CN103901435A - Full-fiber optical path full-waveform laser radar system - Google Patents
Full-fiber optical path full-waveform laser radar system Download PDFInfo
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- CN103901435A CN103901435A CN201410086819.4A CN201410086819A CN103901435A CN 103901435 A CN103901435 A CN 103901435A CN 201410086819 A CN201410086819 A CN 201410086819A CN 103901435 A CN103901435 A CN 103901435A
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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
Abstract
The invention discloses a full-fiber optical path full-waveform laser radar system. The laser radar system comprises a control unit, a laser source, a laser beam splitting unit, a laser emitting unit, a data reading reference position generating unit, a laser detecting unit, a data acquiring unit and a software unit. The control unit controls a pulse laser to emit laser pulses, and the laser pulses are divided into an emitted laser pulse beam, an emitted laser pulse waveform acquisition beam and an emitted laser pulse marking beam through the laser beam splitting unit; after being subjected to target scattering, the emitted laser pulse beam enters the data acquiring unit through the laser detecting unit to serve as the received laser pulse waveform to be acquired, and a human-computer interaction interface is provided by the software unit. The laser radar system breaks through the limitation that a convectional laser radar can only measure a limited amount of distance and intensity data, complete fiberization of a full-waveform laser radar optical path is achieved through fiber components, and the debugging flexibility and the system integration simplification of a full-waveform laser radar are effectively enhanced.
Description
Technical field
The present invention relates to lidar measurement field, especially a kind of full optical fiber optical optical road Full wave shape laser radar system.
Background technology
Laser radar is a kind of active remote sensing technology by means of laser, mainly travel to and fro between the time between target and laser radar platform by measuring laser pulse, obtain the distance between laser radar platform and target according to the relation of distance and 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, thereby obtain digital surface model and the digital elevation model of target.Because the pulsed laser that used in practice exists certain angle of divergence, cause launched laser pulse light beam to be propagated forward with the form that is similar to circular cone, it in the time of laser pulse light beam and objectives interation, is no longer a point, a but round spot, this circle spot is called as laser facula, again due to complicacy and the diversity of target in measurement environment, thereby in a laser facula, likely comprise multiple Scattering Targets or a target has multiple scattering surfaces, thereby cause the complicacy of laser echo signal waveform, for example in an echo, comprise multiple pulses or pulse broadened.But conventional laser radar is just by means of one or limited time point in certain method of discrimination (rising edge, peak value or center of gravity etc.) detection laser echo, thereby obtain the distance value (present stage mostly is 6 most) of one or more targets in laser facula, again because different target has different echo waveforms, therefore only adopt fixing differentiation detection method, can cause different targets to there is different distance accuracies.Full wave shape laser radar is by laser echo signal complete collection and storage in regular hour interval by means of high-speed data acquiring device, thereby obtain the complete waveform of laser echo signal, the waveform signal collecting is called as Full wave shape signal, according to comprising physics and the geometrical property information that target is abundant in the known Full wave shape signal of the mechanism of laser pulse and objectives interation.
At the patent of invention (application number: 201310093384.1) of Li little Lu application, in described Full wave shape laser radar system, laser beam adopts the mode of space transmission, before systematic survey, need the waveform of Emission Lasers pulse to demarcate, for single measurement, echo waveform of laser pulse can only be obtained, Emission Lasers pulse waveform cannot be obtained; At the patent of invention (application number: 201310610608.1) of Li Duan application, in described Full wave shape laser radar system, laser beam adopts the mode of space transmission equally, adopts double detector simultaneously, and binary channels is surveyed and gathered transmitting and receiving laser pulse shape respectively.
Full wave shape laser radar system described herein combines optical fiber technology with Full wave shape laser radar system, realize the complete fiberize of Full wave shape laser radar system light path, therefore the debugging of Full wave shape laser radar system and integrated complicacy have been reduced, adopt optic fibre light path can realize flexibly simple detector simultaneously, single channel gathers to transmitting and receiving laser pulse shape in single measurement when, thereby the Emission Lasers pulse waveform in each measurement can be provided simultaneously and receive laser pulse shape, and simple detector is surveyed, different detectors have been eliminated in single channel collection, different acquisition channel response characteristic inconsistent, improve the measuring accuracy of system.
Summary of the invention
The invention discloses a kind of full optical fiber optical optical road Full wave shape laser radar system, object is to improve the dirigibility of Full wave shape laser radar system design, reduce the complicacy that Full wave shape laser radar system regulates, increase the integration of Full wave shape laser radar system simultaneously.
The transmission of laser beam, beam splitting in described laser radar system, close bundle, outgoing, reception and detection and all adopt optic fibre light path, described laser radar system comprises that control module, LASER Light Source, laser beam splitter unit, laser emission element, data read reference position generation unit, laser acquisition unit, data acquisition unit and software unit.Described control module is made up of main control computer and laser control module, described LASER Light Source is made up of pulsed laser and fibre-optical splice, the fiber optic splitter that described laser beam splitter unit is respectively 99:1 and 90:10 by two splitting ratios forms, described laser emission element is made up of optical fiber collimator, described data read reference position generation unit by optical fiber focus lamp, photodiode and amplification and rectification circuit composition, described laser acquisition unit is by telescope, laser optical fibre coupler, optical-fiber bundling device, photodetector and prime amplifier composition, described data acquisition unit is made up of high-speed data acquisition card and timer, described control module completes the control to pulsed laser in LASER Light Source and data acquisition unit high speed data collecting card, and the data that data acquisition unit high speed data collecting card is collected read, show, storage and calculating.Described pulsed laser receives the laser control signal from laser control module, the laser pulse of transmitting certain frequency and pulse width, and by the fibre-optical splice coupled into optical fibres in LASER Light Source, arrive laser beam splitter unit through Optical Fiber Transmission, in order to realize the full storage of Emission Lasers pulse waveform and reception laser pulse shape, and eliminate the emission delay of pulsed laser, the fiber optic splitter of described laser pulse in laser beam splitter unit is divided into 3 bundles, the 1st bundle is called Emission Lasers pulsed light beam, the optical fiber collimator collimation output of described Emission Lasers pulsed light beam in laser emission element is shone to target, optical fiber collimator is mainly in order to reduce the angle of divergence by the laser beam of fiber optic splitter output in laser beam splitter unit, increase laser beam collimation transmission range, increase the size of laser beam waist.Laser pulse is after target scattering, collected by the telescope in laser acquisition unit, and by laser optical fibre coupler coupled into optical fibres, enter photodetector through optical-fiber bundling device again, the laser pulse signal receiving is converted to electric impulse signal by photodetector, thereby gathered by the high-speed data acquisition card in data acquisition unit, by means of data sampling at a high speed, the waveform that receives laser pulse can be by complete collection, thereby realizes the Full wave shape storage that receives laser pulse, the 2nd bundle is called Emission Lasers pulse waveform and gathers light beam, described Emission Lasers pulse waveform gather light beam through Optical Fiber Transmission to the optical-fiber bundling device in laser acquisition unit, enter into photodetector through optical-fiber bundling device, laser pulse is converted to electric pulse by photodetector, thereby gathered by the high-speed data acquisition card in data acquisition unit, by means of data sampling at a high speed, the waveform of Emission Lasers pulse can be by complete collection, thereby realize the Full wave shape storage of Emission Lasers pulse, the time-sharing multiplex of optical-fiber bundling device, realize Emission Lasers pulsed light beam and received laser pulse light beam through same optic fibre light path, surveyed by same photodetector, same data acquisition channel collection, thereby reduce the complicacy of system, and different detectors are eliminated, between different data acquisition passage, response characteristic is inconsistent.Due to the instability of pulsed laser work, cause launched laser pulse to there is different waveforms, stored transmit laser pulse shape and reception laser pulse shape simultaneously, make in the signal in later stage is processed, consider the otherness of Emission Lasers pulse waveform width and amplitude, get a more accurate measurement result, and can and receive the difference between laser pulse shape according to Emission Lasers pulse waveform, be finally inversed by physics and the geometrical property of target, the 3rd bundle is called Emission Lasers pulse labeling light beam, described Emission Lasers pulse labeling light beam enters into data through optic fibre light path and reads reference position generation unit, first focus on through optical fiber focus lamp the photosurface that outputs to photoelectric diode, thereby laser pulse signal is converted to electric impulse signal, electric impulse signal is through amplification and the shaping of amplification and rectification circuit, be converted to can trigger data acquisition unit in the Emission Lasers pulse waveform data markers signal of timer and high-speed data acquisition card, the described Emission Lasers pulse waveform data markers signal of one side is used for setting Emission Lasers pulse waveform data and reads reference position, reference position while reading high-speed data acquisition card Emission Lasers pulse waveform data for main control computer, reading reference position by means of Emission Lasers pulse waveform data can realize the complete of Emission Lasers pulse waveform and read, described Emission Lasers pulse waveform data markers signal triggering timer starts timing on the other hand, in the time that timer meets the timing length of setting, timer output receives laser pulse shape data markers signal, described reception laser pulse shape data markers signal is used for setting reception laser pulse shape data and reads reference position, reference position when reading high-speed data acquisition card and receive laser pulse shape data for main control computer, can realize the range gating storage that receives laser pulse shape by means of the fixed cycle operator of timer, simultaneously read reference position and can realize the Full wave shape storage that receives laser pulse according to receiving laser pulse shape data in high-speed data acquisition card.Described software unit provides Man Machine Interface, the configuration of data acquisition unit high speed data collecting card acquisition parameter and timer timing length, and the configuration of laser control module output laser control signal frequency and dutycycle, the data that collect and the demonstration of data processed result.
The complete fiber beam splitting of laser pulse can be realized in described laser beam splitter unit, thereby the laser pulse light beam of different components is shone to target as Emission Lasers pulse outgoing respectively, for generation of the collection of Emission Lasers pulse waveform data markers signal and Emission Lasers pulse waveform, described laser beam splitter unit is made up of two fiber optic splitters, the splitting ratio of first fiber optic splitter is 99:1, thereby the two bundle laser pulses that it is 99:1 that the laser pulse that pulsed laser is launched is divided into the ratio of light intensity, the light beam that wherein energy is larger shines to target as Emission Lasers pulsed light beam, the energy of Emission Lasers pulse is larger, measuring distance is far away, under same distance, laser echo signal signal to noise ratio (S/N ratio) through target scattering is higher, thereby the remote and accurately measurement of realize target, the light beam that wherein energy is less is through second fiber optic splitter beam splitting again, the splitting ratio of second fiber optic splitter is 90:10, the light beam that wherein energy is larger gathers light beam as Emission Lasers pulse waveform and is received by laser acquisition unit, higher laser energy has ensured that the Emission Lasers pulse waveform collecting has higher signal to noise ratio (S/N ratio), thereby ensures the accurate storage of Emission Lasers pulse waveform, the light beam that wherein energy is less enters data and reads reference position generation unit, for generation of Emission Lasers pulse waveform data markers signal.
Described data acquisition unit can be realized complete collection and the storage of Emission Lasers pulse waveform, realizes the range gating storage that receives laser pulse simultaneously.Described data acquisition unit comprises timer and high-speed data acquisition card, and high-speed data acquisition card, by means of data sampling at a high speed, completes the conversion of analog electrical pulse signal to digital signal, and by the signal storage collecting to carrying in storer from body.Timer receives the range gating storage of laser pulse according to user's Configuration, thereby reduces the memory data output that receives laser pulse; when high-speed data acquisition card receives the Emission Lasers pulse waveform data markers signal that reads reference position generation unit from data, can Emission Lasers pulse waveform data be set in current sample point and read reference position, when equaling Emission Lasers pulse waveform record length, high-speed data acquisition card sampling number deducts Emission Lasers pulse forward after record length, main control computer in control module reads reference position according to Emission Lasers pulse waveform data and reads the Emission Lasers pulse waveform data in high-speed data acquisition card, thereby realize the full storage of Emission Lasers pulse waveform, after receiving Emission Lasers pulse waveform data markers signal, timer starts timing, in the time that timer meets the fixed time interval of setting, output receives laser pulse shape data markers signal, described reception laser pulse shape data markers signal arranges reception laser pulse shape data and reads reference position at the current sampling point place of high-speed data acquisition card, when meeting, high-speed data acquisition card sampling number receives after laser pulse shape record length, main control computer in control module reads reference position according to reception laser pulse shape data and reads the reception laser pulse shape data that collect in high-speed data acquisition card, thereby realize the range gating storage that receives laser pulse,
Described laser acquisition unit can be realized Emission Lasers pulse waveform collection light beam and receive laser pulse light beam and enter same optic fibre light path, by means of optical-fiber bundling device, utilize the time-sharing multiplex of surveying light path, photodetector and high-speed data acquisition card, the simple detector that completes Emission Lasers pulse waveform and reception laser pulse shape is surveyed, forms data acquisition channel gathers, whole laser acquisition unit is full optical fiber optical optical road simultaneously, has reduced the system complicacy regulating and the loss that receives laser pulse signal.Described laser acquisition unit is by telescope, laser optical fibre coupler, optical-fiber bundling device, photodetector and prime amplifier composition, telescope is collected the laser pulse signal by target scattering, laser optical fibre coupler is positioned in telescopical focus, thereby in an optical fiber of the laser pulse signal coupled into optical fibres bundling device that telescope is collected, Emission Lasers pulse waveform in another of optical-fiber bundling device optical fiber access laser beam splitter unit gathers light path, the output optical fibre of optical-fiber bundling device connects photodetector, because gathering light beam, Emission Lasers pulse waveform arrives optical-fiber bundling device early than receiving laser pulse light beam, therefore by time-sharing multiplex optical-fiber bundling device, photodetector and high-speed data acquisition card, can realize the simple detector detection that Emission Lasers pulse waveform gathers light beam and receives laser pulse light beam, the collection of forms data acquisition channel and storage, prime amplifier after photodetector is mainly used in the amplification of photodetector output electrical signals, because the laser echo signal of target scattering is extremely faint, cause the voltage signal of photodetector output to be less than the minimum reference voltage of data acquisition unit high speed data collecting card, only have photodetector output voltage is amplified, just be conducive to the collection of data collecting card in data acquisition unit.
Described data read reference position generation unit and comprise optical fiber focus lamp, photoelectric diode and amplification and rectification circuit, the Emission Lasers pulse labeling light beam of fiber optic splitter output in optical fiber focus lamp access laser beam splitter unit, the Emission Lasers pulse labeling light beam of optical fiber output is focused on the photosurface of photodiode, the effect of optical fiber focus lamp is to converge the Emission Lasers pulse labeling light beam of optical fiber output to the photosurface of photodiode, thereby increase detection efficiency, Emission Lasers pulse labeling light pulse signal is converted to electric impulse signal by photodiode, electric impulse signal amplifies and shaping through described amplification and rectification circuit, becoming can driving data collecting unit high speed data collecting card and the Emission Lasers pulse waveform data markers signal of timer, due to less through the Emission Lasers pulse labeling beam energy of laser beam splitter unit output, thereby cause the voltage pulse signal level of being exported by photodiode cannot meet the requirement of data acquisition unit high speed data collecting card to level, therefore need the electric impulse signal of diode output to amplify, simultaneously because the high-speed data acquisition card in data acquisition unit and timer are edging trigger, precipitous rising edge can improve triggering precision, therefore need the voltage pulse signal of photodiode output to carry out shaping.
Described laser emission element is an optical fiber collimator, by the Emission Lasers pulsed light beam collimation output through optical fiber output by laser beam splitter unit.Described control module comprises main control computer and laser control module; The configuration of the complete paired data collecting unit of main control computer high speed data collecting card acquisition parameter and the configuration of timer timing frequency and fixed time interval, simultaneously to laser control module output square-wave signal frequency, the setting of amplitude and dutycycle.
Beneficial effect of the present invention, full optical fiber optical optical road Full wave shape laser radar system can gather simultaneously and store the Emission Lasers pulse waveform in single measurement and receive laser pulse shape, with the transmission of Optical Fiber Transmission replacement spatial light, increase the dirigibility that in the debugging of Full wave shape laser radar system and system, put each component feature space position, be conducive to the system integration.
Brief description of the drawings
Fig. 1 is full optical fiber optical optical road Full wave shape laser radar system sketch.
Fig. 2 is full optical fiber optical optical road Full wave shape laser radar system software interface figure.
Fig. 3 is full optical fiber optical optical road Full wave shape laser radar system complete diagram.
Fig. 4 is Emission Lasers pulse waveform and receives laser pulse shape collection sequential chart.
Fig. 5 is the Emission Lasers pulse collecting and receives laser pulse shape figure
Embodiment
Before system works, by means of software unit, system operational parameters is arranged, software unit mainly completes the parameter configuration of full optical fiber optical optical road Full wave shape laser radar system before starting working, and the real-time demonstration of Emission Lasers pulse waveform and reception laser pulse shape, software interface as shown in Figure 2
Software unit is based on Labview platform development, and front panel interface is made up of high-speed data acquisition card configuration section, timer configuration section, laser control block configuration part and waveform display section.High-speed collection card configuration section comprises that again file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input arrange and capture card triggers setting.File setting comprises that file store path arranges and the demonstration of storage file number.The setting of acquisition channel voltage comprises that acquisition channel reference voltage arranges and the setting of acquisition channel bias voltage.The setting of acquisition channel reference voltage and bias voltage is depended on and is received the size of signal amplitude and the size of high-speed data acquisition card reference voltage.Acquisition channel set of time comprises setting, the setting of Emission Lasers pulse waveform record length, the Emission Lasers pulse setting of memory length and the setting of reception laser pulse shape record length forward of sample frequency.The setting of Emission Lasers pulse waveform record length, depends on the width of laser pulse of pulsed laser transmitting and the Emission Lasers pulse waveform length that will record.Emission Lasers pulse forward memory length is that leading reading out data is counted, be mainly the mistiming that gathers light beam and Emission Lasers pulse labeling light beam arrival data acquisition unit in order to eliminate Emission Lasers pulse waveform, ensure the full storage of Emission Lasers pulse waveform.Acquisition channel input arranges and comprises the setting that gathers logical maximum incoming frequency and input signal coupling scheme.Capture card triggers to arrange and comprises that trigger source setting, triggering level size arrange and the setting of trigger port coupling scheme.The selection of trigger source depends on outer triggering signal with which input channel of high-speed data acquisition card is connected, and triggering level size arranges and depends on the level that reads the Emission Lasers pulse waveform data markers signal of reference position generation unit from data.Laser control cell location part comprises frequency, amplitude and the dutycycle setting of laser control signal.The frequency of control signal depends on measures desired laser pulse transmission frequency, the amplitude of control signal depends on the trigger pip amplitude size that pulsed laser can respond, the dutycycle setting of control signal and the set of frequency of control signal are used in conjunction with, and depend primarily on the size of the trigger pip dutycycle that pulsed laser can respond.Waveform display window is for the real-time demonstration of Emission Lasers pulse waveform and reception laser pulse shape.After setting completes, click operation button system and start working, high logarithmic data capture card starts Real-time Collection and stores the data that collect into plate to carry in storer.
As shown in Figure 2, the heavy line with arrow is that light beam transmits in space, and the fine line with arrow is that light beam transmits in optical fiber, and the dot-and-dash line with arrow is that electric signal transmits in wire.The measurement that pulsed laser 1 is system provides laser pulse.The wavelength of pulsed laser 1 selects to depend on the transmission window of transmission medium and the scattering properties of measured target in measurement environment, for example, in Tactics of Urban Surveying, Laser Transmission medium is atmosphere, and measured target is high building, meadow and road surface, and the wavelength of laser instrument 1 can be chosen as 1064nm; In Ocean Surveying, the transmission medium of laser is water for another example, and now laser instrument 1 wavelength can be chosen as 532nm.Pulsed laser has repetition frequency height and the large characteristic of peak power, thereby can meet the requirement of quick and telemeasurement, and therefore laser type is chosen as pulsed laser.The laser pulse width that pulsed laser 1 is launched is generally selected 5-10ns.Narrow laser pulse causes the too high damage that may cause target of peak power of laser pulse on the one hand; Cause on the other hand laser instrument cost to increase and the increase of laser detector bandwidth requirement, thereby increase the cost of system.Under same frequency, identical measuring distance, wide laser pulse can increase the power demand of laser instrument, thereby increases power consumption.Pulsed laser 1 is tunable laser device, can be flexibly according to the transmission frequency that need to regulate laser instrument of the task of measurement.
Pulsed laser 1 receives the laser control signal sending from the laser control module 2 in control module, launch the laser pulse of certain frequency and pulsewidth, described laser pulse is through fibre-optical splice 3 coupled into optical fibres, arrive laser beam splitter unit through Optical Fiber Transmission, fiber optic splitter 1 in laser beam splitter unit is divided into light beam 1 and light beam 2, and light beam 1 is 99:1 with the ratio of the light intensity of light beam 2; Light beam 1 as Emission Lasers pulsed light beam the optical fiber collimator outgoing in laser emission element according to target, it is main larger because launch the energy of light beam that laser pulse transmitting light beam accounts for significant proportion, measuring distance is far away, the laser echo signal signal to noise ratio (S/N ratio) being detected by photodetector under same distance is higher, thus the remote and accurately measurement of realize target.Optical fiber collimator in laser emission element is mainly in order to reduce the angle of divergence by optical fiber emitting laser light beam, thereby reduces the Magnification of laser facula in laser pulse transmitting procedure, thereby is conducive to telemeasurement.
In Fig. 2, light beam 2 is divided into light beam 3 and light beam 4 through fiber optic splitter 2 again, and light beam 3 is 90:10 with the ratio of the light intensity of light beam 4, and light beam 3 gathers light beam as Emission Lasers pulse waveform, and light beam 4 is as Emission Lasers pulse labeling light beam; Wherein light beam 3 account for significant proportion be mainly because light beam 3 as Emission Lasers pulse waveform gather light beam, higher pulsed laser energy has ensured that the Emission Lasers pulse waveform collecting has higher signal to noise ratio (S/N ratio), thereby ensures the accurate storage of Emission Lasers pulse waveform.Light beam 3 through Optical Fiber Transmission to the optical-fiber bundling device 4 in laser acquisition unit, incide photodetector 11 through optical fiber again and be converted to electric signal, described electric signal is gathered by the high-speed data acquisition card in data acquisition unit after prime amplifier 12 amplifies, as the storage of Emission Lasers pulse waveform, thereby realize the Full wave shape storage of Emission Lasers pulse waveform.
As shown in Figure 2, through the return laser beam light beam of target scattering by laser acquisition unit in telescope 13 collect as receiving laser pulse light beam, laser optical fibre coupler 14 is positioned at the focal position of telescope 13, thereby the laser echo signal coupled into optical fibres that telescope 13 is collected, and arrive optical-fiber bundling device 4 through Optical Fiber Transmission, optical-fiber bundling device 4 is transferred to laser echo signal photodetector 11 again, thereby laser pulse signal is converted to electric impulse signal, and electric impulse signal is gathered by the high-speed data acquisition card 9 in data acquisition unit through the amplification of prime amplifier 12.The Main Function of optical-fiber bundling device 4 is to utilize the mistiming that receives laser pulse light beam and Emission Lasers pulse waveform collection light beam arrival optical-fiber bundling device, by means of the principle of time-sharing multiplex, Emission Lasers pulse waveform is gathered to light beam and receives laser pulse light beam and be transferred to same detector by same optic fibre light path, thereby utilize simple detector and forms data acquisition channel, complete the detection of Emission Lasers pulse and reception laser pulse, gather and storage.The effect of prime amplifier 12 is mainly the electric impulse signal that amplifies photodetector output, owing to receiving, laser pulse light beam power is very little, therefore the output voltage of photodetector is less than the reference voltage of high-speed data acquisition card minimum, only have the pulse to photodetector output voltage to amplify, could be gathered by high-speed data acquisition card.
Data acquisition and storage sequential as shown in Figure 4, system start working after high-speed data acquisition card be operated in Real-time Collection pattern, and the data that collect be stored in to plate carry in storer.Laser control module in control module is sent the pulse of laser control signal trigger pulse laser instrument Emission Lasers.Described laser pulse is through the beam splitting of laser beam splitter unit, wherein Emission Lasers pulse waveform collection light beam is that electric signal transmission is to data acquisition unit through laser acquisition cell translation, Emission Lasers pulse labeling light beam reads reference position generation unit through data and produces Emission Lasers pulse waveform data markers signal simultaneously, described Emission Lasers pulse waveform data markers signal arranges Emission Lasers pulse waveform data at high-speed data acquisition card current sampling point place and reads reference position, when high-speed data data collecting card reads reference position as benchmark taking Emission Lasers pulse waveform data, the sampling number that continues to collect meets the Emission Lasers pulse waveform record length that sets and Emission Lasers pulse forward after memory length, main control computer in control module reads reference position as benchmark taking Emission Lasers pulse waveform data, read the Emission Lasers pulse waveform data that collect in high-speed data acquisition card, the data that read forward certain point number are in order to eliminate the mistiming between Emission Lasers pulse waveform collection signal and Emission Lasers pulse waveform data markers signal, thereby ensure the full storage of Emission Lasers pulse waveform data, after receiving Emission Lasers pulse waveform data markers signal, timer starts timing, when the timing length of timer meets after the fixed time interval of setting, timer output receives laser pulse shape data markers signal, described reception laser pulse shape data markers signal can arrange reception laser pulse shape data at the current sampling point number of high-speed data acquisition card and read reference position, when high-speed data acquisition card reads reference position as benchmark to receive laser pulse shape data, the sampling number that continues to collect meets after reception laser pulse shape record length, main control computer in control module reads to receive laser pulse shape data the reception laser pulse shape data that reference position collects in high-speed data acquisition card as benchmark reads, thereby complete the storage that receives laser pulse shape.
Figure 5 shows that Emission Lasers pulse waveform and receive laser pulse shape figure, the record length of Emission Lasers pulse waveform is 40ns as shown in Figure 5, range gating length is 8.55m(57ns), the record length that receives echo waveform is 70ns, the record length forward of Emission Lasers pulse waveform is 13ns, thereby has ensured the full storage of Emission Lasers pulse waveform.Read the Emission Lasers pulse waveform record length setting and receive laser pulse shape record length because the main control computer in control module only reads reference position according to transmitted waveform and reception echo data, therefore in a period of time of timer range gating, there is no data.
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 to this, any those skilled in the art are in technical scope disclosed by the invention; the variation that can expect or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.Variation in all implication being equal to and scopes that fall into claim is all by within being included in the scope of claim.
Claims (5)
1. the invention discloses a kind of full optical fiber optical optical road Full wave shape laser radar system, it is characterized in that, the transmission of laser beam in described laser radar system, beam splitting, outgoing, receive, close bundle and survey and all adopt optic fibre light path, described laser radar system comprises control module, LASER Light Source, laser beam splitter unit, laser emission element, data read reference position generation unit, laser acquisition unit, data acquisition unit and software unit, described control module is made up of main control computer and laser control module, described LASER Light Source is made up of pulsed laser and fibre-optical splice, described laser beam splitter unit is made up of two fiber optic splitters, splitting ratio is respectively 99:1 and 90:10, described laser emission element is made up of optical fiber collimator, described data read reference position generation unit by optical fiber focus lamp, photodiode and amplification and rectification circuit composition, described laser acquisition unit is by telescope, laser optical fibre coupler, optical-fiber bundling device, photodetector and prime amplifier composition, described data acquisition unit is made up of high-speed data acquisition card and timer, described pulsed laser receives the laser control signal from laser control module output in control module, send the laser pulse of certain frequency and pulse width, described laser pulse is by the fibre-optical splice coupled into optical fibres in LASER Light Source, arrive laser beam splitter unit through Optical Fiber Transmission, the laser pulse of pulsed laser output is divided into 3 bundles by fiber optic splitter in described laser beam splitter unit, the 1st bundle is called Emission Lasers pulsed light beam, the optical fiber collimator collimation output of described Emission Lasers pulsed light beam in laser emission element is shone to target, Emission Lasers pulse becomes reception laser pulse after target scattering, collected by the telescope in laser acquisition unit, and by laser optical fibre coupler coupled into optical fibres, enter photodetector through optical-fiber bundling device again, the light signal receiving is converted to electric signal by described photodetector, thereby gathered by the high-speed data acquisition card in data acquisition unit, by means of data sampling at a high speed, receiving laser pulse shape can be by complete collection, thereby realize the Full wave shape storage that receives laser pulse, the 2nd bundle is called Emission Lasers pulse waveform and gathers light beam, described Emission Lasers pulse waveform gather light beam through Optical Fiber Transmission to the optical-fiber bundling device in laser acquisition unit, enter into photodetector through optical-fiber bundling device, laser pulse is converted to electric impulse signal by photodetector, thereby gathered by the high-speed data acquisition card in data acquisition unit, by means of data sampling at a high speed, the waveform of Emission Lasers pulse can be by complete collection, thereby realize the Full wave shape storage of Emission Lasers pulse, the 3rd bundle is called Emission Lasers pulse labeling light beam, described Emission Lasers pulse labeling light beam enters into data through optic fibre light path and reads reference position generation unit, first focus on through optical fiber focus lamp the photosurface that outputs to photoelectric diode, thereby laser pulse signal is converted to electric impulse signal, electric impulse signal is through amplification and the shaping of amplification and rectification circuit, be converted to can trigger data acquisition unit in the Emission Lasers pulse waveform data markers signal of timer and high-speed data acquisition card, the described Emission Lasers pulse waveform data markers signal of one side is used for setting Emission Lasers pulse waveform data and reads reference position, reference position while reading Emission Lasers pulse waveform data in high-speed data acquisition card for the main control computer of control module, read reference position and can realize the Full wave shape storage of Emission Lasers pulse by Emission Lasers pulse waveform data, described Emission Lasers pulse waveform data markers signal triggering timer starts timing on the other hand, in the time that timer meets the timing length of setting, timer output receives laser pulse shape data markers signal, described reception laser pulse shape data markers signal is used for setting reception laser pulse shape data and reads reference position, reference position when reading high-speed data acquisition card and receive laser pulse shape data for main control computer, can realize the range gating storage that receives laser pulse shape data by the fixed cycle operator of timer, simultaneously read reference position and can realize the Full wave shape storage that receives laser pulse according to receiving laser pulse shape data in high-speed data acquisition card, control module completes the configuration to pulsed laser in LASER Light Source and data acquisition unit high speed data collecting card, and the data that collect in high-speed data acquisition card are read, show, storage and calculating, described software unit provides Man Machine Interface, the configuration of data acquisition unit high speed data collecting card acquisition parameter and timer timing length, and the configuration of laser control module output laser control signal frequency and dutycycle, the data that collect and the demonstration of data processed result, patent of the present invention can realize the full fiberize of Full wave shape laser radar light path, adopt simple detector and single acquisition channel to realize timesharing detection, acquisition time and the timesharing storage of Emission Lasers pulse and reception laser pulse simultaneously, thereby obtain Emission Lasers pulse and the Full wave shape data that receive laser pulse in single measurement.
2. a kind of full optical fiber optical optical according to claim 1 road Full wave shape laser radar system, it is characterized in that, described data acquisition unit can be realized collection and the storage of Emission Lasers pulse waveform, realize the range gating storage that receives laser pulse simultaneously, described data acquisition unit comprises timer and high-speed data acquisition card, high-speed data acquisition card is by means of data sampling at a high speed, complete the conversion of electric pulse simulating signal to digital signal, and by the signal storage collecting to carrying in storer from body, timer receives the range gating storage of laser pulse signal according to user's Configuration, thereby reduce the memory data output that receives laser pulse signal, when high-speed data acquisition card receives the Emission Lasers pulse waveform data markers signal that reads reference position generation unit from data, can Emission Lasers pulse waveform data be set in current sample point and read reference position, when high-speed data acquisition card reads reference position as starting point taking Emission Lasers pulse waveform data, the sampling number collecting equals Emission Lasers pulse waveform record length and deducts Emission Lasers pulse forward after record length, main control computer in control module reads reference position according to Emission Lasers pulse waveform data and reads the Emission Lasers pulse waveform data in high-speed data acquisition card, thereby realize the storage of Emission Lasers pulse waveform, after receiving Emission Lasers pulse waveform data markers signal, timer starts timing, when timer meets the fixed time interval of setting, output receives laser pulse shape data markers signal, described reception laser pulse shape data markers signal arranges reception laser pulse shape data and reads reference position at the current sampling point place of high-speed data acquisition card, when high-speed data acquisition card is to receive laser pulse data reference position as starting point, the sampling number collecting meets after reception laser pulse shape data record size, main control computer in control module reads reference position according to reception laser pulse shape data and reads the reception laser pulse shape data in high-speed data acquisition card, thereby realize the range gating storage that receives laser pulse.
3. a kind of full optical fiber optical optical according to claim 1 road Full wave shape laser radar system, it is characterized in that, described laser acquisition unit is by telescope, laser optical fibre coupler, optical-fiber bundling device, photodetector and prime amplifier composition, telescope is collected the laser pulse signal by target scattering, laser optical fibre coupler is positioned in telescopical focus, thereby in an optical fiber of the laser pulse signal coupled into optical fibres bundling device that telescope is collected, the output optical fibre of optical-fiber bundling device connects photodetector, because gathering light beam, Emission Lasers pulse waveform arrives optical-fiber bundling device early than receiving laser pulse light beam, therefore by time-sharing multiplex optical-fiber bundling device, photodetector and high-speed data acquisition card, adopt simple detector and forms data acquisition channel to realize the timesharing detection that Emission Lasers pulse waveform gathers light beam and receives laser pulse light beam, acquisition time and timesharing storage, prime amplifier after photodetector is mainly used in the amplification of photodetector output electrical signals, described laser acquisition unit can be realized Emission Lasers pulse waveform collection light beam and receive laser pulse light beam and enter same fiber-optic probe light path, by means of optical-fiber bundling device, utilize fiber-optic probe light path, the time-sharing multiplex of photodetector and high-speed data acquisition card, the simple detector that completes Emission Lasers pulse waveform and reception laser pulse shape is surveyed, forms data acquisition channel gathers, whole laser acquisition unit is full optical fiber optical optical road simultaneously, the system complicacy regulating and the loss that receives laser pulse signal are reduced.
4. a kind of full optical fiber optical optical according to claim 1 road Full wave shape laser radar system, it is characterized in that, described data read reference position generation unit and comprise optical fiber focus lamp, photoelectric diode and amplification and rectification circuit, described optical fiber focus lamp accesses the Emission Lasers pulse labeling light beam from laser beam splitter unit of being exported by optical fiber, described Emission Lasers pulse labeling light beam is focused on by optical fiber focus lamp on the photosurface of photodiode, Emission Lasers pulse labeling light beam is converted to electric impulse signal by described photodiode, electric impulse signal amplifies and shaping through described amplification and rectification circuit, becoming can driving data collecting unit high speed data collecting card and the Emission Lasers pulse waveform data markers signal of timer.
5. a kind of full optical fiber optical optical according to claim 1 road Full wave shape laser radar system, it is characterized in that, described software unit comprises high-speed data acquisition card configuration section, laser control block configuration part, timer configuration section and waveform display section, high-speed data acquisition card configuration section comprises file setting, acquisition channel voltage arranges, acquisition channel set of time, acquisition channel input arranges and capture card triggers setting, file setting comprises the setting of file store path and the demonstration of storage file number, the setting of acquisition channel voltage comprises that acquisition channel reference voltage arranges and the setting of acquisition channel bias voltage, sampling channel set of time comprises the setting of sample frequency, the setting of Emission Lasers pulse waveform record length, Emission Lasers pulse is the setting of memory length and the setting of reception laser pulse shape record length forward, acquisition channel input arranges the setting that comprises the maximum incoming frequency of acquisition channel and input signal coupling scheme, capture card triggers to arrange and comprises trigger source setting, triggering level size arranges and trigger port coupling scheme arrange, timer configuration section comprises the setting of timer toggle rate and the setting of timing length, laser control cell location part comprises laser control signal frequency, amplitude and dutycycle setting, waveform display window is for the real-time demonstration of Emission Lasers pulse waveform and reception return laser beam waveform, described software unit provides Man Machine Interface, can data acquisition unit high speed data collecting card acquisition parameter and the configuration of timer timing length, and the configuration of laser control module output laser control signal frequency and dutycycle, the data that collect and the demonstration of data processed result.
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