CN106772420A - The continuous ray laser radar system of EO-1 hyperion of finely ground particles detection under water - Google Patents
The continuous ray laser radar system of EO-1 hyperion of finely ground particles detection under water Download PDFInfo
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- CN106772420A CN106772420A CN201710112302.1A CN201710112302A CN106772420A CN 106772420 A CN106772420 A CN 106772420A CN 201710112302 A CN201710112302 A CN 201710112302A CN 106772420 A CN106772420 A CN 106772420A
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- laser
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- hyperion
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- under water
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Classifications
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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
-
- 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 kind of continuous ray laser radar system of EO-1 hyperion of finely ground particles under water detection, including laser emission element, laser pick-off unit, spectrophotometric unit and optical path compensation unit, photoelectric detection unit, data collection and analysis unit；The light source of described laser emission element is continuous laser source, sends continuous laser to determinand, and determinand back-scattering light reflexes to optical path compensation unit compensation and spectrophotometric unit, is finally focused in photoelectric detection unit；Photoelectric detection unit is connected with data collection and analysis unit and be analyzed signal by data acquisition unit；Described laser emission element is connected with photoelectric detection unit, photoelectric detection unit transmitting synchronization pulse, the glow frequency of synchronous modulation laser emission element.Present invention employs continuous ray laser as light source, realize that spatial distribution is detected using imaging method, be adjusted by optical element, with resolution ratio higher, realize the spectrum of finely ground particles and spatial information synchronizing detection under water.
Description
Technical field
The invention belongs to laser high-spectrum remote-sensing field, more particularly to a kind of EO-1 hyperion of the detection of finely ground particles under water connects
Continuous ray laser radar system.
Background technology
In order to realize to the complete ecosystem under water in high precision, multi-level SS, it is distant that multiple technologies are combined
The trend of sense technology development.Remote sensing technology has been widely used for ecological environment field of detecting.Wherein hyperspectral technique is even more distant
The forward position of sense technology, current high light spectrum image-forming technology has spectral resolution higher, the advantages of investigative range is wide, Neng Gouti
For the spectrum image information of measured target.But wouldn't possess accurate ranging localization function.Laser radar technique has monochrome
Property is good, the advantages of emitted energy is high, using the teaching of the invention it is possible to provide spatial orientation information, but laser radar technique can not provide spectral information.
To sum up, single detection mode has been difficult to meet current to the three-dimensional monitoring requirements of ecological Remote Sensing, it is considered to reference to
Hyperspectral technique and laser radar technique realize remote sensing of being found range to the EO-1 hyperion of finely ground particles under water, and then obtain simultaneously
The spectrum and space distribution information of tested particulate matter are significant, and it is the suspension less than 1mm that particulate matter is detected herein
Grain（Animal wastes, sea snow etc.）, phytoplankton, zooplankter etc..
The content of the invention
1st, the purpose of the present invention.
The present invention is difficult in order to solve legacy equipment undersea detection, can cause detectable signal square to decline as distance is remote
Subtract, it is impossible to while realizing the problem accurately found range and position.
2nd, the technical solution adopted in the present invention.
It is too fast in order to solve undersea detection signal attenuation, signal to noise ratio problem higher, proposed by the invention is small under water
Particulate matter detection the continuous ray laser radar system of EO-1 hyperion, including laser emission element, laser pick-off unit, spectrophotometric unit and
Optical path compensation unit, photoelectric detection unit, data collection and analysis unit；The light source of described laser emission element is continuous laser
Light source, sends continuous laser to determinand, and determinand back-scattering light reflexes to optical path compensation unit compensation and spectrophotometric unit, most
Post-concentration is in photoelectric detection unit；Photoelectric detection unit is connected with data collection and analysis unit and carried out by data acquisition unit
Signal Analysis；Described laser emission element is connected with photoelectric detection unit, photoelectric detection unit transmitting synchronization pulse, together
The glow frequency of step laser emission element.
Further in specific embodiment, described laser emission element includes that continuous laser source, laser alignment are former
Part, laser control circuit, photoelectric detection unit are connected with laser control circuit, described laser control circuit control LASER Light Source
Glow frequency send laser, then by laser alignment original paper inject water body.
In order to be adjusted in synchronism the frequency of light source and probe unit, further in specific embodiment, described laser control
Circuit processed includes laser drive power and cycle counter, and described photoelectric detection unit passes through circulation with laser emission element
The connected synchronous modulation Laser emission of counter.
In order to detect the signal of measured object, further in specific embodiment, described synchronous modulation Laser emission is adjusted
Laser processed is worked with pattern between bright dark phase, when laser is lighted, detector record measured target detectable signal；Laser extinguishes
When, the tested background signal of detector record.
In order to improve the dynamic detecting range of system, described photoelectric detection unit is two-dimensional array CCD/CMOS, with institute
State data collection and analysis unit to be connected, the echo-signal that record receiving plane battle array CCD/CMOS is collected into, in two-dimensional array CCD/
Distance distribution information can be obtained on the sagittal surface of CMOS, EO-1 hyperion distributed intelligence can be obtained on meridian plane, and then obtained
The spatial information and hyperspectral information of measured target.
Further in specific embodiment, described laser pick-off unit is light collecting lens group.
Further in specific embodiment, angle of wedge prism-grating-angle of wedge prismatic decomposition structure is dissolved into company by the present invention
In continuous ray laser radar, slit takes slant setting mode.Slit also has the effect of spectrographic detection direction veiling glare always, together
When slit placed angle can guarantee that blur-free imaging to search coverage again, realize distance measurement.Described spectrophotometric unit and light path
Compensating unit includes the rearmounted lens of optical path compensation unit, the rearmounted angle of wedge prism of spectrophotometric unit, projection grating, the preposition wedge of spectrophotometric unit
Angle prism, optical path compensation unit supplementary lens, modulated optical slit, by the backscattering optical signal of collimation focusing by inclining
The modulated optical slit of placement is so as to the supplementary lens group after background stray light is suppressed into optical path compensation unit, optical path compensation
Unit supplementary lens group is converged to light is scattered on the preposition angle of wedge prism of grating, and is used to turn back light beam certain angle, the angle
The blaze angle of balzed grating, is matched, then light enters projection grating carries out light splitting, and the flashlight after light splitting passes through spectrophotometric unit
Rearmounted angle of wedge prism, flashlight is turned back certain angle, flashlight is overlapped with key light direction of principal axis, flashlight enters light afterwards
The rearmounted lens group of road compensation system, makes meeting directional light become converging light and images on photodetector.
Further in specific embodiment, the range of tilt angles of described modulated optical slit is at 30 ° -60 °.
Further in specific embodiment, described photoelectric detection unit is two-dimensional array CCD/CMOS and the number
It is connected according to collection analysis unit, the echo-signal that record receiving plane battle array CCD/CMOS is collected into, two-dimensional array CCD/CMOS's
Distance distribution information can be obtained on sagittal surface, EO-1 hyperion distributed intelligence can be obtained on meridian plane, and then obtain tested mesh
Target spatial information and hyperspectral information.
Further in specific embodiment, different from conventional laser radar, the present invention uses continuous ray laser radar
Technology, described continuous laser source is the royal purple diode laser of AlGaN/GaN；Described spectro-grating is transmission-type
Grating；Cycle counter is johnoson counter.Coordinate with described photodetector unit and be capable of achieving detection, its light source volume
Small low cost, it is not necessary to which extra system is to be capable of achieving the purpose of the present invention.
3rd, beneficial effects of the present invention.
（1）Present invention employs continuous ray laser as light source, realize that spatial distribution is detected using imaging method, by light
Learn element to be adjusted, with resolution ratio higher, detection is accurate, and real realizes the spectrum of finely ground particles and space under water
Synchronizing information is detected, rather than data connecting method.
（2）The present invention coordinates optical element, and the Frequency Synchronization with probe unit, sampling using continuous light as light source
Speed is much larger than conventional laser radar, and traditional pulse laser radar repetition rate is mostly hundreds of hertz, existing KHz laser thunder
Reach；Laser radar detection sample frequency of the present invention is up to 3-10KHz.
（3）The present invention uses compact diode laser to realize whole system as laser emitting source, it is not necessary to water-cooled
System.Volume only has 1 the percent of pulse laser, or even one thousandth.
（4）The present invention using AlGaN/GaN royal purple diode laser, laser output power up to 10W, under water
The limpid seawater of 100m can be penetrated in detection, the relatively conventional method only investigative range of 30cm or so has great advantage.
（5）Using area array CCD/CMOS as detector in the present invention, Application Optics imaging method realizes distance measurement,
The non-linear range resolution ratio changed with detection range is provided, not with square decay of distance, therefore system is drastically increased
Dynamic range, and long distance laser radar signal signal to noise ratio.And conventional laser radar uses photomultiplier（PMT）Or
Person's photodiode needs the remote infant laser signal detection of single photon technique functional realiey mostly as detector.
（6）Be dissolved into angle of wedge prism-grating-angle of wedge prismatic decomposition structure in continuous ray laser radar by the present invention, slit
Take slant setting mode.Slit also has the effect of spectrographic detection direction veiling glare always, while slit placed angle and energy
Ensure the blur-free imaging to search coverage, realize distance measurement.Realize detecting light spectrum scope 350-800 nm.Based on new type of continuous
The system architecture of ray laser radar, realizes axial EO-1 hyperion detection.
（7）During the present invention is detected under water, the detection to the finely ground particles less than 1mm is capable of achieving, suspension can be detected
The chlorophyll fluorescence signal of plant, the raman spectral signal of hydrone, the fluorescent protein fluorescence signal of underwater hovering animal.Simultaneously
Detect the spatial distribution of these detected targets.In normal natural water area detection range up to 50-100m, spectral resolution is reachable
1nm。
Brief description of the drawings
Fig. 1 is the structural representation of high light spectrum image-forming range laser radar device.1- photodetectors in figure（CCD/
CMOS）, the rearmounted lens of 2- optical path compensation units, the rearmounted angle of wedge prism of 3- spectrophotometric units, 4- projection gratings, 5- spectrophotometric units are preposition
Angle of wedge prism, 6- optical path compensation unit supplementary lens, 7- modulated optical slits, 8- light collecting lens groups, 9- diode lasers,
10- laser alignment elements, 11- cycle counters (subsidiary laser driven power supply).
Fig. 2 is replication experiment figure of the invention.Two phytoplanktons are led to respectively in 4 seconds as we can see from the figure
Laser beam is crossed to be got off by probability.The data record backscattering optical signal of water body（Cyan coloring layer）, the Raman spectrum letter of water body
Number（Green layer）, the fluorescence signal of phytoplankton（Buffy layer）, and water-bed solid reflected signal.Changing data proves this instrument
Can be simultaneously to carrying out continuous probe by the hyperspectral information of range distribution.
Specific embodiment
Embodiment 1
As shown in figure 1, a kind of continuous ray laser radar system of EO-1 hyperion of the detection of finely ground particles under water of the present embodiment, including 1
Photodetector（CCD/CMOS）, the 2 rearmounted lens of optical path compensation unit, the rearmounted angle of wedge prism of 3 spectrophotometric units, 4 projection gratings, 5
The preposition angle of wedge prism of spectrophotometric unit, 6 optical path compensation unit supplementary lens, 7 modulated optical slits, 8 smooth collecting lens groups, 9 two poles
Pipe laser, 10 laser alignment original papers, 11 cycle counters (subsidiary laser driven power supply).
Operation principle：
The continuous ray laser radar system of EO-1 hyperion of finely ground particles detection under water is surveyed using following imaging described in the present embodiment
Away from method：Laser is sent along target direction by the continuous wave laser of laser emission element, laser sends through laser alignment original paper and penetrates
Enter in atmospheric environment, the object in environment when small suspension plant appears in light path under water as that can produce back-scattering light to believe
Number, backscatter signals include elastic scattering signal, and inelastic scattering signal（LASER Excited Fluorescence, raman spectral signal
Lamp）, produced backscattering optical signal collected by laser pick-off unit, carries out light splitting by spectrophotometric unit and process simultaneously to separate not
The backscattering optical signal of co-wavelength information, then optical signal is acquired by photoelectric detection unit；Finally, by data acquisition
Analytic unit is connected with computer, using Sharpe law of imagery（Scheimpflug）Can obtain in respective optical path it is different away from
From and its intensity signal, can also obtain correspondence different wave length scattering optical information, so as to realize apart from distinguishable EO-1 hyperion
Detection.
Specifically, comprising the following steps：
（1）The continuous ray laser radar system of EO-1 hyperion that finely ground particles under water are detected aims at environment to be detected, opens laser
Light source 9.
（2）The laser that LASER Light Source 9 sends is injected in water body by laser alignment original paper 10, such as water of the object in environment
Lower nanoplankton can produce backscattering optical signal when appearing in light path.
（3）Produced backscattering optical signal is collected by laser pick-off unit, i.e., by light collecting lens group 8 to backscattering
Light carries out reception collection.
（4）The backscattering optical signal that light collecting lens group 8 is received carries out suppression background stray light by optical slot 7,
Enter the preposition angle of wedge prism 5 of spectrophotometric unit after being collimated by convergent mirror optical path compensation unit supplementary lens 6 again, light path is turned back necessarily
To match transmission grating blaze angle, then flashlight carries out light splitting to angle into spectrophotometric unit transmission grating 4.Then flashlight enters
Enter the rearmounted angle of wedge prism 3 of spectrophotometric unit, flashlight of turning back is parallel with systematic optical axis.
（5）The backscattering optical signal of different wave length information is separated by the rearmounted lens of optical path compensation unit by spectrophotometric unit
2, optical signal is focused on photodetector 1, the photodetector is connected with the data collection and analysis unit, i.e., by with
Notebook computer is connected the echo-signal that is collected into of record, can be obtained on the sagittal surface of the detector distance distribution information,
The spectral information of different wave length can be obtained on meridian plane, and then obtains spatial information and the EO-1 hyperion letter of measured target
Breath.
（6）Photodetector 1 is connected with laser 9 by cycle counter 11, to synchronous modulation Laser emission.Adjust
Laser processed is worked with pattern between bright dark phase, when laser is lighted, detector record measured target detectable signal；Laser extinguishes
When, the tested background signal of detector record.
In the present embodiment, 1 photodetector（CCD/CMOS）, the 2 rearmounted lens of optical path compensation unit, 3 spectrophotometric units are rearmounted
Angle of wedge prism, 4 projection gratings, the preposition angle of wedge prism of 5 spectrophotometric units, 6 optical path compensation unit supplementary lens, 7 modulated optical slits,
8 smooth collecting lens groups, 9 diode lasers, 10 laser alignment original papers, 11 cycle counters (subsidiary laser driven power supply).
For existing matured product or can process, the function having using these existing products or processing original paper, this implementation of structure
The example system, can not only obtain the distance distribution information of conventional radar offer, can also obtain hyperspectral information.With reference to height
Spectral technique and laser radar technique realize remote sensing of being found range to the EO-1 hyperion of tiny organism under water, and then are tested simultaneously
The spectrum and space distribution information of organism are significant.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. the continuous ray laser radar system of EO-1 hyperion that a kind of finely ground particles under water are detected, it is characterised in that：Including laser hair
Penetrate unit, laser pick-off unit, spectrophotometric unit and optical path compensation unit, photoelectric detection unit, data collection and analysis unit；It is described
The light source of laser emission element be continuous laser source, send continuous laser to determinand, the reflection of determinand back-scattering light
To optical path compensation unit compensation and spectrophotometric unit, finally it is focused in photoelectric detection unit；Photoelectric detection unit and data acquisition
Analytic unit is connected and is analyzed signal by data acquisition unit；Described laser emission element and photoelectric detection unit phase
Even, photoelectric detection unit transmitting synchronization pulse, the glow frequency of synchronous modulation laser emission element.
2. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 1 are detected, its feature
It is：Described laser emission element includes continuous laser source, laser alignment original paper, laser control circuit, photodetection list
Unit is connected with laser control circuit, and the glow frequency of described laser control circuit control LASER Light Source sends laser, then passes through
Laser alignment original paper is injected in water body.
3. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 2 are detected, its feature
It is：Described laser control circuit includes laser drive power and cycle counter, described photoelectric detection unit with swash
Optical Transmit Unit is by the connected synchronous modulation Laser emission of cycle counter.
4. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 1 are detected, its feature
It is：Described synchronous modulation Laser emission, modulation laser is worked with pattern between bright dark phase, when laser is lighted, detector
Record measured target detectable signal；When laser extinguishes, the tested background signal of detector record.
5. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 1 are detected, its feature
It is：Described photoelectric detection unit is two-dimensional array CCD/CMOS, is connected with the data collection and analysis unit, and record is received
The echo-signal that area array CCD/CMOS is collected into, can obtain range distribution letter on the sagittal surface of two-dimensional array CCD/CMOS
Cease, EO-1 hyperion distributed intelligence can be obtained on meridian plane, and then obtain the spatial information and hyperspectral information of measured target.
6. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 1 are detected, its feature
It is：Described laser pick-off unit is light collecting lens group.
7. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 1 are detected, its feature
It is：Described spectrophotometric unit and optical path compensation unit include the rearmounted lens of optical path compensation unit, the rearmounted angle of wedge rib of spectrophotometric unit
Mirror, projection grating, the preposition angle of wedge prism of spectrophotometric unit, optical path compensation unit supplementary lens, modulated optical slit, it is poly- by collimation
Burnt backscattering optical signal is by tilted-putted modulated optical slit so as to be mended into light path after background stray light is suppressed
The supplementary lens group of unit is repaid, optical path compensation unit supplementary lens group is converged to light is scattered on the preposition angle of wedge prism of grating, and is used
Turned back certain angle with by light beam, the blaze angle of the angle automatching balzed grating, then light enters projection grating carries out light splitting, point
The rearmounted angle of wedge prism that flashlight after light passes through spectrophotometric unit, makes flashlight turn back certain angle, makes flashlight and key light
Direction of principal axis overlaps, and flashlight enters the rearmounted lens group of light path compensation system afterwards, meeting directional light is become converging light and images in
On photodetector.
8. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 7 are detected, its feature
It is：The range of tilt angles of described modulated optical slit is at 30 ° ~ 60 °.
9. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 1 are detected, its feature
It is：Described photoelectric detection unit is connected for two-dimensional array CCD/CMOS with the data collection and analysis unit, and record is received
The echo-signal that area array CCD/CMOS is collected into, can obtain range distribution letter on the sagittal surface of two-dimensional array CCD/CMOS
Cease, EO-1 hyperion distributed intelligence can be obtained on meridian plane, and then obtain the spatial information and hyperspectral information of measured target.
10. the continuous ray laser radar system of EO-1 hyperion that finely ground particles under water according to claim 1 are detected, its feature
It is：Described continuous laser source is the royal purple diode laser of AlGaN/GaN；Described spectro-grating is transmission-type
Grating；Cycle counter is johnoson counter.
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| CN110031865A (en) * | 2019-05-14 | 2019-07-19 | 武汉大学 | A kind of vegetation detection binary channels fluorescent laser radar system |
| CN110673159A (en) * | 2019-09-30 | 2020-01-10 | 中国海洋大学 | Unmanned aerial vehicle active radar hyperspectral detection system and method for marine environment monitoring |
| WO2022021360A1 (en) * | 2020-07-31 | 2022-02-03 | 深圳市大疆创新科技有限公司 | Rangefinder device and movable platform |
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