CN103969658B - Close-range photogrammetry color three dimension scanning laser radar - Google Patents
Close-range photogrammetry color three dimension scanning laser radar Download PDFInfo
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- CN103969658B CN103969658B CN201410217603.7A CN201410217603A CN103969658B CN 103969658 B CN103969658 B CN 103969658B CN 201410217603 A CN201410217603 A CN 201410217603A CN 103969658 B CN103969658 B CN 103969658B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
nullA kind of close-range photogrammetry color three dimension scanning laser radar，Including color laser light source、Optical transmitting system、Scanning system、Receiving optics、Laser spectrum detection and range-measuring circuit、Data acquisition and time schedule controller、Computer digital animation unit，Described color laser light source includes ruddiness pulsed laser light source、Green glow or gold-tinted pulsed laser light source、Blue light pulsed laser light source and infrared light pulse LASER Light Source，After the emitted optical system of laser that color laser light source sends after synthesized laser beam，Incide scanning system，Scanned system carries out color laser linear scanning to Target scalar，The echo-signal that scanning is formed is captured by optical receiving system，The intensity of each pulse laser obtained through laser spectrum detection and range-measuring circuit detection and Target scalar range information are transported to data acquisition to carry out multi-channel data acquisition with time schedule controller and calculates with sequential，Result exports computer digital animation unit.
Description
Technical field
The present invention relates to Mapping remote sensing technology technical field, particularly relate to a kind of close-range photogrammetry color three dimension scanning laser radar.
Background technology
Ground close-range photogrammetry laser radar technique generally detects in Single wavelength mode, is rotated by tilting mirror and pedestal and realizes laser three-dimensional scanning imaging detection.But limiting owing to being limited by single optical maser wavelength, can only obtain the intensity level of single wavelength, lack to people's color information the most intuitively, the data in Objects recognition and later stage process and suffer from obvious deficiency.
Summary of the invention
It is an object of the invention to: a kind of close-range photogrammetry color laser Radar Technology is provided.This technology, on the basis of the existing single infrared laser light source of ground laser radar, develops into and includes color laser light source, directly obtains the cloud data with color laser spectral information, the imaging detection ability of General Promotion close-range photogrammetry laser radar.
nullThe present invention provides a kind of close-range photogrammetry color three dimension scanning laser radar，Including color laser light source、Optical transmitting system、Scanning system、Receiving optics、Laser spectrum detection and range-measuring circuit、Data acquisition and time schedule controller、Computer digital animation unit，Data acquisition and time schedule controller and color laser light source、Scanning system、Laser spectrum detection and range-measuring circuit and computer digital animation unit connect respectively，Described color laser light source includes ruddiness pulsed laser light source、Green glow or gold-tinted pulsed laser light source、Blue light pulsed laser light source and infrared light pulse LASER Light Source，After the emitted optical system of laser that color laser light source sends after synthesized laser beam，Incide scanning system，Scanned system carries out color laser linear scanning to Target scalar，The echo-signal that scanning is formed is captured by optical receiving system，The intensity of each pulse laser that the signal of optical receiving system capture obtains through laser spectrum detection and range-measuring circuit detection and Target scalar range information are transported to data acquisition to carry out multi-channel data acquisition with time schedule controller and calculates with sequential，Result exports computer digital animation unit.
And, optical transmitting system includes the first completely reflecting mirror, the second completely reflecting mirror, the 3rd completely reflecting mirror, the 4th completely reflecting mirror and the first light splitting optical filter, the second light splitting optical filter, the 3rd light splitting optical filter；
The green light pulse laser exported by green glow or gold-tinted pulsed laser light source, after the second completely reflecting mirror reflection, incides the first light splitting optical filter, is combined into Ray Of Light with the ruddiness pulse laser of ruddiness pulsed laser light source output；The blue light pulse laser exported by blue light pulsed laser light source reflects through the 3rd completely reflecting mirror, again by after the second light splitting optical filter, a branch of color laser it is combined into further with the light of green light pulse laser and ruddiness pulse laser beam combining, and after the first completely reflecting mirror and the 4th completely reflecting mirror, exporting and incide the 3rd light splitting optical filter, color laser synthesizes final laser beam with the pulsed infrared laser of infrared light pulse LASER Light Source output after the 3rd light splitting optical filter.
And, described scanning system includes centre bore speculum and scanning mirror, pedestal, and scanning system uses centre bore speculum and scanning mirror to realize two-dimensional scan, realizes three dimensions by 360 ° of rotations of pedestal and scans；
Receiving optics includes the 5th condenser lens, diaphragm, collimation lens, 4th light splitting optical filter, the 5th light splitting optical filter, the 6th light splitting optical filter, first narrow band pass filter, the second narrow band pass filter, the 3rd narrow band pass filter, the 4th narrow band pass filter, first condenser lens, the second condenser lens, tertiary focusing lens, the 4th condenser lens, and the first photodetector, the second photodetector, the 3rd photodetector, the 4th photodetector.
And, the final laser beam of optical transmitting system gained incides centre bore speculum, color laser passes through from the centre bore of centre bore speculum and incides scanning mirror, laser scanning is carried out by scanning mirror, Target scalar laser echo signal returns on scanning mirror, reflex on the 5th condenser lens by centre bore speculum, echo-signal is incided the 6th light splitting optical filter through diaphragm, collimation lens by the 5th condenser lens, by the 6th light splitting optical filter, colour echo laser and infrared echo laser signal is divided into two passages and receives respectively and detect；Incide the first narrow band pass filter after infrared laser echo-signal transmission, incide after the first condenser lens on the first photodetector；Colored echo-signal, after the 6th light splitting optical filter reflection, incides the 5th light splitting optical filter, and blue laser echo-signal enters the second narrow band pass filter after the 5th light splitting optical filter reflection, is incided on the second photodetector by the second condenser lens；After red laser echo-signal and green or yellow laser echo-signal are by the 5th light splitting filter transmission, incide the 4th light splitting optical filter, its Green or yellow laser echo-signal are reflected into the 4th narrow band pass filter through the 4th light splitting optical filter, by inciding on the 3rd photodetector after tertiary focusing lens, red laser echo-signal incides the 3rd narrow band pass filter after the 4th light splitting filter transmission, by inciding on the 4th photodetector after the 4th condenser lens.
And, green glow or gold-tinted pulsed laser light source, ruddiness pulsed laser light source, blue light pulsed laser light source, infrared light pulse LASER Light Source all use complete solid state pulse laser instrument.
A kind of close-range photogrammetry color laser Radar Technology that the present invention provides, it is different from the single infrared laser light source of existing Photogrammetry laser radar, this technology uses the laser of three primary colors red, green, blue (RGB) optical maser wavelength and infrared laser to synthesize color laser light source as launching light source, carry out color laser spectral scan imaging detection, color laser spectral information and the laser point cloud information of Target scalar can be obtained simultaneously, thus the color laser imaging of target is obtained by three-dimensionalreconstruction, strengthen the color resolution ability of laser radar.The chrominance pulse laser instrument of the present invention can use all solid state laser of high-peak power, Gao Zhongying, adds the stability of system, decreases volume and weight, comparatively safe, improves the feasibility of system.
Accompanying drawing explanation
Fig. 1 is the structural representation of the close-range photogrammetry color laser radar of the embodiment of the present invention.
Fig. 2 is that the color laser of the embodiment of the present invention closes bundle emission principle figure.
Fig. 3 is the color laser scanning record principle figure of the embodiment of the present invention.
Detailed description of the invention
By existing Single wavelength laser radar technique being increased the color laser wavelength of the RGB R.G.B/ reddish yellow indigo plant R.Y.B tri-look synthesis in visible-range, laser radar three-dimensional spatial information and color laser spectral information are combined, make Photogrammetry laser radar while retaining three dimensions resolution capability, also have chromatic spectrum discriminating power concurrently.The close-range photogrammetry color laser Radar Technology of the present invention, generation disposable to close-range target can have color laser imaging data, by color laser imaging data is rendered, close-range target can be carried out color laser point cloud imaging, comprehensive precision improving laser radar Objects recognition and the ability of atural object remote sensing and range of application.Technical solution of the present invention is described in detail below in conjunction with drawings and Examples.
Seeing Fig. 1, the close-range photogrammetry color laser radar of the embodiment of the present invention includes: the detection of color laser light source 1, optical transmitting system 2, scanning system 3, receiving optics 4, laser spectrum and range-measuring circuit 5, data acquisition and time schedule controller 6, computer digital animation unit 7.Data acquisition is connected with color laser light source 1, scanning system 3, laser spectrum detection and range-measuring circuit 5 and computer digital animation unit 7 respectively with time schedule controller 6.When being embodied as, laser spectrum detection and range-measuring circuit 5, data acquisition and time schedule controller 6, computer digital animation unit 7 can use prior art to realize, and such as computer digital animation unit 7 can use the equipment such as PC.
Color laser light source 1 can include green glow or gold-tinted pulsed laser light source, ruddiness pulsed laser light source, blue light pulsed laser light source, infrared light pulse LASER Light Source, all can use complete solid state pulse laser instrument.After the emitted optical system of laser 2 that color laser light source 1 sends after synthesized laser beam, incide scanning system 3, scanned system 3 carries out color laser linear scanning to Target scalar, after detected object back scattering is penetrated, echo-signal is formed during scanning, echo-signal is captured by optical receiving system 4, the intensity of each pulse laser that the signal of optical receiving system 4 capture obtains through laser spectrum detection and range-measuring circuit 3 detection and Target scalar range information are transported to data acquisition to carry out multi-channel data acquisition with time schedule controller 6 and calculates with sequential, its result exports computer digital animation unit 7；Data acquisition is connected with the input of range-measuring circuit 5 with colour solid pulse laser 1 and scanning system 3, laser spectrum detection with the output of time schedule controller 6 simultaneously, laser instrument output and scanning work, data acquisition can be carried out SECO simultaneously.
Described color laser light source 1 and optical transmitting system 2 combine output color solid-state laser.See Fig. 2, embodiment is provided to close bundle three kinds of color laser wavelength of output and the scanning emitter of infrared laser wavelength, color laser light source 1 is made up of green light pulse LASER Light Source 9, ruddiness pulsed laser light source 8, blue light pulsed laser light source 10, infrared light pulse LASER Light Source 15, optical transmitting system 2 provides light beam to close beam system, four pulsed laser light sources the laser launched becomes light beam output after closing beam system.Wherein, close beam system to be made up of first completely reflecting mirror the 14, second completely reflecting mirror the 15, the 3rd completely reflecting mirror the 16, the 4th completely reflecting mirror 17 and first light splitting optical filter the 12, second light splitting optical filter the 13, the 3rd light splitting optical filter 18.
Ruddiness pulsed laser light source 8 and the second completely reflecting mirror 15 are respectively outputted to the first light splitting optical filter 12, green light pulse LASER Light Source 9 exports the second completely reflecting mirror 15, blue light pulsed laser light source 10 exports the 3rd completely reflecting mirror 16, and infrared light pulse LASER Light Source 15 exports the 3rd light splitting optical filter 18.The ruddiness pulse laser of ruddiness pulsed laser light source 8 output is through the first light splitting optical filter 12 transmission；The green light pulse laser exported by green light pulse LASER Light Source 9, after the second completely reflecting mirror 15 reflects, incides the first light splitting optical filter 12, is combined into Ray Of Light with the ruddiness pulse laser of ruddiness pulsed laser light source 8 output.Simultaneously, the blue light pulse laser exported by blue light pulsed laser light source 10 reflects through the 3rd completely reflecting mirror 16, again by after the second light splitting optical filter 13, a branch of color laser it is combined into further with the light of green light pulse laser and ruddiness pulse laser beam combining, and through one group of completely reflecting mirror group (the first completely reflecting mirror 14, 4th completely reflecting mirror 17) export afterwards and incide the 3rd light splitting optical filter 18, this color laser light beam synthesizes a branch of final laser beam with the pulsed infrared laser of infrared light pulse LASER Light Source 15 output after the 3rd light splitting optical filter 18, i.e. optical transmitting system 2 acquired results.
When being embodied as, can be on the optical axis of the direction of beam propagation of ruddiness pulsed laser light source 8, it is sequentially placed first light splitting optical filter the 12, second light splitting optical filter the 13, first completely reflecting mirror 14 from left to right, wherein first light splitting optical filter the 12, second light splitting optical filter 13 is that 135 degree of angles are placed respectively with optical axis, and the first completely reflecting mirror 14 and this optical axis are that 45 degree of angles are placed；Reflecting placement the 4th completely reflecting mirror 17 in the light path of light at the first completely reflecting mirror 14, the 4th completely reflecting mirror 17 is parallel with the first completely reflecting mirror 14；Reflecting placement the 3rd light splitting optical filter 18 in the light path of light at the 4th completely reflecting mirror 17, the 3rd light splitting optical filter 18 is parallel with the 4th completely reflecting mirror 17.The optical axis of ruddiness pulsed laser light source 8, green light pulse LASER Light Source 9, blue light pulsed laser light source 10 direction of beam propagation respectively is parallel.The optical axis of the direction of beam propagation of green light pulse LASER Light Source 9 arranges the second completely reflecting mirror 15, second completely reflecting mirror 15 and this optical axis are that 135 degree of angles are placed, the green light pulse laser exported by green light pulse LASER Light Source 9 is after the second completely reflecting mirror 15 reflects, incide the light path of the first light splitting optical filter 12, vertical through the light path of the first light splitting optical filter 12 transmission with the ruddiness pulse laser of ruddiness pulsed laser light source 8 output so that green light pulse laser is through the first light splitting optical filter 12 and ruddiness pulse laser beam combining；The optical axis of the direction of beam propagation of blue light pulsed laser light source 10 arranges the 3rd completely reflecting mirror 16, 3rd completely reflecting mirror 16 and this optical axis are that 135 degree of angles are placed, the blue light pulse laser exported by blue light pulsed laser light source 10 reflects through the 3rd completely reflecting mirror 16, incide the light path of the second light splitting optical filter 13, vertical through the light path of the second light splitting optical filter 13 transmission with the light of green light pulse laser and ruddiness pulse laser beam combining, blue light pulse laser is made to be combined into a branch of color laser further through the light of the second light splitting optical filter 13 with green light pulse laser and ruddiness pulse laser beam combining.The optical axis of the direction of beam propagation of infrared light pulse LASER Light Source 15 is in the transmission light light path of the 3rd light splitting optical filter 18 so that the pulsed infrared laser of infrared light pulse LASER Light Source 15 output closes bundle with the color laser through the 4th completely reflecting mirror 17 reflection.
Green light pulse LASER Light Source 9 also can use gold-tinted pulsed laser light source instead.
Described scanning system 3 includes centre bore speculum 20 and scanning mirror 19, pedestal.Scanning system 3 uses centre bore speculum 20 and scanning mirror 19 to realize two-dimensional scan.Further, realize three dimensions by 360 ° of rotations of pedestal to scan.When being embodied as, can use machine system be placed in can 360 ° rotate pedestals on mode, by in close-range photogrammetry color laser radar provided by the present invention in addition to pedestal other all part set become machine system, it is then fitted on pedestal, three dimensions can be realized by the rotation of this pedestal and scan.Scanning mirror 19 can use polyhedral prism.Data acquisition and time schedule controller 6 can be to scanning system 3 output timing control signals, control scanning mirror 19 and pedestal rotation respectively, corresponding angle information also can return to data acquisition and time schedule controller 6 and computer digital animation unit 7 is arrived in output respectively for both.Receiving optics 4 includes the 5th condenser lens 21, diaphragm 22, collimation lens 38,4th light splitting optical filter the 31, the 5th light splitting optical filter the 27, the 6th light splitting optical filter 23, first narrow band pass filter the 24, second narrow band pass filter the 28, the 3rd narrow band pass filter the 32, the 4th narrow band pass filter 35, first condenser lens the 25, second condenser lens 29, tertiary focusing lens the 33, the 4th condenser lens 36, and first photodetector the 26, second photodetector the 30, the 3rd photodetector the 34, the 4th photodetector 37.
The final laser beam of optical transmitting system 2 gained incides centre bore speculum 20, color laser passes through from the centre bore of centre bore speculum 20 and incides scanning mirror 19, laser scanning is carried out by scanning mirror 19, Target scalar laser echo signal returns on scanning mirror 19, reflex on the 5th condenser lens 21 by centre bore speculum 20, 5th condenser lens 21 by echo-signal through diaphragm 22, collimation lens 38 incides the 6th light splitting optical filter 23, by the 6th light splitting optical filter 23, colour echo laser and infrared echo laser signal are divided into two passages receive respectively and detect；Incide the first narrow band pass filter 24 after infrared laser echo-signal transmission, incide after the first condenser lens 25 on first photodetector 26；Colored echo-signal is after the 6th light splitting optical filter 23 reflection, incide the 5th light splitting optical filter 27, blue laser echo-signal enters the second narrow band pass filter 28 after the 5th light splitting optical filter 27 reflection, is incided on the second photodetector 30 by the second condenser lens 29；After red laser echo-signal and green laser echo-signal are by the 5th light splitting optical filter 27 transmission, incide the 4th light splitting optical filter 31, wherein green laser echo-signal is reflected into the 3rd narrow band pass filter 32 through the 4th light splitting optical filter 31, by inciding on the 3rd photodetector 34 after tertiary focusing lens 33, red laser echo-signal incides the 4th narrow band pass filter 35 after the 4th light splitting optical filter 32 transmission, by inciding on the 4th photodetector 37 after the 4th condenser lens 36.
If green light pulse LASER Light Source 9 uses gold-tinted pulsed laser light source instead, above-mentioned green laser echo-signal should be yellow look laser echo signal mutually.
When being embodied as, can be on the optical axis of collimation lens 38, it is sequentially placed centre bore speculum the 20, the 5th condenser lens 21, collimation lens the 38, the 6th light splitting optical filter the 23, first narrow band pass filter the 24, first condenser lens the 25, first photodetector 26 from right to left, 6th light splitting optical filter 23 and this optical axis are that 45 degree of angles are placed, and the reflected light path of the 6th light splitting optical filter 23 sets gradually the 5th light splitting optical filter the 27, the 4th light splitting optical filter the 31, the 4th narrow band pass filter the 35, the 4th condenser lens the 36, the 4th photodetector 37.The reflected light path of the 5th light splitting optical filter 27 is parallel with the optical axis of collimation lens 38 and the 5th light splitting optical filter 27 is that 45 degree of angles are placed with this optical axis, and this light path sets gradually second narrow band pass filter the 28, second condenser lens the 29, second photodetector 30；The reflected light path of the 4th light splitting optical filter 31 is parallel with the optical axis of collimation lens 38 and the 4th light splitting optical filter 31 is that 45 degree of angles are placed with this optical axis, and this light path sets gradually the 4th narrow band pass filter 32, tertiary focusing lens the 33, the 3rd photodetector 34.
When being embodied as, those skilled in the art can use computer software technology to preset control mode on computer digital animation unit 7 the most as required, realize radar work being controlled with time schedule controller 6 through data acquisition, the coordinate of each laser spots can be obtained in conjunction with distance, angle-data, computer software technology also can be used voluntarily to realize follow-up data in computer digital animation unit 7 extension and process.
Specific embodiment described herein is only to present invention spirit explanation for example.Described specific embodiment can be made various amendment or supplements or use similar mode to substitute by those skilled in the art, but without departing from the spirit of the present invention or surmount scope defined in appended claims.
Claims (1)
1. close-range photogrammetry color three dimension scanning a laser radar, including color laser light source, optical transmitting system, scanning system,
The detection of receiving optics, laser spectrum and range-measuring circuit, data acquisition and time schedule controller, computer digital animation unit,
Data acquisition and time schedule controller and color laser light source, scanning system, laser spectrum detection and range-measuring circuit and computer data
Processing unit connects respectively, it is characterised in that:
Described color laser light source include ruddiness pulsed laser light source, green glow or gold-tinted pulsed laser light source, blue light pulsed laser light source with
And infrared light pulse LASER Light Source, green glow or gold-tinted pulsed laser light source, ruddiness pulsed laser light source, blue light pulsed laser light source,
Infrared light pulse LASER Light Source all uses complete solid state pulse laser instrument；After the emitted optical system of laser that color laser light source sends
After synthesized laser beam, inciding scanning system, scanned system carries out color laser linear scanning to Target scalar, scanning
The echo-signal formed is captured by optical receiving system, and the signal of optical receiving system capture is through laser spectrum detection and range finding electricity
The intensity of each pulse laser that road detection obtains and Target scalar range information are transported to data acquisition and carry out many with time schedule controller
Channel data gathers and calculates with sequential, and result exports computer digital animation unit；
Optical transmitting system includes the first completely reflecting mirror, the second completely reflecting mirror, the 3rd completely reflecting mirror, the 4th completely reflecting mirror and the first light splitting
Optical filter, the second light splitting optical filter, the 3rd light splitting optical filter；
The green light pulse laser exported by green glow or gold-tinted pulsed laser light source, after the second completely reflecting mirror reflection, incides the first light splitting
Optical filter, is combined into Ray Of Light with the ruddiness pulse laser of ruddiness pulsed laser light source output；Exported by blue light pulsed laser light source
Blue light pulse laser reflect through the 3rd completely reflecting mirror, then by after the second light splitting optical filter, with green light pulse laser and ruddiness arteries and veins
The light of impulse combiner is combined into a branch of color laser further, and exports after the first completely reflecting mirror and the 4th completely reflecting mirror and be incorporated to
Being mapped to the 3rd light splitting optical filter, color laser filters through the 3rd light splitting with the pulsed infrared laser of infrared light pulse LASER Light Source output
Final laser beam is synthesized after sheet；
Described scanning system includes centre bore speculum and scanning mirror, pedestal, and scanning system uses centre bore speculum and scanning mirror
Realize two-dimensional scan, realize three dimensions by 360 ° of rotations of pedestal and scan；
Receiving optics includes the 5th condenser lens, diaphragm, collimation lens, the 4th light splitting optical filter, the 5th light splitting optical filter,
Six light splitting optical filters, the first narrow band pass filter, the second narrow band pass filter, the 3rd narrow band pass filter, the 4th narrow band pass filter, the
One condenser lens, the second condenser lens, tertiary focusing lens, the 4th condenser lens, and the first photodetector, the second photoelectricity
Detector, the 3rd photodetector, the 4th photodetector；
The final laser beam of optical transmitting system gained incides centre bore speculum, and color laser is saturating from the centre bore of centre bore speculum
Crossing and incide on scanning mirror, carry out laser scanning by scanning mirror, Target scalar laser echo signal returns to scanning mirror
On, reflex on the 5th condenser lens by centre bore speculum, the 5th condenser lens by echo-signal through diaphragm, collimation lens
Incide the 6th light splitting optical filter, by the 6th light splitting optical filter, colour echo laser and infrared echo laser signal are divided into two
Passage receives respectively and detects；The first narrow band pass filter is incided, after the first condenser lens after infrared laser echo-signal transmission
Incide on the first photodetector；Colored echo-signal, after the 6th light splitting optical filter reflection, incides the 5th light splitting optical filter,
Blue laser echo-signal enters the second narrow band pass filter after the 5th light splitting optical filter reflection, is incided by the second condenser lens
On second photodetector；After red laser echo-signal and green or yellow laser echo-signal are by the 5th light splitting filter transmission,
Inciding the 4th light splitting optical filter, its Green or yellow laser echo-signal are reflected into the 4th arrowband through the 4th light splitting optical filter
Optical filter, by inciding on the 3rd photodetector after tertiary focusing lens, red laser echo-signal filters through the 4th light splitting
The 3rd narrow band pass filter is incided, by inciding on the 4th photodetector after the 4th condenser lens after sheet transmission.
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| CN102508259A (en) * | 2011-12-12 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Miniaturization lens-free laser three-dimensional imaging system based on micro-electromechanical system (MEMS) scanning micro-mirror and imaging method thereof |
| CN103558605B (en) * | 2013-10-23 | 2016-04-06 | 中国科学院遥感与数字地球研究所 | A kind of EO-1 hyperion Full wave shape laser radar remote sensing system |
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