CN104483676A - 3D/2D (Three Dimensional/Two Dimensional) scannerless laser radar compound imaging device - Google Patents
3D/2D (Three Dimensional/Two Dimensional) scannerless laser radar compound imaging device Download PDFInfo
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- CN104483676A CN104483676A CN201410729773.3A CN201410729773A CN104483676A CN 104483676 A CN104483676 A CN 104483676A CN 201410729773 A CN201410729773 A CN 201410729773A CN 104483676 A CN104483676 A CN 104483676A
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- detector
- apd
- luminous energy
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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
Abstract
The invention relates to a 3D/2D (Three Dimensional/Two Dimensional) scannerless laser radar compound imaging device, and belongs to the technical field of photoelectronic imaging. The device mainly comprises an infrared laser, a transmission optical system, a receiving optical system, an optical filter, a half transparent and half reflecting mirror, an APD (Avalanche Photo Diode) detector, an FPA (Focal Plane Array) detector and a timing and fusion system. A basic principle refers to that the infrared laser transmits a laser beam, the laser beam is shot to an object through the transmission optical system and is reflected, the reflected light is received by the receiving optical system, and the received light passes through the optical filter to remove background light. When shot onto the half transparent and half reflecting mirror, the light is divided into two beams; one of the two beams reaches the APD detector to generate a low-distinguishability distance image; the other one of the two beams reaches the FPA detector to generate a high-distinguishability intensity image; a data processing board card implements fusion on the two images to obtain a high-distinguishability distance image. By applying the device, the problem of failure in manufacturing a high-distinguishability APD array detector and obtaining the high-distinguishability distance image due to a material technology restriction is solved.
Description
Technical field
The present invention relates to a kind of 3D/2D scannerless laser radar complex imaging device, belong to photoelectric imaging technology field.
Background technology
In the field such as military, civilian, existing imaging and passive imaging mode can not meet the needs of social development.Existing imaging and passive imaging mode can only obtain the intensity image of object and cannot obtain the three-dimensional information of object, thus with laser radar be the Active Imaging mode of representative become particularly important.The implementation of current imaging laser radar has a lot, adopt the laser radar comparative maturity of scan mode, but the shortcoming that scanning laser radar has some intrinsic, scan mechanism makes that radar cannot carry out imaging to the object of high-speed mobile, the existence of scanning mechanism reduces overall mechanism reliability, add these problems that cannot overcome such as the volume and weight of mechanism imply that Non-scanning mode imaging mode is finally bound to replace scanning imagery mode.The mode realizing Non-scanning mode imaging laser radar has a lot equally, with regard to its developing prospect, imaging mode due to APD array have main devices be silicon materials device, process technology ripe, be convenient to integrated, without advantages such as vacuum aided devices, become the most potential a kind of imaging mode.
But be subject to the restriction of current processing technology, the pixel count of APD detector array can't be accomplished too large, and such pixel count is difficult to the demand meeting practical application, is therefore difficult to directly obtain high resolving power range image with APD detector array.The development of current focal plane array detector is better than the development of APD detector array, and the pixel quantity that focal plane arrays (FPA) can be accomplished, much larger than the pixel count of APD detector array, utilizes the imaging mode of focal plane arrays (FPA), can obtain the intensity image of object.By analysis, find between the Range Profile of object and intensity image, to there is certain contact, this contact can be utilized the low resolution Range Profile of APD detector array and the high resolving power intensity image of focal plane array detector to be carried out merging the range image obtaining a width and have high-resolution.The shortcoming that APD detector array cannot accomplish many pixels can be made up like this, a width can be obtained there is high-resolution range image.
Summary of the invention
The invention solves the problem that current APD detector array cannot accomplish many pixels, propose the device that a kind of APD detector array data merge mutually with focal plane array column data.
The present invention is achieved by the following technical solutions.
The present invention is a kind of 3D/2D scannerless laser radar complex imaging device.This device comprises short-wave infrared laser device, catoptron, APD detector, expands shaping optical system, receiving optics, optical filter, semi-transparent semi-reflecting lens, APD detector array, amplifying circuit, TDC timing circuit, focal plane array detector, DSP high-speed data process board and display;
Described short-wave infrared laser device launches big current narrow pulse signal when receiving pulse triggering signal;
Described catoptron is split luminous energy;
Described APD detector changes light pulse signal into electric impulse signal;
The described shaping optical system that expands has two arrangement of mirrors heads, and camera lens surface is coated with the infrared anti-reflection film of 905nm, and two arrangement of mirrors heads are respectively used to expanding of laser beam and shaping;
Described receiving optics is that the refraction-reflection of heavy caliber focal length is looked in the distance receiving optics;
Described optical filter can carry out gating to luminous energy;
Described semi-transparent semi-reflecting lens is split luminous energy, and wherein the luminous energy of 50% is transmitted by the luminous energy reflected with 50%;
Described APD detector array and focal plane array detector are the receiving devices of face battle array;
Described amplifying circuit carries out consistent amplification to each road electric signal that APD detector array exports;
Described TDC timing circuit carries out accurate timing to each road electric signal that APD detector array exports;
Described high-speed data process board is the data processing board based on dsp chip design, and this chip uses as control chip simultaneously, is the control end of whole system;
Described display is liquid crystal display.
The course of work is: short-wave infrared laser light beam launched by short-wave infrared laser device, and laser beam homed on its target being reflected after expanding shaping optical system, through looking in the distance, receiving optics receives, and received light is through filter glass wiping out background light.When light is irradiated on semi-transparent semi-reflecting lens, light is divided into two bundles, is wherein a branch ofly irradiated to APD detector array, generates a width low resolution Range Profile; Another light beams is irradiated to focal plane array detector to generate a panel height resolution intensity picture, and high-speed data process board carries out algorithm process to two width images and obtains high resolving power range image.
Beneficial effect
The present invention utilizes the APD range image of low resolution and high-resolution focal plane intensity image to merge, finally obtain high-resolution range image, solve and currently cannot manufacture high resolution A PD detector array due to material technology restriction, the problem of high resolving power range image cannot be obtained.Extend the application of APD detector array.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of 3D/2D scannerless laser radar complex imaging device in embodiment;
Wherein, 1-short-wave infrared laser device, 2-catoptron, 3-APD single-point detector, 4-expand shaping optical system, 5-receiving optics, 6-optical filter, 7-semi-transparent semi-reflecting lens, 8-APD detector array, 9-high speed amplifying circuit, 10-TDC timing circuit, 11-focal plane array detector, 12-high-speed data process board, 13-liquid crystal display;
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
A kind of 3D/2D scannerless laser radar complex imaging device.As shown in Figure 1, this device comprise short-wave infrared laser device 1, catoptron 2, APD detector 3, expand shaping optical system 4, receiving optics 5, optical filter 6, semi-transparent semi-reflecting lens 7, APD detector array 8, amplifying circuit 9, TDC timing circuit 10, focal plane array detector 11, DSP high-speed data process board 12 and display 13;
Described short-wave infrared laser device (1) can when receiving pulse triggering signal, fire pulse width be less than 20ns, peak power is greater than 150W, rising edge of a pulse is less than 10ns, wavelength is 905nm, repetition frequency is less than 1KHz and launch the less pulse laser of the angle of divergence, this laser instrument monochromaticity is enough good, stability is enough strong, and this laser instrument has corresponding cooling measure, can work long hours;
Described catoptron (2) can be split luminous energy, and wherein the luminous energy of 5% is transmitted by the luminous energy reflected with 95%, and transmitted light path and reflected light path are just vertical;
Described APD detector (3) can change light pulse signal into electric impulse signal, requires that detector bandwidth is enough high, can detect narrow pulse signal;
The described shaping optical system (4) that expands has two arrangement of mirrors heads, and camera lens surface is coated with the infrared anti-reflection film of 905nm, two arrangement of mirrors heads are respectively used to expanding of laser beam and shaping, and expand and make irradiation facula area enough large, shaping makes hot spot light intensity branch as far as possible evenly;
Described receiving optics (5) is that the refraction-reflection of heavy caliber focal length is looked in the distance receiving optics, and its bore is 120mm, and focal length is 800mm, and camera lens surface is coated with the infrared anti-reflection film of 905nm, and image quality is high, and distortion is little with aberration;
Described optical filter (6) can carry out gating to luminous energy, only has the optical wavelength of 905nm to pass through, and bandwidth is 20nm;
Described semi-transparent semi-reflecting lens (7), is characterized in that this eyeglass can be split luminous energy, and wherein the luminous energy of 50% is transmitted by the luminous energy reflected with 50%, and transmitted light path and reflected light path are just vertical;
Described APD detector array (8) and focal plane array detector (11) are the receiving devices of face battle array, the bandwidth of APD detector array is enough high, can detect narrow pulse signal, two detector sensitivities are enough high, can detect faint light signal;
Described amplifying circuit (9) can carry out consistent amplification to each road electric signal that APD detector array exports, the bandwidth of circuit is enough high, can distortionless amplification high-speed electrical signals, detector periphery has corresponding heat abstractor to reduce the temperature of detector;
Described TDC timing circuit (10) can carry out accurate timing to each road electric signal that APD detector array exports, and it carries out timing according to beginning timing trigger pip and termination timing trigger pip, and accuracy of timekeeping reaches 90ps;
Described high-speed data process board (12) is the data processing board based on dsp chip design, this board internal memory is enough large, arithmetic speed is enough fast, designed blending algorithm can be performed rapidly, the real-time display of successive image can be realized, this chip uses as control chip simultaneously, is the control end of whole system, can control laser instrument when Emission Lasers pulse and the range image after when showing fusion;
Described display (13) is liquid crystal display.
The course of work is: high-speed dsp board 12 is to short-wave infrared laser device 1 commencing signal, short-wave infrared laser light beam launched by short-wave infrared laser device 1 after receiving trigger pip, light beam is through having the catoptron 2 of 5% reflection 95% transmission capacity, folded light beam is received by APD detector 3 and converts corresponding electric signal to, and this signal sends into TDC timing circuit 10 as the trigger pip starting timing; Transmitted light beam homed on its target being reflected after expanding shaping optical system 4, through looking in the distance, receiving optics 5 receives, and received light is through filter glass 6 wiping out background light.When light is irradiated on semi-transparent semi-reflecting lens 7, light is divided into two bundles, wherein a branch ofly be irradiated to APD detector array 8, each the road electric signal exported sends into TDC timing circuit 10 as the trigger pip stopping timing after amplifying circuit 9 amplifies, TDC timing circuit 10 carries out timing to each road electric signal and generates a width low resolution Range Profile, and then this Range Profile is admitted to DSP high speed board 12; Another light beams is irradiated to focal plane array detector 11 to generate a panel height resolution intensity picture, then this intensity image is admitted to DSP high speed board 12 equally, high-speed data process board 12 carries out algorithm process to two width images and obtains high resolving power range image and show in real time on the monitor 13, after fused images is shown, DSP control chip 12 launches trigger pip to start the collection of a new round to laser instrument 1.
Principle of work:
The timing principles of APD detector array is for calculating time-of-flight method, TDC chip can calculate from laser pulse is launched, the time interval till laser pulse signal is received by APD pixel-by-pixel basis, then the distance value of each pixel is calculated according to formula x=0.5c*t, the beginning timing signal of TDC comes from the APD detector of emission coefficient, and stop timing signal come from APD detector array through amplifying circuit amplify after each road electric signal;
The light that target reflects, is divided into two identical bundles of energy through semi-transparent semi-reflecting lens, is a branch ofly irradiated to APD detector array, obtains the Range Profile of a width low resolution; Ray Of Light is irradiated to focal plane array detector in addition, obtains the intensity image of a width high-resolution.Because the public identical optical receiving system of two width images is so belong to common view field image; APD array plane and focal plane arrays (FPA) plane must be lucky in the picture plane of object, to meet imaging relations.
Intensity image and Range Profile according to analyzing visual field altogether meet certain relation, so this relational design blending algorithm can be utilized two width image co-registration, obtain the range image of a width high-resolution.
Claims (1)
1. a 3D/2D scannerless laser radar complex imaging device, comprise short-wave infrared laser device (1), catoptron (2), APD detector (3), expand shaping optical system (4), receiving optics (5), optical filter (6), semi-transparent semi-reflecting lens (7), APD detector array (8), amplifying circuit (9), TDC timing circuit (10), focal plane array detector (11), DSP high-speed data process board (12) and liquid crystal display (13), it is characterized in that:
It is described that short-wave infrared laser device (1) fire pulse width is less than 20ns, rising edge of a pulse is less than 10ns, wavelength is the pulse laser of 905nm;
Described catoptron (2) is split luminous energy, and wherein the luminous energy of 5% is transmitted by the luminous energy reflected with 95%;
Described APD detector (3) changes light pulse signal into electric impulse signal;
The described shaping optical system (4) that expands has two arrangement of mirrors heads, and two arrangement of mirrors head surfaces are all coated with the infrared anti-reflection film of 905nm, and two arrangement of mirrors heads are respectively used to expanding of laser beam and shaping;
Described receiving optics (5) is that heavy caliber focal length refraction-reflection is looked in the distance receiving optics;
Described optical filter (6) carries out gating to luminous energy, only has the optical wavelength of 905nm to pass through;
Described semi-transparent semi-reflecting lens (7) is split luminous energy, and wherein the luminous energy of 50% is transmitted by the luminous energy reflected with 50%;
Described APD detector array (8) and focal plane array detector (11) are the receiving devices of face battle array;
Described amplifying circuit (9) carries out consistent amplification to each road electric signal that APD detector array (8) exports;
Described TDC timing circuit (10) carries out accurately timing to each road electric signal that APD detector array (8) exports.
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Cited By (16)
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| CN105182360A (en) * | 2015-08-07 | 2015-12-23 | 王棱馨 | Non-scanning high-speed laser three-dimensional imaging method and system |
| CN106597469A (en) * | 2016-12-20 | 2017-04-26 | 王鹏 | Actively imaging laser camera and imaging method thereof |
| CN107219533A (en) * | 2017-08-04 | 2017-09-29 | 清华大学 | Laser radar point cloud and image co-registration formula detection system |
| CN107399341A (en) * | 2016-05-18 | 2017-11-28 | 苏州华兴致远电子科技有限公司 | On-board running Environmental safety supervision system and method |
| CN107399338A (en) * | 2016-05-18 | 2017-11-28 | 北京华兴致远科技发展有限公司 | Train contact network detection means and method |
| CN108072879A (en) * | 2017-11-22 | 2018-05-25 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
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| CN111337905A (en) * | 2020-03-20 | 2020-06-26 | 东南大学 | Dual-mode focal plane pixel-level circuit based on CTIA and implementation method |
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| CN105182360A (en) * | 2015-08-07 | 2015-12-23 | 王棱馨 | Non-scanning high-speed laser three-dimensional imaging method and system |
| CN107399341A (en) * | 2016-05-18 | 2017-11-28 | 苏州华兴致远电子科技有限公司 | On-board running Environmental safety supervision system and method |
| CN107399338A (en) * | 2016-05-18 | 2017-11-28 | 北京华兴致远科技发展有限公司 | Train contact network detection means and method |
| CN106597469A (en) * | 2016-12-20 | 2017-04-26 | 王鹏 | Actively imaging laser camera and imaging method thereof |
| CN106597469B (en) * | 2016-12-20 | 2020-08-07 | 王鹏 | Imaging method of active imaging laser camera |
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| CN108802757A (en) * | 2018-08-10 | 2018-11-13 | 江苏亮点光电科技有限公司 | A kind of laser irradiation device with infrared complex imaging system |
| CN109276230A (en) * | 2018-08-15 | 2019-01-29 | 华中科技大学鄂州工业技术研究院 | A kind of short-wave infrared tumor imaging system and method |
| CN109375191A (en) * | 2018-09-18 | 2019-02-22 | 南京航空航天大学 | Concurrent irradiation source 3D laser radar and 2D detector superspace resolution information acquisition methods and device |
| CN109375191B (en) * | 2018-09-18 | 2022-09-20 | 南京航空航天大学 | Method and device for acquiring super-spatial resolution information of co-irradiation source 3D laser radar and 2D detector |
| CN111308497A (en) * | 2020-03-06 | 2020-06-19 | 深圳市方腾网络技术有限公司 | 3D laser radar and laser radar implementation method |
| CN111337905B (en) * | 2020-03-20 | 2021-12-28 | 东南大学 | Dual-mode focal plane pixel-level circuit based on CTIA and implementation method |
| CN111337905A (en) * | 2020-03-20 | 2020-06-26 | 东南大学 | Dual-mode focal plane pixel-level circuit based on CTIA and implementation method |
| CN111708003A (en) * | 2020-05-15 | 2020-09-25 | 宁波傲视智绘光电科技有限公司 | Device and method for eliminating stray light and detection equipment |
| CN112578398A (en) * | 2020-12-07 | 2021-03-30 | 中国工程物理研究院应用电子学研究所 | Double-focal-plane detection and identification system and detection and identification method |
| CN112578398B (en) * | 2020-12-07 | 2022-11-29 | 中国工程物理研究院应用电子学研究所 | Double-focal-plane detection and identification system and detection and identification method |
| WO2022165650A1 (en) * | 2021-02-02 | 2022-08-11 | 华为技术有限公司 | Detection device, control method, fusion detection system, and terminal |
| WO2022257558A1 (en) * | 2021-06-10 | 2022-12-15 | Oppo广东移动通信有限公司 | Time-of-flight module, terminal and depth detection method |
| WO2023133939A1 (en) * | 2022-01-14 | 2023-07-20 | 探维科技(北京)有限公司 | Image-laser fusion lidar detection system and method |
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