CN106405572B - Remote high-resolution laser Active Imaging device and method based on space encoding - Google Patents
Remote high-resolution laser Active Imaging device and method based on space encoding Download PDFInfo
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- CN106405572B CN106405572B CN201610989569.4A CN201610989569A CN106405572B CN 106405572 B CN106405572 B CN 106405572B CN 201610989569 A CN201610989569 A CN 201610989569A CN 106405572 B CN106405572 B CN 106405572B
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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
Remote high-resolution laser Active Imaging device and method based on space encoding, the device includes laser light source, it is fixed on the two dimensional laser scanning mirror that laser light source goes out light end, it is fixed on the target in two dimensional laser scanning scarnning mirror region, it is fixed on the imaging len of target reflecting light road, the photoelectric array detector being fixed on imaging len imaging optical path, it include simultaneously the scanning mirror corner measuring apparatus being connect with laser scanning mirror, the space decoding and laser ranging module being connect with photoelectric array detector by conducting wire, the computer being connect simultaneously with space decoding and laser ranging module and scanning mirror corner measuring apparatus by conducting wire and the laser controller being connect with laser light source by conducting wire；The invention also discloses the imaging methods of the device；In the case that the present invention can guarantee high-resolution, expand detection range.
Description
Technical field
The invention belongs to laser infrared radar imaging technical fields, and in particular to a kind of remote high-resolution based on space encoding
Rate Laser active illuminated imaging device and method.
Background technique
Current scanline formula laser radar has a problem that, i.e., between the repetition rate and detection range of pulse laser
Contradiction.We need to present high-resolution image, it is desirable to which laser source has higher repetition rate.But repetition rate is got over
Height, the detection range of target object is just corresponding to be shortened.By taking repetition rate is the laser of 1MHZ as an example, the transmission interval period is
1μs.In order to ensure precision ranging, it is necessary to assure the transmitting and reception of last moment laser beam are before the sending of subsequent time laser beam
It completes.Therefore, BURN-THROUGH RANGE 150m.When more than 150m, t1Moment laser beam by APD detector before being received, t2When
The laser beam at quarter is emitted.In this case, it is possible to t occur2The laser beam at moment is prior to t1Moment, laser beam was by detector
It receives, causes confusion.In this case, then the distance of detection target can not be calculated.
Conventionally the repetition rate for reducing pulse laser is then needed, in turn to increase detection range with device
Image resolution ratio also decreases, and constrains further increasing for image quality and detection range.Therefore, in order in promotion detection
In the case where distance, and guarantee higher image resolution ratio, we devise a kind of remote, high-resolution based on space encoding
The Laser active illuminated imaging device of rate.
Summary of the invention
For deficiency existing for traditional scanning imaging technology, the present invention provides a kind of remote height based on space encoding
Resolution laser Active Imaging device and method in the case where capable of guaranteeing high-resolution, expands detection range.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of remote high-resolution laser Active Imaging device based on space encoding, including laser light source 1, are fixed on
Laser light source 1 goes out the two dimensional laser scanning mirror 2 at light end, is fixed on the target 8 of 2 scanning area of two dimensional laser scanning mirror, is fixed on
Imaging len 3 on 8 reflected light path of target, the photoelectric array detector 4 being fixed on 3 imaging optical path of imaging len, is wrapped simultaneously
Include the scanning mirror corner measuring apparatus 5 connecting with laser scanning mirror 2, the space connecting with photoelectric array detector 4 by conducting wire
Decoding and laser ranging module 6, while with space decoding and laser ranging module 6 and scanning mirror corner measuring apparatus 5 by leading
The computer 7 of line connection and the laser controller 9 being connect with laser light source 1 by conducting wire.
The laser light source 1 is high repetitive frequency pulsed formula laser.
The probe unit quantity of the photoelectric array detector 4 is far below the quantity of every frame laser image pixel.
The search coverage of each probe unit and space encoding region correspond in the photoelectric array detector 4, i.e.,
The reflected light in a certain space encoding region is only capable of being detected by the probe unit corresponding to it.
The imaging method of remote high-resolution laser Active Imaging device described above based on space encoding, laser control
Device 9 processed controls in the laser irradiation to two dimensional laser scanning mirror 2 that laser light source 1 emits, and scanning mirror corner measuring apparatus 5 is remembered at this time
Record the rotational angle theta of current two dimensional laser scanning mirror 21,θ2And the space encoding value M of laser-irradiated domain, laser is after the reflection of target 8
By imaging len 3, some probe unit in photoelectric array detector 4 can detect the return laser light of target, space decoding
And laser ranging module 6 calculates reflection laser from which according to the position for the probe unit for receiving pulsed laser signal
A space encoding region, and measure laser controller 9 output trigger pulse and some probe unit of photoelectric array detector 4 it is defeated
The time difference between pulse signal out, it will be able to calculate the distance that certain is put in target 8.
Since laser two-dimension scanning scarnning mirror speed is very fast, if n-th pulsed laser irradiation is to the sky for being encoded to M
Between region, according to the principle of lens imaging, which can be detected by the m-th probe unit of photoelectric array detector
It arrives；And the N+1 pulse laser will be irradiated to the area of space for being encoded to non-M, and the pulsed laser signal can be by array
Detector in detector other than m-th detects；According to the position for the probe unit for receiving pulsed laser signal, so that it may
Which region of the pulse laser from space judged, scanning mirror outer corner measurement information is recycled, can accurately just position
Target point three-dimensional (angle-angle-distance) information；Using the above method, the distance of target different location is constantly detected, then may be used
To obtain the three-D profile of target.
Specific step is as follows for above-mentioned imaging method:
Step 1: carry out to space exploration two-dimensional encoded: the field range for setting laser radar is: θ1*θ2, divide the area into
5*5 (being not limited to 5*5) sub-regions simultaneously encode it, then detection viewing field angular region following table corresponding to different coding region
Shown in 1:
Relationship between 1. area of space of table coding and area of space field angle
Step 2: initialization system, laser light source 1 are started to work；
Step 3: laser is reflected through two dimensional laser scanning mirror 2, and scanning mirror corner measuring apparatus 5 records current two dimension and swashs at this time
The angle value of optical scanning mirror 2And the encoded radio M (M=of present laser irradiation area of space is obtained according to table 1
1...25)；
Step 4: laser, through imaging len 3, is converged on photoelectric array detector 4 after the reflection of target 8 and corresponds to space volume
On the probe unit of code value M, space decoding and laser ranging module 6 believe the voltage that the optical signal after focusing is converted into amplification
Number, according to the position for the probe unit for receiving pulsed laser signal, reflection laser is calculated from which space encoding area
Domain, and the trigger pulse and photovoltaic array exported using time-of-flight method (being not limited to time-of-flight method) measurement laser controller 9
Time difference between the pulse signal of some probe unit of detector 4 output, it will be able to calculate the distance that certain is put in target；
Step 5: before beam of laser does not reach photoelectric array detector 4, that is, while step 4 progress, swashing
Light source successively issues the 2nd, 3,4 ... n beam laser, is radiated at different space encoding regions after the reflection of two dimensional laser scanning mirror 2
It is interior；At this point, scanning mirror corner measuring apparatus 5 records the angle of corresponding moment two dimensional laser scanning mirror 2 respectively
Step 6: it is similar with step 4, the 2nd, 3,4...n beam laser by target 8 reflect after, imaged lens 3 converge to
On the corresponding probe unit of photoelectric array detector 4, and swashed by space decoding and laser ranging module 6 according to pulse is received
Which space encoding region the position of the probe unit of optical signal calculates reflection laser from, and measures target position
Range information, computer 7 pass through the laser signal that judgement is which probe unit detects, it will be able to which telling is corresponding to it
Scanning mirror angle；
Step 7: computer 7 can obtain the three-dimensional figure of target 8 using the target range and angle information that repeatedly measure
Picture.
The present invention proposes that this remote, high-resolution laser Active Imaging Lidar device, main innovation point are quilt
Search coverage is spatially encoded, and reflection laser is focused on after lens on corresponding probe unit, by distinguishing which is visited
Survey unit and detect laser, so that it may search out the angle of corresponding Laser emission, thus realize remote, high-resolution laser at
As function.
Detailed description of the invention
Fig. 1 is imaging device schematic diagram of the present invention.
Fig. 2 is area of space coding principle figure.
Fig. 3 is the corresponding field angle in space encoding region.
Corresponding relationship of the Fig. 4 between space encoding region and photoelectric array detector probe unit.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description:
As shown in Figure 1, a kind of remote high-resolution laser Active Imaging device based on space encoding of the present invention, including
Laser light source 1 is fixed on the two dimensional laser scanning mirror 2 that laser light source 1 goes out light end, is fixed on 2 scanning area of two dimensional laser scanning mirror
The target 8 in domain, the imaging len 3 being fixed on 8 reflected light path of target, the photoelectricity battle array being fixed on 3 imaging optical path of imaging len
Row detector 4, while including the scanning mirror corner measuring apparatus 5 being connect with laser scanning mirror 2, it is logical with photoelectric array detector 4
Cross the space decoding and laser ranging module 6 of conducting wire connection, at the same with space decoding and laser ranging module 6 and scanning mirror corner
The computer 7 that measuring device 5 is connected by conducting wire and the laser controller 9 being connect with laser light source 1 by conducting wire.
As the preferred embodiment of the present invention, the scanning mirror corner measuring apparatus 5 with two dimensional laser scanning mirror 2 is non-connects
Touching connection has angle measurement accuracy height, the high advantage of angular resolution.
As the preferred embodiment of the present invention, the two dimensional laser scanning mirror 2 has laser figure horizontal by 45 °
Picture detection viewing field is uniform, distorts the advantages that small.
The imaging method of remote high-resolution laser Active Imaging device described above based on space encoding, laser control
Device 9 processed controls in the laser irradiation to two dimensional laser scanning mirror 2 that laser light source 1 emits, and scanning mirror corner measuring apparatus 5 is remembered at this time
Record the rotational angle theta of current two dimensional laser scanning mirror 21,θ2And the space encoding value M of laser-irradiated domain, laser is after the reflection of target 8
By imaging len 3, some probe unit in photoelectric array detector 4 can detect the return laser light of target, space decoding
And laser ranging module 6 calculates reflection laser from which according to the position for the probe unit for receiving pulsed laser signal
A space encoding region, and measure laser controller 9 output trigger pulse and some probe unit of photoelectric array detector 4 it is defeated
The time difference between pulse signal out, it will be able to calculate the distance that certain is put in target 8.
Since laser two-dimension scanning scarnning mirror speed is very fast, if n-th pulsed laser irradiation is to the sky for being encoded to M
Between region, according to the principle of lens imaging, which can be detected by the m-th probe unit of photoelectric array detector
It arrives；And the N+1 pulse laser will be irradiated to the area of space for being encoded to non-M, and the pulsed laser signal can be by array
Detector in detector other than m-th detects；According to the position for the probe unit for receiving pulsed laser signal, so that it may
Which region of the pulse laser from space judged, scanning mirror outer corner measurement information is recycled, can accurately just position
Target point three-dimensional (angle-angle-distance) information.Using the above method, the distance of target different location is constantly detected, then may be used
To obtain the three-D profile of target.
Specific step is as follows for above-mentioned imaging method:
Step 1: space exploration being carried out two-dimensional encoded.As shown in Fig. 2, setting the field range of laser radar is: θ1*θ2, will
The region is divided into 5*5 (being not limited to 5*5) sub-regions and encodes to it, then detection viewing field corresponding to different coding region
Shown in angular region the following table 1, Fig. 3 can refer to.
Relationship between 1. area of space of table coding and area of space field angle
Step 2: initialization system, laser light source 1 are started to work；
Step 3: laser is reflected through two dimensional laser scanning mirror 2, and scanning mirror corner measuring apparatus 5 records current two dimension and swashs at this time
The angle value of optical scanning mirror 2And the encoded radio M (M=1...25) of present laser irradiation area of space is obtained according to table 1；
Step 4: laser, through imaging len 3, is converged on photoelectric array detector 4 after the reflection of target 8 and corresponds to space volume
On the probe unit of code value M, space decoding and laser ranging module 6 believe the voltage that the optical signal after focusing is converted into amplification
Number, according to the position for the probe unit for receiving pulsed laser signal, reflection laser is calculated from which space encoding area
Domain, and the trigger pulse and photoelectric array detector 4 some probe unit exported using time-of-flight method measurement laser controller 9
Time difference between the pulse signal of output, it will be able to calculate the distance that certain is put in target；
Step 5: before beam of laser does not reach photoelectric array detector 4, that is, while step 4 progress, swashing
Light source successively issues the 2nd, 3,4 ... n beam laser, is radiated in different coding regions after the reflection of two dimensional laser scanning mirror 2；This
When, scanning mirror corner measuring apparatus 5 records the angle of corresponding moment two dimensional laser scanning mirror 2 respectively
Step 6: it is similar with step 4, the 2nd, 3,4...n beam laser by target 8 reflect after, imaged lens 3 converge to
On the corresponding probe unit of photoelectric array detector 4, and swashed by space decoding and laser ranging module 6 according to pulse is received
Which space encoding region the position of the probe unit of optical signal calculates reflection laser from, and measures target position
Range information, computer 7 pass through the laser signal that judgement is which probe unit detects, it will be able to which telling is corresponding to it
Scanning mirror angle；
Step 7: computer 7 can obtain the three-dimensional figure of target 8 using the target range and angle information that repeatedly measure
Picture.
Claims (4)
1. a kind of remote high-resolution laser Active Imaging device based on space encoding, it is characterised in that: including laser light
The two dimensional laser scanning mirror (2) that laser light source (1) goes out light end is fixed in source (1), is fixed on two dimensional laser scanning mirror (2) scanning
The target (8) in region, the imaging len (3) being fixed on target (8) reflected light path are fixed on imaging len (3) imaging optical path
On photoelectric array detector (4), while including the scanning mirror corner measuring apparatus (5) being connect with laser scanning mirror (2), with light
The space decoding and laser ranging module (6) that electric detector array (4) is connected by conducting wire, at the same with space decoding and Laser Measuring
The computer (7) that is connected away from module (6) and scanning mirror corner measuring apparatus (5) by conducting wire and pass through with laser light source (1)
The laser controller (9) of conducting wire connection；
The imaging method of the remote high-resolution laser Active Imaging device based on space encoding, laser controller (9)
It controls in the laser irradiation to two dimensional laser scanning mirror (2) that laser light source (1) emits, at this time scanning mirror corner measuring apparatus (5)
Record the corner (θ of current two dimensional laser scanning mirror (2)1,θ2) and laser-irradiated domain space encoding value M, laser is through target
(8) by imaging len (3) after reflecting, some probe unit in photoelectric array detector (4) can detect returning for target (8)
Return laser, the trigger pulse and photovoltaic array detection of space decoding and laser ranging module (6) measurement laser controller (9) output
Time difference between the pulse signal of device (4) some probe unit output, it will be able to calculate the distance that certain is put in target；Due to
Laser two-dimension scanning mirror (2) scanning speed is very fast, if n-th pulsed laser irradiation is to the area of space for being encoded to M, root
According to the principle of lens imaging, which can be detected by the m-th probe unit of photoelectric array detector (4)；And
The N+1 pulse laser will be irradiated to the area of space for being encoded to non-M, and the pulsed laser signal can be by detector array
Detector other than middle m-th detects；Space decoding and laser ranging module (6) are according to the spy for receiving pulsed laser signal
Survey the position of unit, it will be able to which region of the pulse laser from space judged, scanning mirror outer corner measurement is recycled
Information can accurately just position target point three-dimensional information i.e. angle-angle-distance；Utilize the above method, constantly detection target
(8) distance of different location can then obtain the 3-D image of target；
The imaging method specifically comprises the following steps:
Step 1: carry out to space exploration two-dimensional encoded: the field range for setting laser radar is: θ1*θ2, it is assumed that it divides the area into
5*5 sub-regions simultaneously encode it, then detection viewing field angular region corresponding to different coding region is as shown in table 1:
Relationship between 1. area of space of table coding and area of space field angle
Step 2: initialization system, laser light source (1) are started to work；
Step 3: laser is reflected through two dimensional laser scanning mirror (2), and the current two dimension of scanning mirror corner measuring apparatus (5) record swashs at this time
The angle value of optical scanning mirror (2)And the encoded radio M, wherein M of present laser irradiation area of space are obtained according to table 1
=1~25；
Step 4: laser, through imaging len (3), is converged on photoelectric array detector (4) after target (8) reflection and corresponds to space
On the probe unit of encoded radio M, space decoding and laser ranging module (6) convert the optical signal after focusing to the voltage of amplification
Which space encoding signal calculates reflection laser from according to the position for the probe unit for receiving pulsed laser signal
Region, and using time-of-flight method measurement laser controller (9) output trigger pulse and photoelectric array detector (4) some spy
Survey the time difference between the pulse signal of unit output, it will be able to calculate the distance that certain is put in target；
Step 5: before beam of laser does not reach photoelectric array detector (4), that is, while step 4 progress, laser
Source successively issues the 2nd, 3,4 ... n beam laser, is radiated at different space encoding regions after two dimensional laser scanning mirror (2) reflection
It is interior；At this point, scanning mirror corner measuring apparatus (5) records the angle of corresponding moment two dimensional laser scanning mirror (2) respectively
Step 6: it is similar with step 4, the 2nd, 3,4...n beam laser by target (8) reflect after, imaged lens (3) converge to
On the corresponding probe unit of photoelectric array detector (4), and arteries and veins is received by space decoding and laser ranging module (6) basis
Which space encoding region the position of the probe unit of impulse optical signal calculates reflection laser from, and measures target position
The range information set, computer (7) pass through the laser signal that judgement is which probe unit detects, it will be able to which telling is it
The angle of corresponding scanning mirror；
Step 7: computer (7) can obtain the three-dimensional figure of target (8) using the target range and angle information that repeatedly measure
Picture.
2. the remote high-resolution laser Active Imaging device according to claim 1 based on space encoding, feature
Be: the laser light source (1) is high repetitive frequency pulsed formula laser.
3. the remote high-resolution laser Active Imaging device according to claim 1 based on space encoding, feature
It is: quantity of the probe unit quantity of the photoelectric array detector (4) far below the pixel of every frame laser image.
4. the remote high-resolution laser Active Imaging device according to claim 1 based on space encoding, feature
Be: the search coverage of each probe unit and space encoding region correspond in the photoelectric array detector (4), i.e., certain
The reflected light in one space encoding region is only capable of being detected by the probe unit corresponding to it.
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