CN103760567B - A kind of passive imaging system with distance measurement function and distance-finding method thereof - Google Patents
A kind of passive imaging system with distance measurement function and distance-finding method thereof Download PDFInfo
- Publication number
- CN103760567B CN103760567B CN201410040445.2A CN201410040445A CN103760567B CN 103760567 B CN103760567 B CN 103760567B CN 201410040445 A CN201410040445 A CN 201410040445A CN 103760567 B CN103760567 B CN 103760567B
- Authority
- CN
- China
- Prior art keywords
- signal
- distance
- integration
- laser
- digital
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
-
- 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
- G01S7/484—Transmitters
-
- 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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of passive imaging system with distance measurement function and distance-finding method thereof, this system includes: high frequency low energy pulses laser beam emitting device, is used for launching high frequency low-energy laser pulse, and it is remote to reach to expand shaping; Photoelectron diode array detector imaging device, for receiving the laser facula and background image that are returned by target reflection, and obtains distance value by adjusting the time of integration; Video amplifier and analog-digital commutator, for being converted to voltage by the photogenerated charge of photoelectron diode array detector imaging device, and through analog-digital converter by analog image digitized; The digital processing unit that Digital Image Processing occurs with sequential, carries out pretreatment and Objective extraction for the digital picture that video amplifier and analog-digital commutator are inputted. Present invention achieves the combination of high-performance imaging and passive imaging and distance measurement function.
Description
Technical field
The invention belongs to laser imaging and ranging technology field, especially a kind of passive imaging system with distance measurement function and distance-finding method thereof.
Background technology
For the integrating capacitor found range, transistor resource, it is possible to achieve the very short window time of integration (10ns-10 μ s), it is achieved gate control function is integration to received signal.
Currently marketed laser range finder is non-imaged diastimeter, and the laser beam irradiation adopting the angle of divergence only small forms laser measurement point on target, utilizes point probe to receive the reflection of measurement point or the laser signal of scattering, obtains target range by inverting. Laser-light spot size owing to being formed when laser is irradiated in target is only small, thus causing target-seeking difficulty, when namely distant object being found range, laser beam is difficult to run-home, particularly Small object.
For solving this problem, laser range finder is aided with finder telescope, and observer can find measured target by telescope. But, telescope-type diastimeter only just can be effectively target-seeking when ambient light illumination is suitable, when then cannot be effectively target-seeking in the low-light (level) situations such as night, and when ambient light illumination is higher or optical maser wavelength be human eye invisible time, human eye is difficult to find the laser measurement point in target, generally finder telescope and laser range finder it is calibrated for this and demarcates, choosing measurement point by the cross groove on finder telescope, but this can cause that telescopic range finder is very sensitive to impacting.
Additionally, Lycra earth system develops limited company has invented a kind of diastimeter (patent of invention ZL02814430.9) with sighting device.This diastimeter adopts visible light beam to irradiate target, is formed and measure point in target, observes by sighting device and measures point to ensure that the signal that optical receiving system effectively receives from target realizes object ranging. But under low-light (level) environment during object ranging, the sighting device of this diastimeter still cannot be effectively target-seeking.
For problem target-seeking under low-light (level) environment, a kind of hand-held round-the-clock laser imaging distance measurer (application for a patent for invention number: 201010293433.2) has been invented by BJ University of Aeronautics & Astronautics, including laser imaging subsystem and laser ranging subsystem, wherein, laser imaging subsystem realizes effective detection of target under low-light (level) environment, and laser ranging subsystem then realizes object ranging. This laser imaging diastimeter mainly adopts laser imaging subsystem to substitute finder telescope, still carry out run-home with cross groove, therefore, substantially identical with traditional telescope-type laser range finder, still to shock-sensitive, and laser beam is difficult to distance small target is formed effectively measure a little.
In sum, the laser-beam divergence angle of current laser range finder is only small, and when range finding, the laser measurement point in target is smaller, thus, for distant object, especially during Small object range finding, the problem that there is target-seeking difficulty.
Present invention is generally directed to aforesaid laser imaging subsystem and laser ranging subsystem, be specifically illustrating and see accompanying drawing 2, will solve to affect wherein laser ranging at present and be based on flight time (TOF) principle, and the principal element affecting finding range is as follows:
1. system field of view of receiver is relatively big, can introduce more background noise, cause that signal to noise ratio snr reduces, thus affecting measurement distance range;
2. photomultiplier tube also can introduce bigger noise, impact range finding;
3. for measuring distant object, adopting the low-frequency pulse laser of high-energy, its volume is heavy and cost is high;
4., if range finding uses same receiving optics with imaging and passive imaging, therefore range-measurement system receiving area can be restricted.
Therefore, in the urgent need to there being a kind of electro-optical system with range finding and two kinds of functions of imaging and passive imaging, can solving problem mentioned above very well in range finding and imaging and passive imaging two, such as finding range diminishes, SNR reduces, response time length etc.
Summary of the invention
(1) to solve the technical problem that
In view of this, present invention is primarily targeted at a kind of passive imaging system with distance measurement function of offer and distance-finding method thereof, to solve existing laser imaging subsystem and the laser ranging subsystem problem in range finding and imaging and passive imaging two well.
(2) technical scheme
For reaching an aspect of above-mentioned purpose, the invention provides a kind of passive imaging system with distance measurement function, this system includes high frequency low energy pulses laser beam emitting device, photoelectron diode array detector imaging device, video amplifier and analog-digital commutator and Digital Image Processing and the digital processing unit of sequential generation, wherein: high frequency low energy pulses laser beam emitting device, for launching high frequency low-energy laser pulse, and it is remote to reach to expand shaping; Photoelectron diode array detector imaging device, for receiving the laser facula and background image that are returned by target reflection, and obtains distance value by adjusting the time of integration; Video amplifier and analog-digital commutator, for being converted to voltage by the photogenerated charge of photoelectron diode array detector imaging device, and through analog-digital converter by analog image digitized; The digital processing unit that Digital Image Processing occurs with sequential, carries out pretreatment and Objective extraction for the digital picture that video amplifier and analog-digital commutator are inputted.
In such scheme, this high frequency low energy pulses laser beam emitting device includes pulse laser 104 and laser emission optical system 1041, wherein: pulse laser 104 is used for producing high frequency low-energy laser pulse;Laser emission optical system 1041 is used for the collimation improving laser to obtain desirable telemeasurement effect.
In such scheme, this photoelectron diode array detector imaging device includes photoelectron diode array detector 102 and imaging optical system 101; Wherein: photoelectron diode array detector 102 for being converted to the signal of telecommunication by faint optical signal, and then obtains the distance value of image and respective objects; Imaging optical system 101 is used for receiving faint optical signal and converging to detector surface, increases the capture area of detector.
In such scheme, this photoelectron diode array detector 102 includes row address selection circuit 1025, column address selection circuit 1026, address date multiplexer 1024, read-out control unit 1027, APD diode 1021, gated integrator 1022 and Q/V charge voltage change-over circuit 1023, wherein: row address selection circuit 1025 is for selecting the line number of photodiode array detector, column address selection circuit 1026 is for selecting the columns of photodiode array detector, and the two combines certain detector cells in selected detector array; Address date multiplexer 1024 realizes the function of address bus and data/address bus for timesharing; Read-out control unit 1027 is for reading array and the control circuit of subarray detector signal; APD diode 1021 is used for receiving faint light and transfers the signal of telecommunication to; Gated integrator 1022 is used for adjusting the time of integration; Q/V charge voltage change-over circuit 1023 is for being converted to voltage by the photogenerated charge of diode.
In such scheme, this video amplifier and analog-digital commutator 111 for realizing video amplifier and AD conversion to video analog signal, finally by analog image digitized, and the digital picture obtained is exported the digital processing unit 108 occurred with sequential to Digital Image Processing.
In such scheme, the digital processing unit 108 that this Digital Image Processing and sequential occur includes the laser spot detection processing unit 110, distance monitoring means 109 and the clock generator 103 that process for normal image, wherein: laser spot detection processing unit 110 is used for receiving detection image, and with given threshold ratio relatively, to determine whether target echo exists; Distance monitoring means 109 be used for according to obtain image judge target with or without so that control clock generator 103 produce the integration window shifted signal of coarse positioning and fine positioning, including shifted signal 0ff or offf; Clock generator 103, is used for the control signal of control signal and the image-generating unit providing distance monitoring means 109, and according to target with or without the Gated integration time adjusting detector.
In such scheme, the control signal of distance monitoring means 109 and the control signal of image-generating unit that this clock generator 103 provides include: the exomonental initial signal of the low-energy pulse laser of high frequency 104, photodiode 1021 is connected to no signal with integrator 1022, wherein photodiode 1021 and integrator 1022 be connected to no signal for realizing integration, produce gate control function.
For reaching another aspect of above-mentioned purpose, the invention provides a kind of distance-finding method based on the described passive imaging system with distance measurement function, this distance-finding method includes coarse positioning and two steps of fine positioning, is fine positioning after first coarse positioning, specifically includes:
One, the coarse positioning stage, target reflection the light pulse returned is converted to corresponding electric charge through photodiode, and by integrator integration, be F in predetermined time value, from launching the deviant off being pulsed into starting integration, time window, wherein, off < 1/f and F < 1/f;Integrated signal and first predetermined threshold are compared, as long as integrated signal is lower than threshold value, integration, the step iteration compared carry out, adopt the new deviant of time window, the relatively previous deviant off of its value increases F, once integrated signal exceedes predetermined threshold, the coarse positioning distance value of target is determined, corresponding is off by time F and deviantg;
Its two, the fine positioning stage, first preset time value F, deviant offfEqual to offg; Integrated signal and second predetermined threshold being compared, as long as integrated signal is lower than threshold value, integration, the step compared repeat, and adopt the new deviant of time window, the relatively previous deviant off of its valuefIncrease d, wherein, d < F, and offg<offf<offg+ F; When first time iteration is less than second threshold value, then continue iteration, until more than second threshold value; If first time, iteration was more than second threshold value, then iteration terminates.
In such scheme, described predetermined time value F and from launch be pulsed into start integration deviant off determined by the general distance value of target, deviant increase amount d is determined by positioning precision.
In such scheme, the described coarse positioning stage. Before integrated signal and first predetermined threshold are compared, to target return signal integration; According to the minimum signal of target state estimator and integral number of times, tentatively determine first threshold value and second threshold value.
(3) beneficial effect
From technique scheme it can be seen that with laser range finder compared with imaging system simple combination, the method have the advantages that
1, replace TOF to realize range finding the time of integration by gated integrator adjustment, single detector system (optical system and detector) therefore can be adopted to realize range finding and imaging function.
2, owing to eliminating TOF laser ranging, do not adopt APD detector, and avoid using broadband amplifier system so that range finding channel noise is little;
3, adopt gated integrator function, the impact of the scattering of air can be effectively filtered out, such that it is able to object ranging is forbidden due to air strong scattering by correction;
4, adopt adjustment gated integrator function range finding, replace TOF range finding, therefore can use low-yield high-frequency pulse laser instrument, it is to avoid use cost is high, bulky low frequency high-energy laser;
5, identical optical receiving system and detector are adopted, it is achieved the combination of high-performance imaging and passive imaging and distance measurement function.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the passive imaging system with distance measurement function provided by the invention;
The schematic diagram of the electro-optical system that the laser device diastimeter that Fig. 2 is traditional is simply combined with passive imaging system, it it is existing laser imaging ranging technology, for compareing with the passive imaging system with distance measurement function provided by the invention shown in Fig. 1, it is simple to the improvements understanding the present invention and the advantage brought;
Fig. 3 (a) is the coarse positioning stage time series pattern schematic diagram that realization of goal is found range by the passive imaging system with distance measurement function provided by the invention;
Fig. 3 (b) is the fine positioning stage time series pattern schematic diagram that realization of goal is found range by the passive imaging system with distance measurement function provided by the invention;
Fig. 4 is the relation curve schematic diagram of the passive imaging system detection target maximum distance with distance measurement function provided by the invention and laser emission frequency.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Refer to shown in Fig. 1, this passive imaging system with distance measurement function provided by the invention, including the digital processing unit of high frequency low energy pulses laser beam emitting device, photoelectron diode array detector imaging device, video amplifier and analog-digital commutator and Digital Image Processing and sequential generation, wherein:
High frequency low energy pulses laser beam emitting device, is used for launching high frequency low-energy laser pulse, and it is remote to reach to expand shaping;
Photoelectron diode array detector imaging device, for receiving the laser facula and background image that are returned by target reflection, and obtains distance value by adjusting the time of integration;
Video amplifier and analog-digital commutator, for being converted to voltage by the photogenerated charge of photoelectron diode array detector imaging device, and through analog-digital converter by analog image digitized;
The digital processing unit that Digital Image Processing occurs with sequential, carries out pretreatment and Objective extraction for the digital picture that video amplifier and analog-digital commutator are inputted.
Wherein, this high frequency low energy pulses laser beam emitting device includes pulse laser 104 and laser emission optical system 1041, pulse laser 104 is used for producing high frequency low-energy laser pulse, and laser emission optical system 1041 is used for the collimation improving laser to obtain desirable telemeasurement effect.
This photoelectron diode array detector imaging device includes photoelectron diode array detector 102 and imaging optical system 101; Wherein, photoelectron diode array detector 102 is for being converted to the signal of telecommunication by faint optical signal, and then obtaining the distance value of image and respective objects, imaging optical system 101 is used for receiving faint optical signal and converging to detector surface, increases the capture area of detector.
This photoelectron diode array detector 102 includes row address selection circuit 1025, column address selection circuit 1026, address date multiplexer 1024, read-out control unit 1027, APD diode 1021, gated integrator 1022 and Q/V charge voltage change-over circuit 1023, wherein row address selection circuit 1025 is for selecting the line number of photodiode array detector, column address selection circuit 1026 is for selecting the columns of photodiode array detector, and the two combines certain detector cells in selected detector array; Address date multiplexer 1024 realizes the function of address bus and data/address bus for timesharing, read-out control unit 1027 is for reading array and the control circuit of subarray detector signal, APD diode 1021 is used for receiving faint light and transfers the signal of telecommunication to, gated integrator 1022 is used for adjusting the time of integration, and Q/V charge voltage change-over circuit 1023 for being converted to Shen pressure by the photogenerated charge of diode.
Video amplifier and analog-digital commutator 111 are for realizing video amplifier and AD conversion to video analog signal, finally by analog image digitized, and the digital picture obtained export the digital processing unit 108 occurred with sequential to Digital Image Processing;
The digital processing unit 108 that this Digital Image Processing and sequential occur includes the laser spot detection processing unit 110, distance monitoring means 109 and the clock generator 103 that process for normal image, wherein laser spot detection processing unit 110 is used for receiving detection image, and with given threshold ratio relatively, to determine whether target echo exists; Distance monitoring means 109 be used for according to obtain image judge target with or without so that control clock generator 103 produce the integration window shifted signal of coarse positioning and fine positioning, including shifted signal off or offf;Clock generator 103, is used for the control signal of control signal and the image-generating unit providing distance monitoring means 109, and according to target with or without the Gated integration time adjusting detector. These control signals are respectively: the exomonental initial signal of the low-energy pulse laser of high frequency 104, and photodiode 1021 is connected to no signal (this is connected signal and is used for realizing integration, produces gate control function) with integrator 1022.
In this device, owing to adopting find range the time of integration adjusting detector, so imaging and range finding are that therefore the laser ranging acceptance division described in Fig. 2 divides and includes range detector 205 with a part, and amplifying circuit 2051 and filter circuit 2052, what optics received that part 206 all becomes need not. Distance calculation module, is also substituted by aforesaid coarse positioning and fine positioning method, and signal integration, comparison operation method can realize at digital processing element. This device adopts same detection system, it is possible to provide the sensitivity of high detection system by increasing the size of receiving optics.
In this device, photoelectron diode array detector 102, its integrator 1022 is for gate control function, only to target integration to scene not integration, it is possible to be used for realizing distance measurement function. Therefore computed range is no longer determined by the flight time (TOF), and wherein, the flight time is by the time difference decision in Laser emission moment to target echo time of reception.
Fig. 3 illustrates the step of distance-finding method of the present invention, coarse positioning stage time series pattern schematic diagram (a) to realization of goal range finding, fine positioning stage time series pattern schematic diagram (b) to realization of goal range finding.
One, target rough localization method step is as follows:
Citing, system the pulsewidth of the pulse laser determined is 10ns, the repetition rate f value (i.e. upper frequency limit) less than certain restriction, for avoiding transmitting pulse and the reception pulse overlap of system. Wherein, upper frequency limit is that the maximum distance of measuring according to Fig. 4 calculates. As shown in Figure 4, measurement distance is 10km, and the repetition rate higher limit of its correspondence is the time window of the known integration of 20kHz. is F, and its frequency values is equal to laser emission frequency, F < 1/f.
For arriving the timing synchronization of detector with the pulse returned by target reflection, integration window needs to open in advance, then, when reading circuit, starts to realize integration. The width F of time window, is determined by the distance value Dis of corresponding target location, additionally, distance value is from initial point, and the deviant in integration moment determines by being pulsed into from transmitting, off < 1/f. Finally, the width F of integration window and deviant off, the corresponding distance value from initial point is Dis. Such as, integration window width 13.4 μ s, respective distances scope 2km. Deviant is 20 μ s, and the corresponding distance from initial point is 3km. Therefore, the distance range 3-5km that integration window is corresponding. Return value according to target, determine be or not in this distance range. If target drops in this distance range, be such as 4km, then target return signal starts integration, and is detected. It is to say, target coarse positioning is at 3-5km, as shown in Fig. 3 (a), target return signal starts integration in integration window. On the contrary, it is assumed that target range is 6km, and target return signal would not be detected.
If target return signal is not detected, it is meant that, detectable signal is less than predetermined threshold value. By adjusting the deviant of integration window time, to photodiode conversion charge signal be integrated and with set threshold ratio relatively, this step repeats, until integrated signal value exceedes setting threshold value, wherein integration window needs skew F (namely new off value adds F sum equal to the front off value) position making respective distances value be the distance 5km from initial point O, the distance range 5-7km that namely new integration window is corresponding.For determining the seriality of this distance range and next distance range, we make two integration window of continuous print somewhat have overlap. Integration window deviant is F-δ F, δ F is the 1% of F value. Repeat said process, until to realization of goal coarse positioning.
Its two, in the coarse positioning stage, time window is by ' slightly ' window and deviant offgComposition; In the fine positioning stage, time window is to be serially offset off on ' slightly ' window basisf, wherein new offfValue is equal to front offfValue adds d sum. Integration window is equal to F or is slightly less than F, this location algorithm, on the one hand, to non-targeted signal in scene without integration, can only obtain the distance value of target; On the other hand, the overall performance of range-measurement system is optimized, including SNR etc. Target is positioned by this algorithm, and what depend on integration window is serially offset value. In reality, when integrated signal is more than predetermined threshold, then target return signal only appears in several time window, and when postponing d more than pulse time-of-flight, target return signal suddenly disappears, and namely the integration window time can only offset in ' slightly ' window, wherein offg<offf<offg+ F. Positioning precision is determined by the time offset value d of integration window, and distance value is by increasing integration window time offset value d or the 1.5m/10ns precision drawn. Time window F is 6.68 μ s, respective distances scope 1km, and deviant is 1.33 μ s, and corresponding advance range value is 200m. That is, 5 deviants just can enough cover the distance range of 1km, and range accuracy is 200m. Such as, coarse positioning result, target is within the scope of 3-5km, and time window F is 6.68 μ s, respective distances scope 1km, and deviant is 1.33 μ s, and corresponding advance range value is 200m, and these can be determined. If target range is 3.5km, then target return signal occurs being detected at the 3rd time window, and disappear at the 4th time window. Namely the distance range of target accurate measurement is 3.4-3.6km.
The present invention, photoelectron diode array detector 102, its array is made up of 256 row × 320 row, and the material of this detector adopts the material with laser lighting consistent wavelength. Wherein, silicon, being suitable for detecting wavelength is 0.4 μm of-1.1 μm of laser; Antimony chromium hydrargyrum CdHgTe, being suitable for detecting wavelength is 0.4 μm of-1.5 μm of laser; Indium gallium InGaAs, being suitable for detecting wavelength is 0.4 μm of-2.5 μm of laser. And the integrator in each reading circuit of this detector array, the size of its integrating capacitor is suitable, to adapt to the restriction of imaging and passive imaging. For realizing range finding, integrator 1022, by taking the transistor resource of necessity, realize the unlatching in very short (10ns-10 μ s) integration window cycle, and finally realize gate control function, only target echo is integrated.
The present invention, the control signal of the reading circuit of photoelectron diode array detector 102, clock generator 103 produce, and be accurately controlled delay or deviant off or offfThe integration window being used for the integrator to target return signal realizes controlling; Realized gate control function by the no signal that is connected to of photodiode 1021 with integrator 1022, also provided by clock generator 103; This makes low-yield, high-frequency pulse pulse laser 104 just can meet system requirements.
The present invention, target imaging size in photoelectron diode array detector 102 and position are random, carry out selecting the address of row and column by controlling row selection circuit 1025 and column select circuit 1026, it is possible to obtain the detector of target place subarray. Furthermore, it is possible to bring up to significantly high (reaching 20kHz) by laser instrument repetition rate, only read our area-of-interest.The whole observation visual field of imaging and passive imaging detector is divided into some sub-visual fields, is equivalent to some sub-probe units of detector array. Under given visual field, if single visual field is only small, then the photon noise produced is negligible, and so can detect very weak signal, it is achieved to far laser facula detection. Subarray reading circuit can make the image of small size (tens pixels) read frame speed significantly high (50 μ s-100 μ s). But the size of subarray detector is typically larger than the size of traditional laser ranging detector so that the balance that range finding is launched with reception passage aspect is had a greatly reduced quality.
In sum, read subarray and be sized to 32 row × 10 row, obtain the about several ms of range information. Therefore the adjustable subarray of space size, it is provided that advantages below:
1, reduce the photon noise of background, improve the sensitivity of laser spot detection and range finding;
2, the design receiving eyepiece is simplified;
3, decrease noise and the circuit bandwidth of related circuit, improve gain sensitivity.
Particular embodiments described above; the purpose of the present invention, technical scheme and beneficial effect have been further described; it is it should be understood that; the foregoing is only specific embodiments of the invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. a passive imaging system with distance measurement function, it is characterized in that, this system includes high frequency low energy pulses laser beam emitting device, photoelectron diode array detector imaging device, video amplifier and analog-digital commutator and Digital Image Processing and the digital processing unit of sequential generation, wherein:
High frequency low energy pulses laser beam emitting device, is used for launching high frequency low-energy laser pulse, and it is remote to reach to expand shaping;
Photoelectron diode array detector imaging device, for receiving the laser facula and background image that are returned by target reflection, and obtains distance value by adjusting the time of integration;
Video amplifier and analog-digital commutator, for being converted to voltage by the photogenerated charge of photoelectron diode array detector imaging device, and through analog-digital converter by analog image digitized;
The digital processing unit that Digital Image Processing occurs with sequential, carries out pretreatment and Objective extraction for the digital picture that video amplifier and analog-digital commutator are inputted.
2. the passive imaging system with distance measurement function according to claim 1, it is characterised in that this high frequency low energy pulses laser beam emitting device includes pulse laser (104) and laser emission optical system (1041), wherein:
Pulse laser (104) is used for producing high frequency low-energy laser pulse;
Laser emission optical system (1041) is used for the collimation improving laser to obtain desirable telemeasurement effect.
3. the passive imaging system with distance measurement function according to claim 1, it is characterised in that this photoelectron diode array detector imaging device includes photoelectron diode array detector (102) and imaging optical system (101); Wherein:
Photoelectron diode array detector (102) for being converted to the signal of telecommunication by faint optical signal, and then obtains the distance value of image and respective objects;
Imaging optical system (101) is used for receiving faint optical signal and converging to detector surface, increases the capture area of detector.
4. the passive imaging system with distance measurement function according to claim 3, it is characterized in that, this photoelectron diode array detector (102) includes row address selection circuit (1025), column address selection circuit (1026), address date multiplexer (1024), read-out control unit (1027), APD diode (1021), gated integrator (1022) and Q/V charge voltage change-over circuit (1023), wherein:
Row address selection circuit (1025) is for selecting the line number of photodiode array detector, column address selection circuit (1026) is for selecting the columns of photodiode array detector, and the two combines certain detector cells in selected detector array;
Address date multiplexer (1024) realizes the function of address bus and data/address bus for timesharing;
Read-out control unit (1027) is for as the control circuit reading array and subarray detector signal;
APD diode (1021) is used for receiving faint light and transfers the signal of telecommunication to;
Gated integrator (1022) is used for adjusting the time of integration;
Q/V charge voltage change-over circuit (1023) is for being converted to voltage by the photogenerated charge of diode.
5. the passive imaging system with distance measurement function according to claim 1, it is characterized in that, this video amplifier and analog-digital commutator (111) for realizing video amplifier and AD conversion to video analog signal, finally by analog image digitized, and the digital picture obtained is exported the digital processing unit (108) occurred with sequential to Digital Image Processing.
6. the passive imaging system with distance measurement function according to claim 1, it is characterized in that, the digital processing unit (108) that this Digital Image Processing and sequential occur includes the laser spot detection processing unit (110), distance monitoring means (109) and the clock generator (103) that process for normal image, wherein:
Laser spot detection processing unit (110) is used for receiving detection image, and with given threshold ratio relatively, to determine whether target echo exists;
Distance monitoring means (109) be used for according to obtain image judge target with or without so that control clock generator (103) and produce the integration window shifted signal of coarse positioning and fine positioning, including the integration window shifted signal off of the integration window shifted signal off of coarse positioning and fine positioningf;
Clock generator (103), is used for the control signal of control signal and the image-generating unit providing distance monitoring means (109), and according to target with or without the Gated integration time adjusting detector.
7. the passive imaging system with distance measurement function according to claim 6, it is characterized in that, the control signal of distance monitoring means (109) and the control signal of image-generating unit that this clock generator (103) provides include: high frequency low-energy pulse laser (104) exomonental initial signal, APD diode (1021) is connected to no signal with integrator (1022), wherein APD diode (1021) and integrator (1022) be connected to no signal for realizing integration, produce gate control function.
8. the distance-finding method based on the passive imaging system with distance measurement function according to any one of claim 1 to 7, it is characterised in that this distance-finding method includes coarse positioning and two steps of fine positioning, is fine positioning after first coarse positioning, specifically includes:
One, the coarse positioning stage, the light pulse returned by target reflection is converted to corresponding electric charge through APD diode, and try to achieve integrated signal by integrator, the integration window time is: predetermined time value is F, and from launching the shifted signal off being pulsed into starting the integration moment, wherein, off < 1/f and F < 1/f; Integrated signal and first predetermined threshold are compared, as long as integrated signal is lower than threshold value, integration, the step iteration compared carry out, adopt the new shifted signal of time window, the relatively previous shifted signal off of its value increases F, once integrated signal exceedes predetermined threshold, the coarse positioning distance value of target is determined, the width of corresponding integration window is F and shifted signal is offg;
Its two, the fine positioning stage, first preset time value F, shifted signal offfEqual to offg; Integrated signal and second predetermined threshold being compared, as long as integrated signal is lower than threshold value, integration, the step compared repeat, and adopt the new shifted signal of time window, the relatively previous shifted signal off of its valuefIncrease shifted signal increase amount d, wherein, d < F, and offg<offf<offg+ F;When first time iteration is less than second threshold value, then continue iteration, until more than second threshold value; If first time, iteration was more than second threshold value, then iteration terminates.
9. distance-finding method according to claim 8, it is characterised in that described predetermined time value F and from launch be pulsed into start integration shifted signal off determined by the general distance value of target, shifted signal increase amount d is determined by positioning precision.
10. distance-finding method according to claim 8, it is characterised in that described coarse positioning stage, before integrated signal and first predetermined threshold being compared, to target return signal integration; According to the minimum signal of target state estimator and integral number of times, tentatively determine first threshold value and second threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410040445.2A CN103760567B (en) | 2014-01-27 | 2014-01-27 | A kind of passive imaging system with distance measurement function and distance-finding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410040445.2A CN103760567B (en) | 2014-01-27 | 2014-01-27 | A kind of passive imaging system with distance measurement function and distance-finding method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103760567A CN103760567A (en) | 2014-04-30 |
| CN103760567B true CN103760567B (en) | 2016-06-15 |
Family
ID=50527834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410040445.2A Active CN103760567B (en) | 2014-01-27 | 2014-01-27 | A kind of passive imaging system with distance measurement function and distance-finding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103760567B (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983981A (en) * | 2013-10-11 | 2014-08-13 | 北京理工大学 | Three-dimensional compressed imaging method and device based on phase position distance measurement principle |
| US9812486B2 (en) * | 2014-12-22 | 2017-11-07 | Google Inc. | Time-of-flight image sensor and light source driver having simulated distance capability |
| CN104880155B (en) * | 2015-06-05 | 2017-08-22 | 苏州市建设工程质量检测中心有限公司 | Remote reference laser displacement transducer distance-finding method |
| FR3046251B1 (en) * | 2015-12-29 | 2017-12-22 | Thales Sa | METHOD AND SYSTEM FOR IMAGEUR TELEMETRY |
| FR3048316B1 (en) * | 2016-02-29 | 2019-06-28 | Sagem Defense Securite | DEVICE FOR DETECTING A LASER SPOT |
| US10317528B2 (en) * | 2016-03-03 | 2019-06-11 | Microchip Technology Incorporated | Core independent ultrasonic proximity sensing peripheral |
| US9866816B2 (en) | 2016-03-03 | 2018-01-09 | 4D Intellectual Properties, Llc | Methods and apparatus for an active pulsed 4D camera for image acquisition and analysis |
| US10281923B2 (en) * | 2016-03-03 | 2019-05-07 | Uber Technologies, Inc. | Planar-beam, light detection and ranging system |
| EP3301479A1 (en) * | 2016-10-03 | 2018-04-04 | Xenomatix NV | Method for subtracting background light from an exposure value of a pixel in an imaging array, and pixel for use in same |
| CN106506996B (en) * | 2016-11-11 | 2019-03-08 | 山东大学 | A kind of short-wave infrared imaging system and its working method based on linear array laser illumination |
| US10739442B2 (en) | 2017-02-03 | 2020-08-11 | Sensors Unlimited, Inc. | Pulsing laser spot tracking and decoding |
| CN108627754B (en) * | 2017-03-17 | 2020-06-30 | 中国科学院大连化学物理研究所 | Micro-nano scale surface photo-generated charge imaging system and method |
| JP7198507B2 (en) * | 2017-08-08 | 2023-01-04 | 国立大学法人静岡大学 | DISTANCE IMAGE MEASURING DEVICE AND DISTANCE IMAGE MEASUREMENT METHOD |
| WO2019148475A1 (en) * | 2018-02-03 | 2019-08-08 | Shenzhen Genorivision Technology Co. Ltd. | Methods and systems with dynamic gain determination |
| CN108399754B (en) * | 2018-03-09 | 2020-11-03 | 上海畅停信息科技有限公司 | Intelligent detection method for vehicles in shared parking spot lock |
| WO2020047857A1 (en) * | 2018-09-07 | 2020-03-12 | 深圳市大疆创新科技有限公司 | Laser distance measurement module, apparatus, and method, and mobile platform |
| CN113260874A (en) * | 2018-11-20 | 2021-08-13 | 感觉光子公司 | Method and system for spatially distributed gating |
| WO2020178920A1 (en) * | 2019-03-01 | 2020-09-10 | 株式会社ブルックマンテクノロジ | Distance image capturing device and distance image capturing method using distance image capturing device |
| EP4004588A1 (en) * | 2019-07-25 | 2022-06-01 | Beijing Voyager Technology Co., Ltd. | Low noise frontends for lidar receiver and methods for controlling the same |
| CN116917761A (en) * | 2022-02-17 | 2023-10-20 | 华为技术有限公司 | Detection device and detection method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2279197A (en) * | 1993-06-16 | 1994-12-21 | Seikosha Kk | Distance measuring device |
| CN101027574A (en) * | 2004-07-06 | 2007-08-29 | 迪米斯戴尔工程有限责任公司 | Determining range in 3D imaging systems |
| CN103261912A (en) * | 2010-07-29 | 2013-08-21 | 威凯托陵科有限公司 | Apparatus and method for measuring the distance and/or intensity characteristics of objects |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07198845A (en) * | 1993-12-28 | 1995-08-01 | Nec Corp | Distance and image measuring apparatus |
-
2014
- 2014-01-27 CN CN201410040445.2A patent/CN103760567B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2279197A (en) * | 1993-06-16 | 1994-12-21 | Seikosha Kk | Distance measuring device |
| CN101027574A (en) * | 2004-07-06 | 2007-08-29 | 迪米斯戴尔工程有限责任公司 | Determining range in 3D imaging systems |
| CN103261912A (en) * | 2010-07-29 | 2013-08-21 | 威凯托陵科有限公司 | Apparatus and method for measuring the distance and/or intensity characteristics of objects |
Non-Patent Citations (2)
| Title |
|---|
| 激光距离选通成像技术及其组合应用模式综述;许凯达等;《红外技术》;20120131;第34卷(第1期);第16-23页 * |
| 激光雷达的测距特性及其测距精度研究;姜海娇等;《中国激光》;20110531;第38卷(第5期);第0514001-1-0514001-7 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103760567A (en) | 2014-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103760567B (en) | A kind of passive imaging system with distance measurement function and distance-finding method thereof | |
| US11703567B2 (en) | Measuring device having scanning functionality and settable receiving ranges of the receiver | |
| CN109791202A (en) | Laser radar with irregular pulse train | |
| CN104483676B (en) | A kind of 3D/2D scannerless laser radars complex imaging device | |
| CN103926590B (en) | A kind of laser multiple-pulse distance-finding method of unequal-interval and distance measuring equipment thereof | |
| CN203909297U (en) | Laser range finder based on high-speed single-photon detection | |
| CN112731425B (en) | Histogram processing method, distance measurement system and distance measurement equipment | |
| He et al. | A correction method for range walk error in photon counting 3D imaging LIDAR | |
| CN101776760A (en) | Laser three-dimensional imaging device based on single-photon detector | |
| IT201700000532A1 (en) | PROCEDURE TO FIND OBJECTS, SYSTEM AND CORRESPONDING EQUIPMENT | |
| CN102928832A (en) | Remote laser distance measuring system based on high-speed pseudo-random code modulation and photon counting | |
| CN110082772A (en) | A kind of signal echo rate satellite laser range-measurement system controllable in real time, method and device | |
| CN107907885B (en) | Underwater target detection device based on single photon counting method | |
| KR20190002013U (en) | LiDAR device | |
| CN101788667B (en) | Light amplification type three-dimensional imaging method and system | |
| Busck et al. | High accuracy 3D laser radar | |
| WO2010114665A1 (en) | Generation and detection of frequency entangled photons | |
| Hou et al. | Full-waveform fast correction method for photon counting Lidar | |
| US20240159903A1 (en) | Data processing method for lidar and lidar | |
| Gordon et al. | Advanced 3D imaging lidar concepts for long range sensing | |
| Gao et al. | Experiments on the range resolution measurement of a slit streak tube imaging lidar | |
| RU2653558C1 (en) | Optical device for determining distance to object | |
| CN100570403C (en) | The method of non-uniform lighting detecting target image and device | |
| CN103048062B (en) | Method for measuring temperature of pulse discharge plasma sheath | |
| US20230375678A1 (en) | Photoreceiver having thresholded detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |