CN105425245A - Long-distance high-repetition-frequency laser three-dimensional scanning device based on coherent detection - Google Patents
Long-distance high-repetition-frequency laser three-dimensional scanning device based on coherent detection Download PDFInfo
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- CN105425245A CN105425245A CN201510752209.8A CN201510752209A CN105425245A CN 105425245 A CN105425245 A CN 105425245A CN 201510752209 A CN201510752209 A CN 201510752209A CN 105425245 A CN105425245 A CN 105425245A
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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 long-distance high-repetition-frequency laser three-dimensional scanning device based on coherent detection, and the device comprises a frequency modulation signal generator (1), a narrow linewidth laser (2), an acoustic optical modulator (3), an optical frequency mixer (4), a balance detector (5), a low-pass filter (6), a scanning mirror (7), an angle coder (8), a coding counting circuit (9), a distance calculation modulation module (10), and a three-dimensional data processing module (11). The device carries out the linear modulation of laser frequency, enables the received laser echo to be coherent with reference light, and obtains a difference frequency signal of the layer echo and the reference light after photoelectric conversion. In each scanning circle, the absolute distance of a first scanning target point with an echo is calculated through difference frequency. The device carries out the integration of a distance change rate of rear scanning points with the reference of the absolute distance, and can calculate the line-of-sight distance and coordinates of a scanning track of a target surface. The device accurately calculates the distance change of a target through employing frequency measurement, and the repetition frequency of measurement is not limited by a fuzzy distance.
Description
Technical field
The present invention relates to a kind of laser three-dimensional imaging device, can realize not by the remote Gao Zhongying laser three-dimensional imaging of range finding fuzzy distance restriction.
Background technology
In laser radar and laser 3 d scanner field, laser ranging mode conventional at present mainly contains phase measurement and the direct telemetry of pulse based on the flight time.
Phase measurement mainly realizes range observation by the phase differential of comparison target echo and reference signal, and usual distance range is at 100m.Pulse time-of-flight distance-finding method adopts the higher laser burst pulse of peak power, can realize range finding and the scanning of more than km, but, because restriction two-way time of Stimulated Light pulse flight, the distance limit repetition of measuring.For measuring distance 1500m, laser time of flight needs 10 μ s, and which limits measurement repetition frequency can not more than 100kHz.Although adopt the technology such as coding, multi-wavelength can promote fuzzy distance, thus reach the effect improving and measure repetition frequency, but survey frequency is still by the restriction of fuzzy distance, and be usually merely able to the frequency promoting several times, be difficult to realize higher measurement repetition frequency.In addition, along with the lifting of laser repetition, laser pulse peaks power can corresponding reduction, is difficult to meet telemeasurement requirement.
At present, market reaches km level based on the laser 3 d scanner measurement range of pulse time-of-flight laser ranging technique, measure repetition frequency usually at 100kHz, measurement sensistivity and fuzzy distance limit the data acquisition rate that laser 3 d scanner scans for distant object, when having a requirement for sweep velocity, the frequency of scanning can improve further, and the point resolution of target can reduce further.Therefore, in order to realize remote Gao Zhongying laser three-dimensional scanning, need a kind of ranging technology that can promote detection sensitivity simultaneously and overcome fuzzy distance restriction.
Summary of the invention
Technology of the present invention is dealt with problems and is: measure the low problem of repetition for current long distance laser spatial digitizer, provide a kind of remote Gao Zhongying laser three-dimensional scanning device based on coherent detection, this device can have high sensitivity and high measurement repetition characteristic simultaneously, can realize not by the remote Gao Zhongying laser three-dimensional imaging of fuzzy distance restriction.
Technical solution of the present invention is: a kind of remote Gao Zhongying laser three-dimensional scanning device based on coherent detection, comprise FM signal generator, narrow linewidth laser, acousto-optic modulator, optical mixer unit, balanced detector, low-pass filter, scanning mirror, angular encoder, coding count circuit, distance calculation module and three-dimensional data processing module, wherein:
FM signal generator: produce frequency according to linear frequency signalization and be the linear FM signal of f and deliver to acousto-optic modulator;
Narrow linewidth laser: export single mode narrow linewidth continuous laser and deliver to acousto-optic modulator;
Acousto-optic modulator: utilize linear FM signal that the modulation of single mode narrow linewidth continuous laser is become the continuous laser of frequency chirp, a continuous laser part for described frequency chirp is input to optical mixer unit as with reference to light, and another part is input to scanning mirror as flashlight;
Optical mixer unit: settling signal optical echo and reference light relevant, forms coherent light signal and also delivers to balanced detector;
Balanced detector: described coherent light signal be converted to electric signal frequently and deliver to low-pass filter;
Low-pass filter: low-pass filtering is carried out to described electric signal, erasure signal optical echo and reference light and frequently, the difference frequency f of stick signal optical echo and reference light
s-rdistance calculation module is delivered to afterwards as echo interference signal;
Scanning mirror: be placed on turntable, carries out circular-rotation under the drive of turntable, self carries out the scanning of vertical direction simultaneously, reflexes in target by the flashlight of input, the flashlight echo reflection that target reflects is input to optical mixer unit simultaneously;
Angular encoder: be arranged on the rotation axis of scanning mirror, forms coded pulse by the rotational angle of scanning mirror and is input to coding count circuit;
Coding count circuit: the coded pulse of input is counted, and count value is input to three-dimensional data processing module;
Distance calculation module: often rotate in the process of a circle at scanning mirror, has the scanning impact point of echo to first, by formula d1=(f
s-r/ k/c+d0)/2 calculate the distance that first has the scanning impact point of echo, pass through formula
Calculate the distance of follow up scan impact point on target surface scanning pattern, d is delivered to three-dimensional data processing module as the line-of-sight distance of target surface track while scan, wherein k is the modulation rate of acousto-optic modulator, c is the light velocity, d0 is that reference light is from producing the optical transport distance transferring to optical mixer unit to acousto-optic modulator, fv is that the flashlight that follow up scan point is corresponding returns wave frequency, t1 determines first moment having the scanning impact point of echo, and t2 is the moment determining follow up scan point;
Three-dimensional data processing module: produce linear frequency signalization and deliver to FM signal generator; Synchronous reception line-of-sight distance and encoder to count value, the scanning angle of scanning mirror is calculated according to encoder to count value, three-dimensional rectangular coordinate (the x of analyzing spot in target is finally changed out by line-of-sight distance and scanning angle, y, z), wherein x=dcos β cos α, y=dcos β sin α, z=dsin β, α are the angle that scanning mirror rotates at vertical direction, and β is the angle that turntable rotates in the horizontal direction.
Described narrow linewidth laser is the single mode narrow linewidth laser instrument of wavelength 1550nm.Described acousto-optic modulator is coupling fiber acousto-optic modulator.Described optical mixer unit is the single-mode optical-fibre coupler of 2 × 2.Described balanced detector is avalanche photodide balanced detector.Described angular encoder is photoelectric encoder.
The present invention's advantage is compared with prior art:
(1) apparatus of the present invention adopt optical coherence frequency measurement method, by can the change of Real-time Obtaining target range to the analysis of interference signal frequency, overcome for the stand-by period that laser pulse comes and goes in pulse flight measuring method, thus effectively improve fuzzy distance.Acoustooptic modulation technology is adopted to modulate laser emission frequency, modulating frequency can reach hundreds of MHz usually, namely the signal frequency after optical interference reaches hundreds of MHz, the output speed of signal frequency analysis result can reach tens MHz, namely measuring point frequency can reach tens MHz, far above existing remote pulse time-of-flight laser 3 d scanner;
(2) scan period associates with linear frequency modulation band-width by apparatus of the present invention, by the bandwidth that increase line resistant frequency is modulated, the rate of change of unit scanning angle internal linear frequency can be kept constant, when not increasing laser power and transmission frequency, identical site density can being realized under different sweep velocitys, not needing to carry out hoist point density by reducing sweep velocity (sacrifice Measuring Time);
(3) apparatus of the present invention adopt continuous modulation coherent detection, utilize reference light to amplify echo, and can reach the shot noise limit of detector, acquisition of signal sensitivity can reach 10
-10w, far above conventional avalanche photodide 10
-8w detection sensitivity, the luminous power of hundred mW can realize the measurement of km distance, meets the requirement of remote Gao Zhongying laser three-dimensional imaging.
Accompanying drawing explanation
Fig. 1 is the structural representation of apparatus of the present invention;
Fig. 2 is the detection principle schematic diagram of apparatus of the present invention.
In figure: 1-FM signal generator, 2-narrow linewidth laser, 3-acousto-optic modulator, 4-optical mixer unit, 5-balanced detector, 6-low-pass filter, 7-scanning mirror, 8-angular encoder, 9-coding count circuit, 10-distance calculation module, 11-three-dimensional data processing module.
Embodiment
As shown in Figure 1, it is the structural representation of the remote Gao Zhongying laser three-dimensional scanning device that the present invention is based on coherent detection, as seen from the figure, apparatus of the present invention mainly comprise FM signal generator 1, narrow linewidth laser 2, acousto-optic modulator 3, optical mixer unit 4, balanced detector 5, low-pass filter 6, scanning mirror 7, angular encoder 8, coding count circuit 9, distance calculation module 10 and three-dimensional data processing module 11, and the annexation of above-mentioned component is as follows:
Three-dimensional data processing module 11 produces linear frequency signalization, outputs to described FM signal generator 1, and described FM signal generator 1 produces linear FM signal according to arranging frequency, is input to described acousto-optic modulator 3.Described narrow linewidth laser 2 exports single mode narrow linewidth continuous laser, the continuous laser of frequency chirp is become after described acousto-optic modulator 3, a part is input to described optical mixer unit 4 as with reference to light, a part is input to described scanning mirror 7 as flashlight, and flashlight reflection exports by described scanning mirror 7.The echo of flashlight in target is input to described optical mixer unit 4 through the reflection of described scanning mirror 7, and described optical mixer unit 4 completes the relevant of echoed signal light and reference light.Coherent light signal is converted to electric signal frequently by described balanced detector 5, eliminates and frequently, retain and comprise the flashlight of initial distance and distance rate of change information and the difference frequency of reference light through described low-pass filter 6.Described distance calculation module 10 receives difference frequency signal, to the scanning impact point that in each scan period, first has an echo, this absolute distance is obtained by the phase place of the phase modulation and original modulated signal that compare echo interference signal, integration is carried out with reference to the distance rate of change of this absolute distance to analyzing spot below, calculate the line-of-sight distance of target surface track while scan, line-of-sight distance is outputted to described three-dimensional data processing module 11.Described angular encoder 8 is arranged on the rotation axis of scanning mirror 7, being input to described coding count circuit 9 by rotating the coded pulse produced, after the 9 pairs of coded pulses of described coding count circuit count, count value being input to described three-dimensional data processing module 11.Three-dimensional data processing module 11 synchronously receives line-of-sight distance and encoder to count, pitching scanning angle α and the horizontal scan angle β of scanning mirror 7 is calculated according to encoder to count, according to polar coordinates to rectangular coordinates transformation formula, angle [alpha], β and line-of-sight distance d are carried out coordinate transform: x=d × cos (β) × cos (α), y=d × cos (β) × sin (α) and z=d × sin (β), the three-dimensional rectangular coordinate x of arbitrfary point on target surface scanning pattern can be obtained, y, z.
Described FM signal generator 1 is FM signal generator, and output linearity frequency modulated signal, bandwidth reaches hundred MHz.
Described narrow linewidth laser 2 is the single mode narrow linewidth fiber laser of wavelength 1550nm, and laser linewidth 10kHz, Output of laser power is 100mW.
Described acousto-optic modulator 3 is coupling fiber acousto-optic modulator, and frequency modulation rate reaches hundred MHz, and transmitance is 70%.
Described optical mixer unit 4 is the single-mode optical-fibre coupler of 2 × 2, and ratio is 99:1, realizes the optical coherence of flashlight and reference light.
Described balanced detector 5 is avalanche photodide (APD) balanced detector, detective bandwidth reaches 300MHz, there is higher detection sensitivity, optical mixing signal contrary for two-way phase place can be converted to electric signal simultaneously, and offset direct current background by inner balancing circuitry, improve the signal to noise ratio (S/N ratio) that differential signal exports.
Described low-pass filter 6 is passive filter, filtering high-frequency signal, and cutoff frequency is 200MHz.
Described scanning mirror 7 is one-dimensional scanning mirror, and sweep frequency reaches 30 lines/s, by laser along vertical movement scanning direction.Bottom of device has turntable that whole device can be made to carry out horizontal scanning, and laser distance measuring realizes measuring the third dimension of target.
Described angular encoder 8 is photoelectric encoder, angular resolution 2 rads.
Described coding count circuit 9 is difference count circuit, realizes coding count, maximum count rate 100MHz by rising edge and negative edge.
Described distance calculation module 10 obtains the absolute distance of this point by the difference frequency calculating first analyzing spot echo interference signal and original modulated signal, the distance rate of change of follow up scan point is obtained by the difference frequency of calculated for subsequent analyzing spot echo interference signal and original modulated signal, carry out integration with reference to the distance rate of change of this absolute distance to analyzing spot below, calculate the line-of-sight distance of target surface track while scan.
Described three-dimensional data processing module 11 synchronous acquisition encoder to count and range data, calculate angle according to encoder resolution, after angle and distance data are transformed into rectangular coordinate system, obtains the three-dimensional rectangular coordinate of target surface track while scan.
As shown in Figure 2, in apparatus of the present invention, the laser launched is single mode narrow linewidth continuous laser, linear modulation is carried out by the frequency f of acousto-optic modulator 3 pairs of Emission Lasers: f=k* (t-t0)+f0 within a mechanical scanning cycle, t0 is initial time, f0 is initial laser frequency, and k is modulation rate.The laser launched is divided into flashlight and reference light, and reference light light path of turning back through inside arrives optical mixer unit 4, and the turn back length of light path of inside is d0, and flashlight is launched.The return laser beam received reaches optical mixer unit 4 and reference light is interfered and after opto-electronic conversion, the frequency of output signal comprises the difference frequency f of two signals
s-r.When target range is constant, the difference frequency f of two signals
s-rfollowing relation is had: f with target range d
s-r=k*c* (2*d-d0), c are the light velocity, can by measuring the difference frequency f of echo light and reference light interference signal
s-rcalculate target range d.
In the process that target is scanned, target surface produces consecutive variations to the line-of-sight distance defection of scanister, the speed v of this distance change can project into the speed of target relative laser sight line, this speed can introduce Doppler shift Δ f=fv-f, f is the frequency of Emission Lasers, fv is the frequency of echo laser, and the relational expression of Doppler shift and target speed is: Δ f=2*v*f/c.Return laser beam is being interfered with reference light and after opto-electronic conversion, this frequency f v can be delivered on electric signal.Measure electric signal output frequency fv, just can calculate target range rate of change v=(fv-f) * c/2/f.According to this principle, can by relatively obtaining the line-of-sight distance rate of change v of target surface to scanner to the frequency f of return laser beam interference signal fv and original modulated signal.
In the scanning of often enclosing, first is had to the scanning impact point (distance d1, moment t1) of echo, can by the frequency f of detector output signal
s-rcalculate target range d1=(f
s-r/ k/c+d0)/2, carry out integration with reference to the distance rate of change v of this absolute distance d1 to analyzing spot below, the line-of-sight distance d of target surface track while scan when can calculate any time t2.Relation is as follows:
In Fig. 2, the continuous laser signal that the first behavior narrow linewidth laser 2 produces is after the acousto-optic modulator 3 that linear frequency is modulated, and the laser frequency of output is by linear modulation within a scan period, and horizontal ordinate is the time, and ordinate is laser frequency.The line-of-sight distance of target surface on second behavior laser beam scan path, horizontal ordinate is scanning position, and ordinate is line-of-sight distance.The third line is the frequency of the laser echo signal that optical mixer unit 4 receives, and initial echoed signal is due to the delay of distance reason life period, and follow-up echo is owing to scanning line-of-sight distance change, frequency also corresponding increase and the reduction of laser echo signal.Fourth line is that the light signal that optical mixer unit 4 exports is converted to electric signal by balanced detector 5, difference frequency signal after low-pass filter 6 filtering and frequency, horizontal ordinate is the sweep time corresponding with scanning position, ordinate is the difference frequency of echoed signal and reference signal, can find out when apart from time constant, difference frequency and distance dependent, when distance change, the rate of change of difference frequency and target surface distance is linear.Fifth line calculates initial distance according to initial beat-frequency meter, follow-up beat-frequency meter calculates range rate, succeeding target surface line-of-sight distance is obtained after carrying out integration, the line-of-sight distance of original object scanning pattern can be restored, synchronously carry out coordinate transform with scanning angle again, the three-dimensional rectangular coordinate of arbitrfary point on target surface scanning pattern can be measured.
The course of work of this device is:
1. apparatus of the present invention be arranged in the fixed tripod of ground, laser is carried out vertical one-dimensional scanning by described scanning mirror 7, and bottom of device has turntable that whole device can be made to carry out horizontal scanning, and laser distance measuring realizes measuring the third dimension of target;
2. apparatus of the present invention are started, carry out in the scan period at described scanning mirror 7, described narrow linewidth laser 2 launches continuous laser signal, the continuous laser signal of linear frequency modulation is become through described acousto-optic modulator 3, described optical mixer unit 4 completes the relevant of echoed signal and reference signal, described balanced detector 5 completes opto-electronic conversion, and described distance calculation module 10 calculates distance according to requency sampling fjlter;
3. described angular encoder 8 and coding count circuit 9 measure the accumulated counts in scanning mirror 7 rotation process, calculate the angle that scanning mirror 7 rotates.Described three-dimensional data processing module 11 synchronous receiving angle α, β and distance d, angle [alpha], β and line-of-sight distance d are carried out coordinate transform: x=d × cos (β) × cos (α), y=d × cos (β) × sin (α) and z=d × sin (β), three-dimensional rectangular coordinate (the x of arbitrfary point on target surface scanning pattern can be obtained, y, z).
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.
Claims (6)
1. the remote Gao Zhongying laser three-dimensional scanning device based on coherent detection, it is characterized in that: comprise FM signal generator (1), narrow linewidth laser (2), acousto-optic modulator (3), optical mixer unit (4), balanced detector (5), low-pass filter (6), scanning mirror (7), angular encoder (8), coding count circuit (9), distance calculation module (10) and three-dimensional data processing module (11), wherein:
FM signal generator (1): produce frequency according to linear frequency signalization and be the linear FM signal of f and deliver to acousto-optic modulator (3);
Narrow linewidth laser (2): export single mode narrow linewidth continuous laser and deliver to acousto-optic modulator (3);
Acousto-optic modulator (3): utilize linear FM signal that the modulation of single mode narrow linewidth continuous laser is become the continuous laser of frequency chirp, a continuous laser part for described frequency chirp is input to optical mixer unit (4) as with reference to light, and another part is input to scanning mirror (7) as flashlight;
Optical mixer unit (4): settling signal optical echo and reference light relevant, forms coherent light signal and also delivers to balanced detector (5);
Balanced detector (5): described coherent light signal be converted to electric signal frequently and deliver to low-pass filter (6);
Low-pass filter (6): low-pass filtering is carried out to described electric signal, erasure signal optical echo and reference light and frequently, the difference frequency f of stick signal optical echo and reference light
s-rdistance calculation module (10) is delivered to afterwards as echo interference signal;
Scanning mirror (7): be placed on turntable, circular-rotation is carried out under the drive of turntable, self carry out the scanning of vertical direction simultaneously, the flashlight of input is reflexed in target, the flashlight echo reflection that target reflects is input to optical mixer unit (4) simultaneously;
Angular encoder (8): be arranged on the rotation axis of scanning mirror (7), forms coded pulse by the rotational angle of scanning mirror (7) and is input to coding count circuit (9);
Coding count circuit (9): the coded pulse of input is counted, and count value is input to three-dimensional data processing module (11);
Distance calculation module (10): often rotate at scanning mirror (7) in the process of a circle, first is had to the scanning impact point of echo, by formula d1=(f
s-r/ k/c+d0)/2 calculate the distance that first has the scanning impact point of echo, pass through formula
Calculate the distance of follow up scan impact point on target surface scanning pattern, d is delivered to three-dimensional data processing module (11) as the line-of-sight distance of target surface track while scan, wherein k is the modulation rate of acousto-optic modulator (3), c is the light velocity, d0 is that reference light produces to the optical transport distance transferring to optical mixer unit (4) to acousto-optic modulator (3), fv is that the flashlight that follow up scan point is corresponding returns wave frequency, t1 determines first moment having the scanning impact point of echo, and t2 is the moment determining follow up scan point;
Three-dimensional data processing module (11): produce linear frequency signalization and deliver to FM signal generator (1); Synchronous reception line-of-sight distance and encoder to count value, the scanning angle of scanning mirror (7) is calculated according to encoder to count value, three-dimensional rectangular coordinate (the x of analyzing spot in target is finally changed out by line-of-sight distance and scanning angle, y, z), wherein x=dcos β cos α, y=dcos β sin α, z=dsin β, α are the angle that scanning mirror (7) rotates at vertical direction, and β is the angle that turntable rotates in the horizontal direction.
2. a kind of remote Gao Zhongying laser three-dimensional scanning device based on coherent detection according to claim 1, is characterized in that: the single mode narrow linewidth laser instrument that described narrow linewidth laser (2) is wavelength 1550nm.
3. a kind of remote Gao Zhongying laser three-dimensional scanning device based on coherent detection according to claim 1, is characterized in that: described acousto-optic modulator (3) is coupling fiber acousto-optic modulator.
4. a kind of remote Gao Zhongying laser three-dimensional scanning device based on coherent detection according to claim 1, is characterized in that: described optical mixer unit (4) is the single-mode optical-fibre coupler of 2 × 2.
5. a kind of remote Gao Zhongying laser three-dimensional scanning device based on coherent detection according to claim 1, is characterized in that: described balanced detector (5) is avalanche photodide balanced detector.
6. a kind of remote Gao Zhongying laser three-dimensional scanning device based on coherent detection according to claim 1, is characterized in that: described angular encoder (8) is photoelectric encoder.
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