round base of described base support is fixed on the front portion of sleeve by nut, and described condenser lens is also fixed on the inside of sleeve by nut, because plane mirror is positioned at the center of base support, condenser lens optical axis overlaps with the round base central shaft of base support, and therefore plane mirror is positioned on the optical axis of condenser lens, laser pulse through first beam splitter reflection incides on the plane mirror of same axle module in the mode of 45° angle, thus make direction of beam propagation change 90 ° with horizontal direction outgoing, because plane mirror is positioned on condenser lens optical axis, thus make Emission Lasers pulse emitting light path and condenser lens optical axis coincidence, Emission Lasers pulse returns along optical axis after target scattering, thus it is coaxial with reception laser pulse light path to realize Emission Lasers pulse light path, scattering laser pulse echo can focus on and receive on laser detector by condenser lens simultaneously, thus increase the reception laser pulse luminous energy detected.
3. a kind of Full-waveform laser radar system based on coaxial two-channel data acquisition according to claim 1, it is characterized in that, described data acquisition unit can realize Emission Lasers pulse and gather with the binary channels receiving laser pulse simultaneously, realize complete collection and the storage of Emission Lasers pulse and reception laser pulse shape simultaneously, thus the Full wave shape realizing laser pulse stores, described data acquisition unit comprises: Emission Lasers detector, reception laser detector, High-Speed Double-Channel data collecting card and capture card control module, Emission Lasers detector and reception laser detector realize Emission Lasers pulse respectively and receive the opto-electronic conversion of laser pulse, and connect respectively at two acquisition channels of High-Speed Double-Channel data collecting card, High-Speed Double-Channel data collecting card completes the conversion of simulating signal to digital signal, and carries in storer by the signal storage collected to from body, capture card control module is made up of photodiode and signal conditioning circuit, photodiode receives the laser pulse signal from Laser emission and receiving element, laser pulse signal is converted to electric pulse, electric pulse produces capture card control signal after described signal conditioning circuit shaping, filtering and amplification, thus completes the control to capture card, after collection terminates, the main control computer in control module reads the data in double channel data acquisition card, thus realizes storage and the calculating of Emission Lasers pulse and reception laser pulse shape, double detector double channels acquisition gathers while can ensureing transponder pulse and received pulse, guarantee transmits and Received signal strength has identical time coordinate, can eliminate relative to the collection of simple detector single channel and measure blind area, realize close-in measurement, can avoid transmitting and the mutual interference of Received signal strength simultaneously, because transmitted waveform collection signal and capture card control signal come from different modules, capture card control signal is caused to postpone relative to Emission Lasers pulse signal life period, when transponder pulse signal arrives capture card, capture card is not also triggered collection, in order to ensure the full storage of Emission Lasers pulse waveform, High-Speed Double-Channel data collecting card is operated in Real-time Collection pattern, and the data collected are stored into plate carry in storer, when High-Speed Double-Channel data collecting card receives the capture card control signal from capture card control module, reading reference position data will be set at current sampling point place, after sampling meets sampling configuration requirement, main control computer is to read reference position data for benchmark, the data of certain length are read respectively in the front and back of reading reference position data, the data reading certain length before storage mark are to eliminate delayed relative to Emission Lasers pulse of capture card control signal, the data reading certain length after storage mark are the integralities in order to ensure data, thus realize the complete reading of Emission Lasers pulse waveform, finally complete Emission Lasers pulse waveform and the full storage receiving laser pulse shape.
4. a kind of Full-waveform laser radar system based on coaxial two-channel data acquisition according to claim 1, it is characterized in that, described software unit comprises: High-Speed Double-Channel data collecting card configuration section, laser control unit configuration section and waveform display section composition; High-Speed Double-Channel data collecting card configuration section comprises file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input setting, capture card triggering setting; File arranges the display of the setting that comprises file store path and storage file number; Acquisition channel voltage arranges the setting of the bias voltage of reference voltage setting and the acquisition channel comprising acquisition channel 0 and acquisition channel 1; Sampling channel set of time comprises the setting of the setting of sample frequency, the setting of record length and reference position; Acquisition channel input arranges and comprises the maximum incoming frequency of acquisition channel 0 and acquisition channel 1 and the setting of input signal coupling scheme; Capture card triggering setting comprises trigger source setting, triggering level size is arranged, trigger port coupling scheme are arranged and the selection of triggering edge; Laser control unit configuration section comprises laser control signal frequency, amplitude and dutycycle and arranges; Waveform display window is used for transmitted waveform and receives the real-time display of waveform.
5. a kind of Full-waveform laser radar system based on coaxial two-channel data acquisition according to claim 1, is characterized in that, described data memory format is that configuration parameter separates with data block and stores, and data block is divided into data sub-block again; 1-17 bytes store configuration parameter, the 17th byte stores data block later; Concrete storage format, wherein: the 1-4 bytes store system starts time, wherein the system starts time comprises year, month and day; 5th byte is sampling channel connected mode, 0 represents Emission Lasers detector is connected with the 1st passage of High-Speed Double-Channel data collecting card, receive laser detector to be connected with the 2nd passage of High-Speed Double-Channel data collecting card simultaneously, 1 represents Emission Lasers detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card, receives laser detector simultaneously and is connected with the 1st passage of High-Speed Double-Channel data collecting card; The sampling number of 6-9 bytes store High-Speed Double-Channel data collecting card the 1st path setting, adopts high-order at the posterior storage mode of front low level; The sampling number of 10-13 bytes store High-Speed Double-Channel data collecting card the 2nd path setting, adopts high-order at the posterior storage mode of front low level; The sample frequency of 14-15 bytes store High-Speed Double-Channel data collecting card setting, sample frequency, in units of megahertz, adopts high-order at the posterior storage mode of front low level; The reference voltage of the 16th bytes store High-Speed Double-Channel data collecting card the 1st path setting, described reference voltage is in units of millivolt; The reference voltage of the 17th bytes store High-Speed Double-Channel data collecting card the 2nd path setting, described reference voltage is in units of millivolt, 17th byte stores each data sub-block measured later respectively, each data sub-block corresponds to a laser pulse of pulsed laser transmitting and the scattering laser pulse of reception, and data sub-block comprises x time, the Emission Lasers pulse Full wave shape data of laser pulse and receives laser pulse Full wave shape data.
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