CN104483676B - A kind of 3D/2D scannerless laser radars complex imaging device - Google Patents
A kind of 3D/2D scannerless laser radars complex imaging device Download PDFInfo
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- CN104483676B CN104483676B CN201410729773.3A CN201410729773A CN104483676B CN 104483676 B CN104483676 B CN 104483676B CN 201410729773 A CN201410729773 A CN 201410729773A CN 104483676 B CN104483676 B CN 104483676B
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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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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of 3D/2D scannerless laser radars complex imaging device, belong to photoelectric imaging technology field.Mainly include infrared laser, transmitting and receiving optics, optical filter, semi-transparent semi-reflecting lens, APD and FPA detectors, timing and emerging system.General principle is infrared laser transmitting laser beam, homed on its target and is reflected after the emitted optical system of light beam, the received optical system of reflected light is received, and the light received passes through optical filter wiping out background light.When light is irradiated on semi-transparent semi-reflecting lens, light is divided into two beams, wherein a branch of be irradiated to APD detectors, generates a width low resolution Range Profile；Another light beams are irradiated to FPA detectors and generate a panel height resolution intensity picture, and data processing board to two images merge obtaining high-resolution range image.Solve the problem of currently can not manufacturing high resolution A PD detector arrays due to material technology limitation, high-resolution range image can not be obtained.
Description
Technical field
The present invention relates to a kind of 3D/2D scannerless laser radars complex imaging device, belong to photoelectric imaging technology field.
Background technology
In the field such as military, civilian, the need for existing imaging and passive imaging mode can not meet social development.It is existing
Imaging and passive imaging mode can only obtain the intensity image of object and can not obtain the three-dimensional information of object, so using laser radar as representative
Active Imaging mode become it is particularly important.The implementation of current imaging laser radar has a lot, using swashing for scan mode
Optical radar comparative maturity, but scanning laser radar has the shortcomings that some are intrinsic, scan mechanism makes radar can not be to height
The mobile object of speed is imaged, the presence of sweep mechanism reduces overall mechanism reliability, the volume for adding mechanism and
Weight etc. these imply that Non-scanning mode imaging mode is finally bound to replace scanning imagery mode the problem of can not overcome.Realize non-
The mode of scanning imagery laser radar equally has a lot, for its developing prospect, because the imaging mode of APD array has
It is silicon materials device to have main devices, process technology is ripe, it is integrated to be easy to, without advantages such as vacuum aided devices, as most
A kind of imaging mode of development potentiality,.
But limited by current processing technology, the pixel count of APD array detector can't accomplish too big, such
Pixel count is difficult the demand for meeting practical application, therefore is difficult directly to obtain high-resolution range image with APD array detector.
The development of current focal plane array detector is better than the development of APD array detector, the pixel count that focal plane arrays (FPA) can be accomplished
Amount, using the imaging mode of focal plane arrays (FPA), can obtain the intensity image of object much larger than the pixel count of APD array detector.
By analysis, certain contact is there is between the Range Profile and intensity image that find object, it is possible to use this to contact APD array
The high-resolution intensity image of the low resolution Range Profile of detector and focal plane array detector, which merge, to be obtained a width and possesses
The range image of high-resolution.APD array detector, which can so be made up, can not accomplish the shortcoming of many pixels, can obtain one
Width has high-resolution range image.
The content of the invention
The present invention solves the problem of current APD array detector can not accomplish many pixels, it is proposed that a kind of APD array is visited
Survey the device that device data are blended 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 radars complex imaging device.The device include short-wave infrared laser device,
Speculum, APD detectors, expand shaping optical system, receiving optics, optical filter, semi-transparent semi-reflecting lens, APD array detection
Device, amplifying circuit, TDC timing circuits, focal plane array detector, DSP high-speed datas processing board and display；
Described short-wave infrared laser device launches high current narrow pulse signal when receiving pulse triggering signal；
Described speculum is split to light energy；
Light pulse signal is changed into electric impulse signal by described APD detectors；
Described expands shaping optical system with two groups of camera lenses, and camera lens surface is coated with 905nm infrared anti-reflection film,
Two groups of camera lenses are respectively used to expanding and shaping for laser beam；
Described receiving optics is that the refraction-reflection of heavy caliber focal length is looked in the distance receiving optics；
Described optical filter can be gated to light energy；
Described semi-transparent semi-reflecting lens are split to light energy, wherein 50% light energy is by reflection and 50% light energy
It is transmitted；
Described APD array detector and focal plane array detector are the receiving devices of face battle array；
What described amplifying circuit was exported to APD array detector carries out consistent amplification per electric signal all the way；
What described TDC timing circuits were exported to APD array detector carries out accurate timing per electric signal all the way；
Described high-speed data processing board is the data processing board designed based on dsp chip, chip conduct simultaneously
Control chip is used, and is the control end of whole system；
Described display is liquid crystal display.
The course of work is：Short-wave infrared laser device launches short-wave infrared laser light beam, and laser beam is through expanding shaping optics
Homed on its target and reflected after system, through looking in the distance, receiving optics is received, and the light received filters out the back of the body by filter glass
Scape light.When light is irradiated on semi-transparent semi-reflecting lens, light is divided into two beams, wherein a branch of be irradiated to APD array detector,
Generate a width low resolution Range Profile；Another light beams are irradiated to focal plane array detector to generate a panel height resolution intensity
Picture, high-speed data handles board and obtains high-resolution range image to two images progress algorithm process.
Beneficial effect
The present invention is merged using the APD range images of low resolution with high-resolution focal plane intensity image, most
High-resolution range image is obtained eventually, is solved current because material technology is limited and can not manufacture high resolution A PD arrays
Detector, the problem of high-resolution range image can not be obtained.Extend the application of APD array detector.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of 3D/2D scannerless laser radars complex imaging device in embodiment；
Wherein, 1- short-wave infrared lasers device, 2- speculums, 3-APD single point detectors, 4- expand shaping optical system, 5-
Receiving optics, 6- optical filters, 7- semi-transparent semi-reflecting lens, 8-APD detector arrays, 9- high speeds amplifying circuit, 10-TDC timing
Circuit, 11- focal plane array detectors, 12- high-speed datas processing board, 13- liquid crystal displays；
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Embodiment
A kind of 3D/2D scannerless laser radars complex imaging device.As shown in figure 1, the device includes short-wave infrared laser
Device 1, speculum 2, APD detectors 3, expand shaping optical system 4, receiving optics 5, optical filter 6, semi-transparent semi-reflecting lens 7,
APD array detector 8, amplifying circuit 9, TDC timing circuits 10, focal plane array detector 11, DSP high-speed datas processing board
12 and display 13；
Described short-wave infrared laser device (1) fire pulse width can be less than when receiving pulse triggering signal
20ns, peak power are more than 150W, rising edge of a pulse and are 905nm, repetition rate less than 1KHz less than 10ns, wavelength and launch hair
The less pulse laser in angle is dissipated, the laser monochromaticjty is good enough, and stability is sufficiently strong, and the laser has corresponding radiating
Measure, can work long hours；
Described speculum (2) can be split to light energy, wherein 5% light energy is by reflection and 95% luminous energy
Amount is transmitted, and transmitted light path is just vertical with reflected light path；
Light pulse signal can be changed into electric impulse signal by described APD detectors (3), it is desirable to which detector bandwidth is enough
Height, can detect narrow pulse signal；
Described expands shaping optical system (4) with two groups of camera lenses, and camera lens surface is coated with 905nm infrared anti-reflection
Film, two groups of camera lenses are respectively used to expanding and shaping for laser beam, and expanding makes irradiation facula area sufficiently large, and shaping makes hot spot light intensity
Branch tries one's best uniformly；
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, focal length is 800mm, and camera lens surface is coated with 905nm infrared anti-reflection film, and image quality is high, distorts small with aberration；
Described optical filter (6) can be gated to light energy, and only 905nm optical wavelength can pass through, with a width of
20nm；
Described semi-transparent semi-reflecting lens (7), it is characterised in that the eyeglass can be split to light energy, wherein 50% light
Energy is transmitted by reflection and 50% light energy, and transmitted light path is just vertical with reflected light path；
Described APD array detector (8) and focal plane array detector (11) is the receiving device of face battle array, APD array
The bandwidth of detector is sufficiently high, can detect narrow pulse signal, and two detector sensitivities are sufficiently high, can detect faint
Optical signal；
What described amplifying circuit (9) can be exported to APD array detector carries out consistent amplification per electric signal all the way,
The bandwidth of circuit is sufficiently high, can distortionless amplification high-speed electrical signals, detector periphery has corresponding heat abstractor to drop
The temperature of low detector；
What described TDC timing circuits (10) can be exported to APD array detector is accurately counted per electric signal all the way
When, it reaches 90ps according to timing trigger signal and termination timing trigger signal progress timing, accuracy of timekeeping is started；
Described high-speed data processing board (12) is the data processing board designed based on dsp chip, the board internal memory
Sufficiently large, arithmetic speed is sufficiently fast, can rapidly perform designed blending algorithm, can realize the aobvious in real time of successive image
Show, the chip is used as control chip simultaneously, be the control end of whole system, can control when laser launches laser arteries and veins
Rush and when show the range image after fusion；
Described display (13) is liquid crystal display.
The course of work is：High-speed dsp board 12 is to the commencing signal of short-wave infrared laser device 1, short-wave infrared laser device 1
Launch short-wave infrared laser light beam after trigger signal is received, light beam passes through the reflection with 5% 95% transmission capacity of reflection
Mirror 2, the reflected beams are received by APD detectors 3 and are converted into corresponding electric signal, and this signal is used as the trigger signal for starting timing
Send into TDC timing circuits 10；Transmitted light beam homed on its target and is reflected after expanding shaping optical system 4, through reception light of looking in the distance
System 5 is received, and the light received passes through the wiping out background light of filter glass 6.When light is irradiated on semi-transparent semi-reflecting lens 7
When, light is divided into two beams, wherein a branch of be irradiated to APD array detector 8, every amplified circuit 9 of electric signal all the way of output
TDC timing circuits 10 are sent into as the trigger signal for terminating timing after amplification, 10 pairs of TDC timing circuits are carried out per electric signal all the way
Timing generates a width low resolution Range Profile, and then this Range Profile is admitted to DSP high speeds board 12；Another light beams are irradiated to Jiao
Planar array detector 11 is to generate a panel height resolution intensity picture, and then this intensity image is equally admitted to DSP high speeds board 12,
High-speed data handles board 12 and high-resolution range image is obtained to two images progress algorithm process and real on the monitor 13
When show, after fused images are shown, DSP control chips 12 launch trigger signal to start a new round to laser 1
Collection.
Operation principle：
The timing principles of APD array detector is calculate time-of-flight method, and TDC chips can be calculated from laser pulse emission
Rise, until the time interval untill laser pulse signal is received by APD pixels, is then calculated according to formula x=0.5c*t
Go out the distance value of each pixel, TDC beginning timing signal comes from the APD detectors of emission system, and terminates timing signal
Come from every electric signal all the way after the amplified circuit amplification of APD array detector；
The light that target is reflected, is divided into the beam of energy identical two by semi-transparent semi-reflecting lens, a branch of to be irradiated to APD times
Row detector, obtains the Range Profile of a width low resolution；Other Ray Of Light is irradiated to focal plane array detector, obtains a width
The intensity image of high-resolution.Because the public identical optical receiving system of two images is so belong to common view field image；APD gusts
Row plane must be just in the image plane of object, to meet imaging relations with focal plane arrays (FPA) plane.
According to analysis, the intensity image of visual field meets certain relation with Range Profile altogether, it is possible to utilize this relational design
Blending algorithm merges two images, obtains the range image of a width high-resolution.
Claims (1)
1. a kind of 3D/2D scannerless laser radars complex imaging device, including short-wave infrared laser device, speculum, APD detection
Device, expand shaping optical system, receiving optics, optical filter, APD array detector, amplifying circuit, TDC timing circuits,
DSP high-speed datas handle board and liquid crystal display, it is characterised in that：Comprising semi-transparent semi-reflecting lens and focal plane array detector,
The return laser beam energy of half is distributed to focal plane array detector using semi-transparent semi-reflecting lens, the intensity map of object is obtained
Picture, using the inherent parsing algebraic connection between intensity image under laser radar range image and Same Scene, at algorithm
Reason obtains the higher range image of the former APD array detector spatial resolution of an amplitude ratio；
The receiving optics is looked in the distance receiving optics for the refraction-reflection of heavy caliber focal length；
The APD array detector is located in receiving optics image plane, belongs to Range Profile detector；
The focal plane array detector is located in receiving optics image plane, belongs to intensity image detector；
The job step of 3D/2D scannerless laser radar complex imaging devices is：Short-wave infrared laser device transmitting short-wave infrared swashs
Light light beam, laser beam homed on its target thing after expanding shaping optical system, the infrared laser light beam reflected by object, through big
The refraction-reflection of bore focal length is looked in the distance after receiving optics reception and optical filter wiping out background light, exposes to semi-transparent semi-reflecting lens,
Laser beam is divided into two beams on semi-transparent semi-reflecting lens, and wherein beam of laser light beam images in APD array detector, generates a width
Range image, another beam laser beam images in focal plane array detector, generates an amplitude ratio APD array detector spatial discrimination
The higher intensity image of rate, high-speed data handles board and carries out algorithm process to two images, obtains a width spatial resolution high
In the range image of former APD array detector spatial resolution.
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| CN201410729773.3A CN104483676B (en) | 2014-12-04 | 2014-12-04 | A kind of 3D/2D scannerless laser radars complex imaging device |
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| CN201410729773.3A CN104483676B (en) | 2014-12-04 | 2014-12-04 | A kind of 3D/2D scannerless laser radars complex imaging device |
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| CN104483676B true CN104483676B (en) | 2017-08-11 |
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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 |
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| CN110673160B (en) * | 2019-10-29 | 2024-07-23 | 北科天绘(合肥)激光技术有限公司 | Data fusion processing method, laser camera, corresponding intelligent vehicle or unmanned aerial vehicle |
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| 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 |
| CN113419252A (en) * | 2021-06-10 | 2021-09-21 | Oppo广东移动通信有限公司 | Time-of-flight module, terminal and depth detection method |
| CN114063111A (en) * | 2022-01-14 | 2022-02-18 | 探维科技(北京)有限公司 | Radar detection system and method of image fusion laser |
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| CN101430377B (en) * | 2008-11-18 | 2011-06-22 | 北京航空航天大学 | Non-scanning 3D imaging laser radar optical system based on APD array |
| KR101145132B1 (en) * | 2010-10-27 | 2012-05-14 | 한국과학기술원 | The three-dimensional imaging pulsed laser radar system using geiger-mode avalanche photo-diode focal plane array and auto-focusing method for the same |
| CN103412313B (en) * | 2013-07-30 | 2015-03-25 | 桂林理工大学 | Small low-altitude light area array laser radar measuring system |
| CN103744087B (en) * | 2014-01-11 | 2016-03-02 | 桂林理工大学 | A kind of pulse type N*N-array laser radar system |
| CN104122561B (en) * | 2014-07-15 | 2017-03-15 | 南京理工大学 | A kind of non-scanning type 3D laser imaging radar |
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