CN104914445B - For the combined type scanning system of laser radar - Google Patents
For the combined type scanning system of laser radar Download PDFInfo
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- CN104914445B CN104914445B CN201510289254.4A CN201510289254A CN104914445B CN 104914445 B CN104914445 B CN 104914445B CN 201510289254 A CN201510289254 A CN 201510289254A CN 104914445 B CN104914445 B CN 104914445B
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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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Abstract
For the combined type scanning system of laser radar, it is related to field of photoelectric technology, solves existing Laser Radar Scanning system and have that scan efficiency is low, gap ratio between laser facula row and row is larger, the uniformity of hot spot distribution is limited；And scanning field of view is small, lack of homogeneity and the low problem of resolution ratio, including transmitting subsystem, receiving subsystem and electric-control system；Transmitting subsystem includes Distributed Feedback Laser, two-stage EDFA and optical emission system；Receiving subsystem includes optical receiving system, PZT quick titling mirrors, X-axis galvanometer, Y-axis galvanometer and large photosensistive surface APD；Electric-control system includes signal processing circuit, PZT drivers, FPGA, arm processor, host computer, X-axis vibrating mirror driver and Y-axis vibrating mirror driver；System of the present invention is shaken using X-axis galvanometer, Y-axis and completes large-scale coarse scanning, the accurate scan of small range is completed using PZT quick titling mirrors, and then realize scanning laser radar imaging with a wide range of precise.
Description
Technical field
The present invention relates to field of photoelectric technology, and in particular to a kind of combined type scanning means for laser radar.
Background technology
Traditional laser radar is roughly divided into two classes, respectively tracking mode laser radar and measurement formula laser from application
Radar.
Tracking mode laser radar is mainly used in laser guidance tracking occasion, using super high power (instantaneous power myriawatt) laser
Device is irradiated to target, then uses high-speed array detector in receiving terminal, and high speed ranging and imaging are carried out to target.This
The advantage of class radar is the three-dimensional imaging that can realize high speed, and shortcoming is that the pixel dimension of detector array is restricted institute
With its two-dimensional resolution being imaged cannot do it is too high, and visual field is minimum.
Measurement formula laser radar is mainly used in the occasions such as topography and geomorphology measurement and aeromerric moasurenont, using high power laser pair
Target carries out point by point scanning, then uses single detector in receiving terminal, and the last imaging of high speed pointwise range finding is carried out to target.This
The advantage of class radar is that can realize the imaging of large area, and shortcoming is that imaging process resolution ratio is relatively low, and system point
Resolution precision is also constrained by scanning servo system.
Prior art is disadvantageous in that：
Conventional laser radar system, mainly has two parameters to govern the imaging bandwidth of laser radar in imaging process,
It is respectively the repetition rate of solid-state laser and the sweep bandwidth of scanning system and scanning accuracy.In order to improve laser radar into
Image-tape is wide and precision, and many scholars of recent domestic propose many solutions for this.Tuley et al. is proposed using to two
The method that dimension laser radar increases one-dimensional scanning device realizes that three-dimensional measurement, Surmann et al. are filled using mechanical two-dimensional scan
Put and realize that three-dimensional laser is measured, Qu Ronghui et al. proposes a kind of optical phased array technology based on electropical scanning, Meng Zhaohua et al.
Constructed using acousto-optic frequency shifters, Mach-Zehnder amplitude modulator using narrow linewidth semiconductor laser a set of based on balance
The laser ranging experimental system of coherent detection and chirp amplitude, Zheng Ruitong et al. propose a kind of arteries and veins based on linear array APD detector
Rush the one-dimensional scannerless laser radar system of formula, Wu Lijuan et al. and propose Reform Mode APD array no-raster formula laser radar, and it is right
Its three-dimensional imaging is emulated.Although the scan mode is simple, scanning angle is big, and scan efficiency is low, laser facula
Gap ratio between row and row is larger, and the uniformity of hot spot distribution receives considerable restraint.Acousto-optic scanning used and electropical scanning
Mode, sweep speed is fast, efficiency high, belongs to inertialess scanning, but its scanning field of view is small and lack of homogeneity, the no-raster mode of proposition
Although low with requiring laser pulse frequency, the fast advantage of image taking speed, scanning field of view is small, and resolution ratio is low.
The content of the invention
The present invention for solve existing Laser Radar Scanning system exist scan efficiency it is low, between laser facula row and row between
Away from than larger, the uniformity of hot spot distribution is limited；And scanning field of view is small, lack of homogeneity and the low problem of resolution ratio, there is provided one
Plant the combined type scanning system for laser radar.
For the combined type scanning system of laser radar, including transmitting subsystem, receiving subsystem and electric-control system；It is described
Transmitting subsystem includes Distributed Feedback Laser, two-stage EDFA and optical emission system；Receiving subsystem includes optical receiving system, X-axis
Galvanometer, Y-axis galvanometer and large photosensistive surface APD；The electric-control system includes signal processing circuit, PZT drivers, at FPGA, ARM
Reason device, host computer, X-axis vibrating mirror driver and Y-axis vibrating mirror driver；It is characterized in that；The transmitting subsystem also includes that PZT is quick
Tilting mirror, makes the benchmark zero degree of PZT quick titling mirrors coaxial with optical receiving system, and adjustment optical emission system is quick with PZT
The benchmark zero degree of tilting mirror is coaxial, realizes that three is coaxial；
The Distributed Feedback Laser receives outgoing high frequency lasers after the data signal that FPGA sends, and the high frequency lasers are by two
Level EDFA amplify after through on optical emission system collimated incident to PZT quick titling mirrors, the appearance with a tight waist of the laser beam after collimation
In tested interval；
, to X-axis and Y direction stepping, the laser beam is through X-axis galvanometer for the PZT driver controls PZT quick titling mirrors
Speculum and Y-axis galvanometer speculum reflection after form the PZT scanning field of view of multiple scanning elements composition in measured target region,
The X-axis vibrating mirror driver and Y-axis vibrating mirror driver control X-axis galvanometer and Y-axis galvanometer to deflect respectively, through PZT quick titling mirrors
The light beam of reflection is progressively scanned after the speculum of X-axis galvanometer and Y-axis galvanometer reflects and forms galvanometer in measured target region
Scanning field of view, the vibration mirror scanning visual field is made up of the splicing of multiple PZT scanning field of view；
There is irreflexive light beam through measured target region to be received by optical receiving system and converge to large photosensistive surface APD,
, to being sent to signal processing circuit after echo-signal opto-electronic conversion, the signal processing circuit is from echo for the large photosensistive surface APD
The range information of tested region diverse location is extracted in photosignal, and the range information is sent to arm processor, it is described
Arm processor is according to the range information and PZT quick titling mirrors positional information, X-axis galvanometer positional information and Y-axis galvanometer position
Information calculates the three-dimensional information for obtaining measured target region each point, and three-dimensional information is sent into host computer, by host computer to adopting
The data for collecting process and obtain three-dimensional laser radar image；The echo angle of divergence of the laser beam is quick less than or equal to PZT
2 times of tilting mirror single step deflection angle.
Beneficial effects of the present invention：Combined type scanning system of the present invention is using based on PZT quick titling mirrors and X-axis
The two-stage composite laser scanning system that galvanometer, Y-axis galvanometer are combined, is shaken using X-axis galvanometer, Y-axis and completes large-scale coarse scan
Retouch, complete the accurate scan of small range using PZT quick titling mirrors, so realize scanning laser radar with a wide range of precise into
Picture.System of the present invention completes scanning from thick, smart two-stage scan system, so it can be scanned into big field range
Picture, can obtain scanning accuracy by essence scanning again；The light source selects Gao Zhongying laser, so improving imaging precision
Meanwhile, imaging bandwidth can also increase.Light source of the present invention is DFB high-frequency semiconductor optical fiber lasers, this kind of laser
Device has dynamic single longitudinal mode narrow linewidth, the big advantage of wavelength stability two, and its EA electric absorption compared with F-P cavity laser
Modulation has that appearance and size is small, chirp is weak and the low advantage of driving voltage；The angle of divergence requirement of return laser beam is inclined less than PZT
2 times of corner, optical emission system is with the essential distinction of conventional laser collimation antenna, through combined type scanning optical emitting system
The with a tight waist of laser beam will appear in tested interval after system collimation.
Brief description of the drawings
Fig. 1 is the combined type scanning system operating diagram for laser radar of the present invention；
Fig. 2 is laser radar operation principle block diagram；
Fig. 3 is the optical texture of optical emission system in the combined type scanning system for laser radar of the present invention
Figure；
(a) is the diffraction energy circle schematic diagram of optical system in Fig. 3 in Fig. 4；B () is optical system 1km distant places hot spot foot
Mark schematic diagram；
Fig. 5 is the light path simulated effect schematic diagram of optical receiving system.
Specific embodiment
Specific embodiment one, with reference to Fig. 1 to Fig. 5 illustrate present embodiment, for laser radar combined type scan system
System, including transmitting subsystem, receiving subsystem and electric-control system；The transmitting subsystem includes Distributed Feedback Laser, two-stage er-doped light
Fiber amplifier (EDFA) and optical emission system；Receiving subsystem includes that optical receiving system, PZT quick titling mirrors, X-axis are shaken
Mirror, Y-axis galvanometer and large photosensistive surface APD；The electric-control system includes signal processing circuit, PZT drivers, FPGA, ARM treatment
Device, host computer, X-axis vibrating mirror driver and Y-axis vibrating mirror driver；
The Distributed Feedback Laser receives outgoing high frequency lasers after the data signal that FPGA sends, and the high frequency lasers are by two
Through on optical emission system collimated incident to PZT quick titling mirrors, the PZT driver controls PZT is quick after level EDFA amplifications
Tilting mirror realizes the essence scanning to light beam to X-axis and Y direction stepping, i.e., described laser beam through X-axis galvanometer speculum and Y
The PZT scanning field of view of multiple scanning element compositions, the X-axis galvanometer are formed after the speculum reflection of axle galvanometer in measured target region
Driver and Y-axis vibrating mirror driver control X-axis galvanometer and Y-axis galvanometer to deflect respectively, and the light beam reflected through PZT quick titling mirrors leads to
Progressively scanned after the speculum reflection for crossing X-axis galvanometer and Y-axis galvanometer and form vibration mirror scanning visual field in measured target region, it is described
Vibration mirror scanning visual field is made up of the splicing of multiple PZT scanning field of view；
There is irreflexive light beam through measured target region to be received by optical receiving system and converge to large photosensistive surface APD,
The large photosensistive surface APD is sent to signal processing circuit after being filtered to light beam, the signal processing circuit obtains range information simultaneously
The range information is sent to arm processor, the arm processor is according to the range information for obtaining and PZT quick titling mirrors
Positional information, X-axis galvanometer positional information and Y-axis galvanometer positional information calculation obtain the three-dimensional information of measured target region each point,
And three-dimensional information is sent to host computer, the data for collecting process by host computer obtain three-dimensional laser radar image.
The light source of the light beam described in present embodiment is DFB high-frequency semiconductor optical fiber lasers, using FPGA
Gate array (FPGA) is modulated to it, and the seed photo-signal that Distributed Feedback Laser sends after the amplification of EDFA two-stages by sending Gao Gong
Rate, high-repeated frequency signals；Light source uses the DFB Gao Zhongying semiconductor lasers of 1550nm as seed light in present embodiment
Source, this kind of laser has dynamic single longitudinal mode narrow linewidth, the big advantage of wavelength stability two compared with F-P cavity laser, and
Its EA electro-absorption modulations have that appearance and size is small, chirp is weak and the low advantage of driving voltage.Both can be integrated in
Electric absorption type modulation laser is formed together.But the power output of Distributed Feedback Laser cannot meet the power demand of laser radar,
Therefore present embodiment realizes its high-frequency with high-power signal output, maximum work output by the way of two-stage EDFA amplifications
Rate is 2W.
Optical emission system described in present embodiment uses non-parallel beam collimater；Laser beam by after collimation,
Its beam waist position appears in measured zone.Non-parallel beam collimater feature is, beam collimator needs holding to allow collimation
The facula area of laser beam afterwards is far smaller than target area.Due to carrying out smart scanning using PZT quick titling mirrors, to distinguish
Two neighboring scanning point is, it is necessary to make 2 times of the angle of divergence less than PZT quick titling mirror single step deflection angles of laser beam echo.
Optical texture combination Fig. 3 of optical emission system, emergent light is that the angle of divergence is the quasi-parallel light of 0.1mrad, and front lens group is by three
Piece lens are constituted, and rear lens group is made up of two panels lens, and exit pupil diameter is 40mm, are operated at 0-3000m maximum spot diameter
It is 30.648mm.The performance evaluation of the optical emission system, with reference to Fig. 4, Fig. 4 (a) is diffraction energy circle, more than 80% energy
It is concentrated mainly on spot center；Fig. 4 (b) is optical system 1km distant places hot spot footprint figure, and energy is concentrated mainly on diameter
In the hot spot of 100mm, its performance meets the use requirement that combined type scans optical emission system, optical emitting in present embodiment
System is that laser beam after optical emission system is collimated is scanned through combined type with the essential distinction of conventional laser collimation antenna
It is with a tight waist to appear in tested interval.
Optical receiving system is used in receiving terminal in present embodiment, i.e., is realized to laser using Cassegrain telescope
Echo-signal is received, in order that field of view of receiver is more than coarse scanning visual field, so detector selects the pole of large photosensistive surface snowslide two
Pipe, i.e. the APD avalanche diodes of a diameter of 3.75mm of photosurface, optical system primary mirror focal length is divided by big quick face APD photosurface chis
Very little to be optics field of view of receiver, in the design process, the diaphragm and primary mirror of optical system overlap, so the technology according to system refers to
Mark can set the Entry pupil diameters D=150mm of system, and the ratio of obstruction α=30% is obtained by experience, to reduce the volume of system, shorten tube length,
Therefore the distance between primary mirror and secondary mirror d can not be excessive, choose relative aperture D/f '=0.5 of primary mirror, then Jiao of system primary mirror
Away from f1' it is 300mm, secondary mirror magnifying power β is f '/f1'=- 2.5. determines α, after β, the vertex curvature radius r of primary mirror and secondary mirror1,
r2, and they the distance between d can be determined by following formula：r1=2*f '/β=- 600mm, r2=(α * β * r1)/(β+1)=-
300, d=f1' * (1- α)/β=- 210mm. systems are two special mirror reflection systems, i.e., system is eliminated for spherical aberration SIAnd coma
SII(SI=SII=0), thus can respectively calculate the eccentric ratio e of primary mirror and secondary mirror1And e2, e1 2=1+2 α/(1- α) β2=
1.137143,e2 2=(2 β/(1- α)+(1+ β) (1- β)2)/(1+β)3=7.560847.According to above-mentioned design parameter, after optimization
The system angle of visual field be 5.009mrad.The simulated effect of optical receiving system is as shown in Figure 5.
Specific embodiment two, present embodiment is that the combined type for laser radar described in specific embodiment one is swept
Retouch the embodiment of system：On the collimated minute surface for inciding PZT quick titling mirrors of light beam sent by optical fiber, driven by PZT
Device controls PZT minute surfaces step angle to distinguish the step of stepping 33 for 50 μ rad, XY directions, after being reflected through the speculum of X galvanometers and Y galvanometers
It is irradiated to target area and forms a PZT scanning field of view being made up of 33 × 33 points, is driven by the X driver to galvanometer and Y
Dynamic device is controlled, and makes X speculums and the regular deflection of Y speculums, and scanning light beam progressively scans and to form a scanning area and be
60 × 30 vibration mirror scanning visual field, 1980 × 990 point compositions are had per frame scan image.The adjusting range of PZT for ±
0.825mrad, it is necessary first to make the benchmark zero degree of PZT quick titling mirrors coaxial with zero degree optical receiving system, then adjust light
Learn emission system coaxial with the benchmark zero degree of PZT quick titling mirrors, realize that three is coaxial, PZT quick titling mirrors are installed in light
Learn behind reception system (Cassegrain system secondary mirror), and then make the parallel output of both transmitting optical axis and reception optical axis, error is small
In 10 seconds.X-axis galvanometer and Y-axis vibration mirror scanning are mainly used to realize coarse scanning, by the laser of the mirror-reflection of PZT quick titling mirrors
Beam by after X-axis galvanometer and Y-axis galvanometer by regular deflection.System using progressive scan by the way of, from top to bottom with z fonts
Mode progressively scanned.PZT working frequencies are 3500Hz, set the scan frequency of X-axis galvanometer and Y-axis galvanometer as
3.214Hz, is 60 × 30 per frame scan region, per measurable 1800 regions of frame, adjust its angle of visual field horizontal direction for ±
99mrad, vertical direction is ± 49.5mrad.PZT quick slant scarnning mirrors are mainly used to realize smart scanning, because PZT quickly inclines
Oblique mirror resolution ratio is 0.23 μ rad, and repeatable accuracy is 1.6 μ rad, so setting the step of PZT quick titling mirrors in present embodiment
Enter angle for 50 μ rad, understand that deflected 0.1mrad, i.e. each region are carried out 33 × 33 points by laser beam by principle of reflection
Scanning, each frame laser scanning image is made up of 1.9602M point, so 40MHz is selected in the repetition of laser.
The Distributed Feedback Laser is launched through the high frequency lasers light of ovennodulation after receiving the data signal sent by FPGA
Ripple, on the minute surface for inciding PZT quick titling mirrors after being collimated by optical emission system after two-stage EDFA amplifications, by FPGA
Controlled to PZT driver controls and then to PZT quick titling mirrors so that laser beam is deflected on request, then by controlling X-axis galvanometer
With directive measured target behind Y-axis galvanometer change direction.Reflected light is received after being deflected through X-axis galvanometer and Y-axis galvanometer by optics
System is assembled and received by APD, and the minute surface for filtering X-axis galvanometer and Y-axis galvanometer diffuses the signal brought with the reflected light of optical filter
Interference, by obtaining range information after signal processing circuit treatment.These range informations are quickly inclined with PZT is supplied to by ARM
The positional information of oblique mirror and X-axis galvanometer and Y-axis galvanometer is combined the three dimensional local information that just can obtain target area each point, finally will
Relevant information is sent on host computer, the data for collecting process by host computer obtains three-dimensional laser radar image.
Claims (4)
1. the combined type scanning system of laser radar, including transmitting subsystem, receiving subsystem and electric-control system are used for；The hair
Penetrating subsystem includes Distributed Feedback Laser, two-stage EDFA and optical emission system；Receiving subsystem includes that optical receiving system, X-axis shake
Mirror, Y-axis galvanometer and large photosensistive surface APD；The electric-control system includes signal processing circuit, PZT drivers, FPGA, ARM treatment
Device, host computer, X-axis vibrating mirror driver and Y-axis vibrating mirror driver；It is characterized in that；The transmitting subsystem also quickly inclines including PZT
Oblique mirror, makes the benchmark zero degree of PZT quick titling mirrors coaxial with optical receiving system, and adjustment optical emission system quickly inclines with PZT
The benchmark zero degree of oblique mirror is coaxial, realizes that three is coaxial；
The Distributed Feedback Laser receives outgoing high frequency lasers after the data signal that FPGA sends, and the high frequency lasers are by two-stage
Through on optical emission system collimated incident to PZT quick titling mirrors, the with a tight waist of laser beam after collimation is appeared in after EDFA amplifications
Tested interval；
The PZT driver controls PZT quick titling mirrors are to X-axis and Y direction stepping, and the laser beam is anti-through X-axis galvanometer
The PZT scanning field of view of multiple scanning element compositions is formed in measured target region after penetrating the speculum reflection of mirror and Y-axis galvanometer, it is described
X-axis vibrating mirror driver and Y-axis vibrating mirror driver control X-axis galvanometer and Y-axis galvanometer to deflect respectively, are reflected through PZT quick titling mirrors
Light beam progressive scan and form vibration mirror scanning in measured target region after the speculum of X-axis galvanometer and Y-axis galvanometer reflects
Visual field, the vibration mirror scanning visual field is made up of the splicing of multiple PZT scanning field of view；
There is irreflexive light beam through measured target region to be received by optical receiving system and converge to large photosensistive surface APD, it is described
, to being sent to signal processing circuit after echo-signal opto-electronic conversion, the signal processing circuit is from echo photoelectricity for large photosensistive surface APD
The range information of tested region diverse location is extracted in signal, and the range information is sent to arm processor, the ARM
Processor is according to the range information and PZT quick titling mirrors positional information, X-axis galvanometer positional information and Y-axis galvanometer position letter
Breath calculates the three-dimensional information for obtaining measured target region each point, and three-dimensional information is sent into host computer, by host computer to collection
To data process and obtain three-dimensional laser radar image；The echo angle of divergence of the laser beam is quickly inclined less than or equal to PZT
2 times of oblique mirror single step deflection angle.
2. the combined type scanning system for laser radar according to claim 1, it is characterised in that the optical emitting
System is non-parallel beam collimater；Laser beam is by after collimation, its beam waist position is in measured zone.
3. the combined type scanning system for laser radar according to claim 1, it is characterised in that the optics is received
Vibration visual field of the optics field of view of receiver of system comprising PZT quick titling mirrors, the optics field of view of receiver and PZT quick titling mirrors
Vibration field coaxial, when X-axis galvanometer and Y-axis galvanometer are rotated, while driving optics field of view of receiver and PZT quick titling mirrors
Vibration visual field rotates simultaneously, realizes by the splicing of smart scanning field of view to coarse scanning visual field.
4. the combined type scanning system for laser radar according to claim 1, it is characterised in that by the PZT
The laser beam of quick titling mirror reflection deflects by after X-axis galvanometer and Y-axis galvanometer, and by the way of progressive scan, from
It is scanned in the way of Z-shaped under up to.
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| CN113009496B (en) * | 2021-03-05 | 2024-05-28 | 南京大学 | Laser ranging galvanometer imaging system and method |
| CN116007527A (en) * | 2021-10-21 | 2023-04-25 | 华为技术有限公司 | Measurement method and measurement system |
| CN115508859A (en) * | 2022-11-11 | 2022-12-23 | 武汉光谷航天三江激光产业技术研究院有限公司 | Laser three-dimensional imaging method and system based on single balanced detector |
| CN115459847B (en) * | 2022-11-11 | 2023-03-24 | 南京英田光学工程股份有限公司 | Space-based laser communication terminal based on circular arc motion platform scanning and scanning method |
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| US5161165A (en) * | 1991-09-26 | 1992-11-03 | Hewlett-Packard Company | Multimode stabilized external cavity laser |
| CN100504498C (en) * | 2008-01-22 | 2009-06-24 | 长春理工大学 | Precision tracing subsystem for laser communication tracking system |
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