CN105044731A - Laser three-dimensional imaging system and imaging method - Google Patents
Laser three-dimensional imaging system and imaging method Download PDFInfo
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- CN105044731A CN105044731A CN201510546564.XA CN201510546564A CN105044731A CN 105044731 A CN105044731 A CN 105044731A CN 201510546564 A CN201510546564 A CN 201510546564A CN 105044731 A CN105044731 A CN 105044731A
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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 discloses a laser three-dimensional imaging system and imaging method. A laser device acts as a laser source, and an area array APD (avalanche photodiode) acts as a receiving device. Laser signals emitted by the laser device are split into sub light beams matched with the area array APD through beam expanding shaping. Each sub light beam irradiates to a target object. The unit detectors of the area array APD respectively receive laser echo signals of the corresponding sub light beams, and target distance information of irradiation of each sub light beam can be obtained through receiving processing. The method is simple in operation, rapid in imaging, high in resolution, relatively long in distance of imaging and suitable for a moving target.
Description
Technical field
The present invention relates to laser technology field, particularly relate to a kind of laser three-dimensional imaging system and formation method.
Background technology
Because existing radar imagery is subject to electromagnetic interference (EMI), and the picture quality of visible ray and infrared imaging is low, therefore, a lot of people's research and development laser three-dimensional imaging just progressively now, namely, the 3-D view of measured target is obtained by laser and follow-up a series of process to laser, the method of current laser three-dimensional imaging mainly comprises: section gating formula laser three-dimensional imaging, many slits streak tube laser three-dimensional imaging, the three-dimensional imaging of continuous wave modulated laser, the imaging modes such as gain modulation laser three-dimensional imaging, but the step of above-mentioned imaging mode is all more loaded down with trivial details, because which limit the application of laser three-dimensional imaging.
Summary of the invention
In view of above-mentioned analysis, the present invention aims to provide a kind of laser three-dimensional imaging system and formation method, in order to solve the method complicated operation of laser three-dimensional imaging in prior art and the not high problem of precision.
The present invention is mainly achieved through the following technical solutions:
One aspect of the present invention provides a kind of laser three-dimensional imaging system, and this system comprises:
Laser instrument, for sending laser beam;
Expand shaping mirror, the laser beam for being sent by described laser instrument carries out expanding process;
Laser beam splitter mirror, for by described expand shaping mirror expand after laser beam carry out beam splitting, obtain the beamlet of laser;
Receive mirror, for receiving the beamlet that measured target point reflection returns;
Processor, processes for the beamlet received described reception mirror, obtains image and the range information of measured target point.
Preferably, laser beam splitter mirror, for by described expand shaping mirror expand after laser beam beam splitting be N × N bundle beamlet, described N × N is planar array detector pixel number;
Described reception mirror is single port footpath camera lens or N × N microlens array.
Preferably, this system also comprises: amplifier and Array Signal Processing circuit;
Described amplifier, each the way light beam for receiving described reception mirror carries out amplification process;
Described Array Signal Processing circuit, carries out denoising for amplifying the beamlet after process;
Described processor specifically for, each way light beam after denoising is processed, obtains image and the range information of measured target point.
Preferably, described processor specifically for, the range information of measured target point is calculated according to the described laser instrument light velocity sent in the time of laser beam, every way light beam time of arrival and air, the intensity image of measured target point is obtained according to every way light beam echo amplitude, the Range Profile of impact point and intensity image are carried out color coding, and shows.
The present invention additionally provides a kind of laser three-dimensional imaging method on the other hand, and the method comprises:
Laser instrument sends laser beam;
Expand the laser beam that described laser instrument sends by shaping mirror to carry out expanding process;
Laser beam splitter mirror by described expand shaping mirror expand after laser beam carry out beam splitting, obtain the beamlet of laser;
Receive the beamlet that mirror reception measured target point reflection returns;
Processor processes the beamlet that described reception mirror receives, and obtains image and the range information of measured target point.
Preferably, laser beam splitter mirror by described expand shaping mirror expand after laser beam beam splitting be N × N bundle beamlet;
Described reception mirror is single port footpath camera lens or N × N microlens array, the beamlet returned by single port footpath camera lens or N × N microlens array reception measured target point reflection.
Preferably, the method also comprises:
By amplifier, amplification process is carried out to each way light beam that described reception mirror receives, and carry out denoising by Array Signal Processing circuit by amplifying the beamlet after processing, by described processor, each way light beam after denoising is processed again, obtain image and the range information of measured target point.
Preferably, described processor processes each way light beam after denoising, and the image and the range information that obtain measured target point specifically comprise:
Described processor calculates the range information of measured target point according to the described laser instrument light velocity sent in the time of laser beam, every way light beam time of arrival and air, the intensity image of measured target point is obtained according to every way light beam echo amplitude, the Range Profile of impact point and intensity image are carried out color coding, and shows.
The present invention by laser instrument as lasing light emitter, face battle array APD (avalanche photodide) as receiving device, the laser signal that laser instrument sends is after expanding shaping, be beamed into the beamlet matched with face battle array APD, often restraint beamlet and be irradiated to target object respectively, the single-element detector of face battle array APD receives the laser echo signal of corresponding beamlet respectively, the target range information that each beamlet irradiates is obtained after receiving process, method of the present invention is simple to operate, imaging is fast, resolution is high, and imaging is comparatively far away, and be applicable to moving-target.
Other features and advantages of the present invention will be set forth in the following description, and the becoming apparent from instructions of part, or by implementing the present invention and understanding.Object of the present invention and other advantages realize by structure specifically noted in write instructions, claims and accompanying drawing and obtain.
Accompanying drawing explanation
Fig. 1 is a kind of laser three-dimensional imaging system architecture schematic diagram of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The present invention proposes a kind of laser three-dimensional imaging system and method, by using laser instrument as lasing light emitter, face battle array APD (avalanche photodide) is as receiving device, the laser signal that laser instrument sends is after expanding shaping, be beamed into the beamlet matched with face battle array APD, often restraint beamlet and be irradiated to target object respectively, the single-element detector of face battle array APD receives the laser echo signal of corresponding beamlet respectively, the target range information that each beamlet irradiates is obtained after receiving process, method of the present invention is simple to operate, imaging is fast, resolution is high, and imaging is far away, for a better understanding of the present invention, only with several concrete example, the present invention will be described in detail below.
System embodiment
Embodiments provide a kind of laser three-dimensional imaging system, this system comprises:
Laser instrument, for sending laser beam;
Expand shaping mirror, the laser beam for being sent by described laser instrument carries out expanding process;
Laser beam splitter mirror, for by described expand shaping mirror expand after laser beam carry out beam splitting, obtain the beamlet of laser;
Receive mirror, for receiving the beamlet that measured target point reflection returns;
Processor, processes for the beamlet received described reception mirror, obtains image and the range information of measured target point.
Namely, the present invention is by expanding shaping mirror and laser beam splitter mirror expands Shape correction to the laser beam that laser instrument sends, laser beam is beamed into, the beamlet matched with face battle array APD, often restraint beamlet and be irradiated to target object respectively, the single-element detector of face battle array APD receives the laser echo signal of corresponding beamlet respectively, the target range information that each beamlet irradiates is obtained after receiving process, method of the present invention is simple to operate, imaging is fast, resolution is high, and imaging is far away.
Fig. 1 is a kind of laser three-dimensional imaging system architecture schematic diagram of the embodiment of the present invention, carries out detailed explanation and explanation below in conjunction with Fig. 1 to method of the present invention:
In order to simpler high efficiency extraction target each point three-dimensional information and strength information, improve laser three-dimensional imaging operating distance, image taking speed, range resolution simultaneously.The present invention proposes a kind of system of new pattern laser three-dimensional imaging, this system adopts pulsed laser as lasing source (certain those skilled in the art also can adopt the laser machine of other types as lasing source), when laser instrument bright dipping, with photodetector, the laser signal sent is sampled, sampled signal is sent to Array Signal Processing circuit, and mark timing starts, employing face battle array APD (avalanche photodide) is as receiving device (i.e. reception mirror of the present invention), the laser signal that laser instrument sends is after expanding shaping mirror and carrying out expanding shaping, be beamed into the beamlet matched with face battle array APD, often restraint beamlet and be irradiated to target object respectively, the relevant position of adjustment face battle array APD and Laser emission receiving system, the single-element detector of face battle array APD is made to receive the laser echo signal of corresponding beamlet respectively, each laser echo signal enters Array Signal Processing circuit, Array Signal Processing circuit major function is the amplification of laser echo signal and the process of amplified signal, signal after amplification is through two kinds of process, threshold value compares and keeps carrying out with peak value simultaneously.The threshold value of echoed signal and setting is compared, pulse signal is then produced (by arranging threshold value for preventing the interference to imaging of noise when reaching or exceed threshold value, threshold value dynamic described in the embodiment of the present invention is arranged, be specially and arrange according to the power of echoed signal, it should be noted that, when specifically implementing, this threshold value is for arranging based on experience value), mark timing terminates, and obtains the Range Profile of target each point.Simultaneously, utilize peak holding circuit, record the intensity of echoed signal, and keep the regular hour, all to arrive or after special time until all signal echos, by AD (modulus) change-over circuit, the echo signal intensity information recorded is converted to digital signal, obtains the intensity image of target each point.Like this, the present invention only needs to measure intensity image and the Range Profile that laser time of flight just can obtain target each point, imaging mode is simple, carrying out beam splitting to laser signal can avoid laser ability to waste, adopt high sensitivity APD to increase substantially operating distance, adopt HF array signal processing circuit can improve its imaging precision.
Concrete, embodiment of the present invention pulsed laser is as light source, shaping is expanded to it, laser beam after shaping enters light splitting diffraction system (i.e. laser beam splitter mirror), laser is divided into N × N (the pixel number of array APD is also N × N) beamlet, beamlet is irradiated to target object, records beamlet x time t
1beamlet enters into reception camera lens by converging lenses after target object reflection, through lens focus on N × N array APD detector, the laser echo signal of every road detector enters into Array Signal Processing circuit after amplifying and removing dry process, records each beamlet respectively and reaches detector time t
2.The target range that each light beam irradiates is respectively
wherein v is the light velocity in air, just can obtain the Range Profile of target each point, samples simultaneously, obtain each beamlet echo amplitude size, just can obtain the intensity image of target each point simultaneously the intensity of the echoed signal of target reflection.The Range Profile of target each point and intensity image are carried out color coding, shows.
Embodiment of the method
Embodiments provide a kind of laser three-dimensional imaging method, the method comprises:
Laser instrument sends laser beam;
Expand the laser beam that described laser instrument sends by shaping mirror to carry out expanding process;
Laser beam splitter mirror by described expand shaping mirror expand after laser beam carry out beam splitting, obtain the beamlet of laser;
Receive the beamlet that mirror reception measured target point reflection returns;
Processor processes the beamlet that described reception mirror receives, and obtains image and the range information of measured target point.
The embodiment of the present invention additionally provides preferred embodiment following, concrete,
Laser beam splitter mirror by described expand shaping mirror expand after laser beam beam splitting be N × N bundle beamlet;
Described reception mirror is single port footpath camera lens or N × N microlens array, the beamlet returned by single port footpath camera lens or N × N microlens array reception measured target point reflection.
Preferably, the embodiment of the present invention carries out amplification process by amplifier to each way light beam that described reception mirror receives, and carry out denoising by Array Signal Processing circuit by amplifying the beamlet after processing, by described processor, each way light beam after denoising is processed again, obtain image and the range information of measured target point.
During concrete enforcement, described processor of the present invention is the range information calculating measured target point according to the described laser instrument light velocity sent in the time of laser beam, every way light beam time of arrival and air, the intensity image of measured target point is obtained according to every way light beam echo amplitude, the Range Profile of impact point and intensity image are carried out color coding, and shows.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (10)
1. a laser three-dimensional imaging system, is characterized in that, comprising:
Laser instrument, for sending laser beam;
Expand shaping mirror, the laser beam for being sent by described laser instrument carries out expanding process;
Laser beam splitter mirror, for by described expand shaping mirror expand after laser beam carry out beam splitting, obtain the beamlet of laser;
Receive mirror, for receiving the beamlet that measured target point reflection returns;
Processor, processes for the beamlet received described reception mirror, obtains image and the range information of measured target point.
2. system according to claim 1, is characterized in that,
Laser beam splitter mirror, for by described expand shaping mirror expand after laser beam beam splitting be N × N bundle beamlet, described N × N is planar array detector pixel number.
3. system according to claim 2, is characterized in that,
Described reception mirror is single port footpath camera lens or N × N microlens array.
4. according to the system in claim 1-3 described in any one, it is characterized in that, also comprise: amplifier and Array Signal Processing circuit;
Described amplifier, each the way light beam for receiving described reception mirror carries out amplification process;
Described Array Signal Processing circuit, carries out denoising for amplifying the beamlet after process;
Described processor specifically for, each way light beam after denoising is processed, obtains image and the range information of measured target point.
5. system according to claim 4, is characterized in that,
Described processor specifically for, the range information of measured target point is calculated according to the described laser instrument light velocity sent in the time of laser beam, every way light beam time of arrival and air, the intensity image of measured target point is obtained according to every way light beam echo amplitude, the Range Profile of impact point and intensity image are carried out color coding, and shows.
6. a laser three-dimensional imaging method, is characterized in that, comprising:
Laser instrument sends laser beam;
Expand the laser beam that described laser instrument sends by shaping mirror to carry out expanding process;
Laser beam splitter mirror by described expand shaping mirror expand after laser beam carry out beam splitting, obtain the beamlet of laser;
Receive the beamlet that mirror reception measured target point reflection returns;
Processor processes the beamlet that described reception mirror receives, and obtains image and the range information of measured target point.
7. method according to claim 6, is characterized in that,
Laser beam splitter mirror by described expand shaping mirror expand after laser beam beam splitting be N × N bundle beamlet, described N × N is planar array detector pixel number.
8. method according to claim 7, is characterized in that,
Described reception mirror is single port footpath camera lens or N × N microlens array, the beamlet returned by single port footpath camera lens or N × N microlens array reception measured target point reflection.
9. according to the method in claim 6-8 described in any one, it is characterized in that, also comprise:
By amplifier, amplification process is carried out to each way light beam that described reception mirror receives, and carry out denoising by Array Signal Processing circuit by amplifying the beamlet after processing, by described processor, each way light beam after denoising is processed again, obtain image and the range information of measured target point.
10. method according to claim 9, is characterized in that, described processor processes each way light beam after denoising, and the image and the range information that obtain measured target point specifically comprise:
Described processor calculates the range information of measured target point according to the described laser instrument light velocity sent in the time of laser beam, every way light beam time of arrival and air, the intensity image of measured target point is obtained according to every way light beam echo amplitude, the Range Profile of impact point and intensity image are carried out color coding, and shows.
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| CN105549029A (en) * | 2016-01-19 | 2016-05-04 | 中国工程物理研究院流体物理研究所 | Illumination scanning stack imaging system and method |
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| CN106772315A (en) * | 2016-12-29 | 2017-05-31 | 武汉高思光电科技有限公司 | Multi-beam scanning apparatus and multibeam scanning method |
| CN106791497A (en) * | 2016-12-15 | 2017-05-31 | 哈尔滨工业大学 | A kind of puise gain modulation system single pixel 3-D imaging system and method |
| CN107422336A (en) * | 2016-07-25 | 2017-12-01 | 北京理工大学 | A kind of variable resolution Non-scanning mode streak tube laser imaging system of the big depth of field of big visual field |
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| CN108387906A (en) * | 2018-01-10 | 2018-08-10 | 北京理工大学 | A kind of three-dimensional laser imaging system based on FPGA-TDC |
| CN109581408A (en) * | 2018-12-10 | 2019-04-05 | 中国电子科技集团公司第十研究所 | A kind of method and system carrying out target identification using laser complex imaging |
| CN110603461A (en) * | 2017-05-11 | 2019-12-20 | 华为技术有限公司 | Time-of-flight device |
| CN111562559A (en) * | 2019-02-14 | 2020-08-21 | 宁波舜宇车载光学技术有限公司 | Laser radar device and receiving module thereof |
| WO2021016830A1 (en) * | 2019-07-30 | 2021-02-04 | Shenzhen Genorivision Technology Co., Ltd. | Image sensors for lidar systems |
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| CN105549029A (en) * | 2016-01-19 | 2016-05-04 | 中国工程物理研究院流体物理研究所 | Illumination scanning stack imaging system and method |
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| WO2021016830A1 (en) * | 2019-07-30 | 2021-02-04 | Shenzhen Genorivision Technology Co., Ltd. | Image sensors for lidar systems |
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