CN105301600B - A kind of no-raster laser three-dimensional imaging device based on taper reflection - Google Patents
A kind of no-raster laser three-dimensional imaging device based on taper reflection Download PDFInfo
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- CN105301600B CN105301600B CN201510752210.0A CN201510752210A CN105301600B CN 105301600 B CN105301600 B CN 105301600B CN 201510752210 A CN201510752210 A CN 201510752210A CN 105301600 B CN105301600 B CN 105301600B
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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
A kind of no-raster laser three-dimensional imaging device based on taper reflection, including laser (1), transmitting taper reflection (2), reception taper reflection (3), receiving lens (4), CCD camera (5) and image processing module (6).Axis direction transmitting circular light spot laser of the laser (1) along transmitting taper reflection (2), after transmitting taper reflection (2) reflection, laser annulus is formed in the plane perpendicular to transmitting speculum (2) axle center, the echo that laser annulus is irradiated to 360 ° of scope targets returns to reception taper reflection (3), and received taper reflection (3) is focused in CCD camera (5) by receiving lens (4) and forms closed curve picture, image processing module (6) is by calculating the angle and distance of each picture point on the closed curve picture, obtain the distance and angle of 360 ° of scope targets, the three-dimensional rectangular coordinate of 360 ° of scope targets is obtained by rectangular coordinates transformation again.
Description
Technical field
The present invention relates to a kind of laser three-dimensional imaging device, and 360 degree can be realized in the plane being perpendicularly to the direction of movement
The laser three-dimensional imaging of scope.
Background technology
In laser radar and laser 3 d scanner field, 360 ° are realized frequently with the mode of rotating machinery scanning at present
The target acquisition of scope.Mechanical scanning usually requires high-precision encoder and stable scanning servo system, causes whole sharp
Optical radar and laser 3 d scanner it is bulky, cost is also higher.In addition, mechanical scanning can also cause time of measuring longer
The problem of, and the service life of the mechanical scanning of high speed meeting lowering apparatus.
At present, existing new scanning technique is introduced into laser three-dimensional imaging field, including crystal scanning, piezoelectric scanning and
MEMS scannings etc..Crystal scanning with a high speed and it is highly reliable the characteristics of, still, common scanning angle is very small, and crystal
It is relatively low to the transmitance of laser, the decline of optical efficiency can be caused.Piezoelectric scanning is to realize mirror using the characteristic of piezoelectric ceramics
Deflection, single eyeglass can be achieved with the two-dimensional scan of high speed, have at a high speed, highly reliable and miniaturization the characteristics of, still, the party
Formula scanning angle is smaller, and needs more complicated reponse system to be controlled and gather scanning angle.MEMS scannings are micro-
The Micro Electro Mechanical System to grow up in Fundamentals of Electronic Technology, there is the advantages of miniaturization, low-power consumption and high reliability, scan work(
It can be integrated in chip, it is possible to achieve the quick scanning of larger angle, still, its scan mirror size only have several mm, it is difficult to
Meet the current requirement for receiving detection.
By using surface detector part, Non-scanning mode technology is also had been incorporated into three-dimensional imaging laser radar at present.Main
Surface detector part includes focal plane photodiode (PIN) detector, focal plane avalanche photodide (APD) detector and picture
Intensified CCD (ICCD) etc..Equivalent to one PIN of each pixel of focal plane PIN detector and focal plane APD detectors is visited
Device and APD detectors are surveyed, there is independent time measurement ability, therefore, the PIN detector and APD detectors of face battle array can be right
Area Objects carry out range measurement, that is, realize the three-dimensional imaging of target.ICCD image intensifying part has gain control function, can be with
Gated imaging is carried out to fixed time, the three-dimensional imaging to Area Objects can be realized in this way.Above-mentioned surface detector
The three-dimensional measurement of certain angle scope can be achieved without scanning for part, and still, the pixel resolution of such devices is relatively low, causes angle
It is relatively low to spend resolution ratio, and price is very high, is unsuitable for using on conventional commercial lasers three-dimensional imaging modality.
, need not there is an urgent need to one kind in order to realize high speed, high-resolution, miniaturization and the laser 3 d scanner of low cost
Scanning, and the laser three-dimensional imaging device with high angle resolution ratio and lower cost.
The content of the invention
The technology of the present invention solves problem：For the reliability and miniaturization issues of current scanline systems face, and
The index and Cost Problems that no-raster technology faces, it is proposed that a kind of no-raster laser three-dimensional imaging dress based on taper reflection
Put, the device there can be the technical advantage of no-raster, miniaturization, high-resolution and low cost simultaneously, realize 360 degree of no-raster
Laser three-dimensional imaging.
The present invention technical solution be：A kind of no-raster laser three-dimensional imaging device based on taper reflection, bag
Include laser, transmitting taper reflection, receive taper reflection, receiving lens, CCD camera and image processing module, transmitting cone
Shape speculum and the face shape for receiving taper reflection are cone, wherein the cone angle of transmitting taper reflection is 90 ° and cone angle
Towards laser, to receive taper reflection consistent with the axle center for launching taper reflection and cone angle direction is on the contrary, reception taper is anti-
The cone angle for penetrating mirror is more than 90 °；Axis direction transmitting circular light spot laser of the laser along transmitting taper reflection, laser is by transmitting
After taper reflection reflection, a laser annulus, the laser are formed in the plane perpendicular to transmitting taper reflection axle center
The echo that annulus is irradiated to 360 ° of scope targets returns to reception taper reflection, and received taper reflection reflexes to reception
Lens, return laser beam is focused in CCD camera form closed curve picture by receiving lens, and image processing module passes through to described
The angle and distance of each picture point calculates on closed curve picture, obtains the distance and angle of 360 ° of scope targets, then by straight
Angular coordinate conversion obtains the three-dimensional rectangular coordinate of 360 ° of scope targets.
The three-dimensional rectangular coordinate of 360 ° of scope targets is (x, y, z), wherein x=R × cos α, and y=R × sin α, z are
The circular light spot laser is picture point on the closed curve picture from launch point to the distance of the pip of transmitting taper reflection, α
Angle, R=d × tg [arctg (r/f)-(θ/2-45) × 2], d be transmitting taper reflection reflection laser where plane and
The distance of plane, f are the focal length of receiving lens where receiving half high circular cross-section of taper reflection, and r is the closed curve
Radius, θ be it is described reception taper reflection cone angle.
The diameter of described laser launch spot is identical with the diameter for launching taper reflection.
The diameter 5mm of described transmitting taper reflection, the cone angle of described reception taper reflection is 120 °, diameter
30mm, plane where plane where the laser of transmitting taper reflection reflection and half high circular cross-section of reception taper reflection
Distance d is 20mm.
Described laser is wavelength 808nm semiconductor laser.Described receiving lens are diameter 30mm double glued
Convex lens, focal length 50mm.Described CCD camera resolution ratio is 2592 × 1944, and photosurface size is 0.5 inch.
The present invention compared with prior art the advantages of be：
(1) present invention forms annular emission light using transmitting taper reflection, and 360 ° of models can be continuously covered without scanning
Enclose, realize 360 ° of no-raster detections, eliminate rotational structure and motor, can with higher than rotation sweep 3 Dimension Image Technique
By property and compact；
(2) present invention receives the echo of annular emission light by coaxial reception taper reflection and is imaged onto CCD Jiao and puts down
On the device of face, target range is measured to the distance of center pixel according to echo closed curve on CCD focal planes is received, by
The high-resolution of angle is realized in high-resolution CCD, realizes 360 ° of continuous photoimagings of scope, it is three-dimensional compared to point scanning laser
The dot density of imaging is dependent on the Multiple factors such as laser repetition, sweep speed and spot diameter, the spatial discrimination of continuous photoimaging
Rate is only limited by the resolution ratio of image device, has higher spatial resolution, and whole device is simple in construction, device used
Cost it is relatively low, disclosure satisfy that the demand of no-raster, miniaturization, high-resolution and cost laser three-dimensional imaging；
(3) present invention carries out continuous imaging to laser echo signal, is calculated according to the distance of image picture point to picture centre
Target range, the angle of target is calculated according to Plane Angle of the picture point on image, need height compared to scanning 3 Dimension Image Technique
Speed sampling and high-speed figure process circuit improve detection rate, apparatus of the present invention only need using low speed image device (such as
CCD) and simple image coordinate calculating is carried out, there is lower cost and technical difficulty.
Brief description of the drawings
Fig. 1 is the composition and measuring principle figure of imaging device of the present invention.
Embodiment
As shown in figure 1, composition and the measurement of the no-raster laser three-dimensional imaging device based on taper reflection that is the present invention
Principle schematic, apparatus of the present invention mainly include laser 1, transmitting taper reflection 2, receive taper reflection 3, receiving lens
4th, CCD camera 5 and image processing module 6.
Axis direction of the laser 1 along transmitting taper reflection 2 launches circular light spot laser, and laser light incident to cone angle is 90 °
Transmitting taper reflection 2 summit.Laser is after transmitting taper reflection 2 reflects, perpendicular to transmitting taper reflection 2
A laser annulus is formed in the plane in axle center.The echo that the annulus is irradiated to 360 ° of scope targets returns to reception taper reflection
Mirror 3.Receive taper reflection 3 with launch taper reflection 2 axle center is consistent and zenith directions are on the contrary, reception taper reflection 3
Target echo is reflexed into receiving lens 4, is focused it onto by receiving lens 4 and closed curve picture is formed in CCD camera 5, namely
The target laser echo-image formed in CCD camera 5 is the closed curve around origin, and the center pixel of CCD camera 5 is original
Point, the target of the corresponding 360 ° of scopes of picture point on curve, the angle of picture point correspond to the angle of target, the distance pair of picture point to origin
Answer the distance of target.Image processing module 6 is by measuring on the focal plane of CCD camera 5 closed curve any angle point to origin
Distance obtains the distance of corresponding angle target, can calculate the right angle three-dimensional coordinate of target with reference to angle.
The no-raster laser three-dimensional imaging device based on taper reflection of the present invention may be mounted on mobile platform, and
Launch loop laser on the two dimensional surface being perpendicularly to the direction of movement.
Laser 1 uses semiconductor laser, such as optical maser wavelength is 808nm.Transmitting taper reflection 2 is 90 ° of drift angle
Conical mirror, diameter 5mm.It is the conical mirror that drift angle is more than 90 ° to receive taper reflection 3, such as can be
120 °, diameter 30mm.Receiving lens 4 are diameter 30mm doublet lens, focal length 50mm.The resolution ratio of CCD camera 5 be 2592 ×
1944, photosurface size is 0.5 inch.
The diameter of the launch spot of laser 1 is identical with the diameter for launching taper reflection 2, launches the top of taper reflection 2
Angle is 90 °, and the ring-shaped light spot after launching taper reflection 2 is equal to laser in the spot width of vertical ring-shaped in-plane
1 launch spot radius.
The drift angle for receiving taper reflection 3 is greater than 90 °, and drift angle is bigger, and same distance objective echo is burnt in CCD camera 5
The distance of imaging point to origin is bigger in plane, and corresponding angular resolution is also higher.Launch optical plane (transmitting taper reflection
The target intersection for the sharp L＆D R that mirror 2 reflects) and receive taper reflection 3 half high plane (reception taper reflection 3 half is high
Place and cone axis perpendicular plane) spacing it is bigger, same distance objective echo imaging point on the focal plane of CCD camera 5 arrives
The distance of origin is bigger, and corresponding angular resolution is also higher.But increase receives the cone angle and spacing of taper reflection 3,
In the case where equally receiving the height (representing Receiver aperture) of taper reflection 3, the volume of taper reflection 3 and whole light path are received
Volume can increase.Therefore suitable cone angle and spacing should be selected in engineer applied, takes into account resolution ratio and volume.
It is imaged using simple lens, CCD picture points are axial symmetry (transmitting taper reflection 2 and reception taper reflections with target point
The axle of mirror 3), i.e., the angle of picture point and the angle of target point are man-to-man axial symmetry relations, can be from picture by coordinate transform
Point goniometer calculates target point angle.
Image processing module 6 is using the center pixel of CCD camera 5 as origin, the mesh of the corresponding 360 ° of scopes of picture point on curve
Mark, the angle [alpha] of picture point is consistent with the angle of target, and the distance r of picture point to origin corresponds to the distance R of target.Launch optical plane (hair
Penetrate the sharp L＆D R of the reflection of taper reflection 2 target intersection) and receive taper reflection 3 half high plane (reception taper is anti-
Penetrate the plane of the eminence of mirror 3 half and cone axis perpendicular) spacing be d, the focal length of receiving lens 4 is f, receive taper reflection 3
Drift angle be θ, then according to triangle geometrical relationship, image processing module 6 can according to formula R=d × tg [arctg (r/f)-
(θ/2-45) × 2] target range R is calculated, can calculate angle on target according to the angle [alpha] of picture point is similarly α, further according to straight
Angular coordinate transformation for mula x=R × cos (α) and y=R × sin (α) carries out rectangular coordinates transformation, with reference to the height of transmitting laser annulus
Z is spent, the three-dimensional rectangular coordinate (x, y, z) of 360 ° of scope targets can be obtained.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (6)
- A kind of 1. no-raster laser three-dimensional imaging device based on taper reflection, it is characterised in that：Including laser (1), hair Penetrate taper reflection (2), receive taper reflection (3), receiving lens (4), CCD camera (5) and image processing module (6), hair The face shape for penetrating taper reflection (2) and reception taper reflection (3) is cone, wherein the cone of transmitting taper reflection (2) Angle is 90 ° and cone angle is towards laser (1), and reception taper reflection (3) is consistent with the axle center of transmitting taper reflection (2) and bores Angle is towards on the contrary, the cone angle for receiving taper reflection (3) is more than 90 °；Axle center of the laser (1) along transmitting taper reflection (2) Circular light spot laser is launched in direction, and laser is after transmitting taper reflection (2) reflection, perpendicular to transmitting taper reflection (2) A laser annulus is formed in the plane in axle center, the echo that the laser annulus is irradiated to 360 ° of scope targets returns to reception cone Shape speculum (3), and received taper reflection (3) reflexes to receiving lens (4), is gathered return laser beam by receiving lens (4) It is burnt to forming closed curve picture in CCD camera (5), image processing module (6) by the closed curve as on each picture point Angle and distance calculates, and obtains the distance and angle of 360 ° of scope targets, then described in obtaining by rectangular coordinates transformation The three-dimensional rectangular coordinate of 360 ° of scope targets；The three-dimensional rectangular coordinate of 360 ° of scope targets is (x, y, z), wherein x=R × Cos α, y=R × sin α, z are the circular light spot laser from launch point to the distance of the pip of transmitting taper reflection (2), α For the angle of picture point on the closed curve picture, R=d × tg [arctg (r/f)-(θ/2-45) × 2], d are transmitting taper reflection The distance of plane where plane where the laser that mirror (2) reflects and half high circular cross-section of reception taper reflection (3), f is to connect The focal length of lens (4) is received, r is the radius of the closed curve, and θ is the cone angle of the reception taper reflection (3).
- 2. a kind of no-raster laser three-dimensional imaging device based on taper reflection according to claim 1, its feature exist In：The diameter 5mm of described transmitting taper reflection (2), the cone angle of described reception taper reflection (3) is 120 °, diameter Where half high circular cross-section of 30mm, plane where the laser of transmitting taper reflection (2) reflection and reception taper reflection (3) The distance d of plane is 20mm.
- 3. a kind of no-raster laser three-dimensional imaging device based on taper reflection according to claim 1, its feature exist In：The diameter of described laser (1) launch spot is identical with the diameter of transmitting taper reflection (2).
- 4. a kind of no-raster laser three-dimensional imaging device based on taper reflection according to claim 1, its feature exist In：Described laser (1) is wavelength 808nm semiconductor laser.
- 5. a kind of no-raster laser three-dimensional imaging device based on taper reflection according to claim 1, its feature exist In：Described receiving lens (4) are diameter 30mm doublet lens, focal length 50mm.
- 6. a kind of no-raster laser three-dimensional imaging device based on taper reflection according to claim 1, its feature exist In：Described CCD camera (5) resolution ratio is 2592 × 1944, and photosurface size is 0.5 inch.
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| CN106646499A (en) * | 2017-01-18 | 2017-05-10 | 北京佳光科技有限公司 | Laser radar and laser radar measuring device |
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| CN110187357B (en) * | 2019-06-14 | 2023-10-24 | 中国科学技术大学 | Laser active imaging system for three-dimensional image reconstruction |
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| CN111735469B (en) * | 2020-06-15 | 2022-08-23 | 腾讯科技（深圳）有限公司 | Map navigation implementation method, storage medium and server |
| WO2022077999A1 (en) * | 2020-10-16 | 2022-04-21 | 追觅创新科技(苏州)有限公司 | Laser radar system and autonomous mobile apparatus |
| CN113740863A (en) * | 2021-09-26 | 2021-12-03 | 海南师范大学 | Laser radar system for realizing multi-line light emission/reception by high-brightness single tube |
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