CN106908804A - A kind of forestry plant three-dimensional point cloud measures laser radar system and method - Google Patents
A kind of forestry plant three-dimensional point cloud measures laser radar system and method Download PDFInfo
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- CN106908804A CN106908804A CN201710141948.2A CN201710141948A CN106908804A CN 106908804 A CN106908804 A CN 106908804A CN 201710141948 A CN201710141948 A CN 201710141948A CN 106908804 A CN106908804 A CN 106908804A
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- China
- Prior art keywords
- laser
- light source
- point cloud
- laser light
- dimensional point
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
Abstract
The invention discloses a kind of forestry plant three-dimensional point cloud measurement laser radar system and method, including photodetector, optical imaging lens, cycle counter, LASER Light Source, LASER Light Source sends continuous laser and irradiates testee back reflection to optical imaging lens positioned at measured object upper vertical, then by photodetector imaging, photodetector is connected with LASER Light Source by cycle counter, to synchronous modulation Laser emission.The present invention realizes that forestry plant three-dimensional point cloud is measured, and using continuous ray laser Radar Technology, solving the technology can not realize that line is scanned, and is only capable of carrying out the object on transmitting laser beam the problem of simple scan；The method is without complicated Design of Digital Circuit, and simple structure, stabilization, detection range are remote.
Description
Technical field
The invention belongs to tree crown scanning field, more particularly to a kind of forestry plant three-dimensional point cloud measurement laser radar system.
Background technology
In order to realize the measurement to forestry Reducing sugar, multiple technologies be combined be development of remote sensing trend.
Three-dimensional point cloud e measurement technology has been widely used for forestry plant field of detecting.Current forestry plant three-dimensional point cloud e measurement technology
Laser radar technique is generally used, typically using time-of-flight method (TOF) is calculated, the method has precision higher to laser radar
The advantages of, but to reach high-precision distance measurement resolution ratio, it is necessary to sample rate very high.Such as light velocity is 3*10^8m/
S, the acquisition rate that the spatial resolution of one meter of detection needs is 100MHz or so.Therefore complicated circuit design is needed.
There is a kind of method that continuous ray laser radar is also adopted by imaging, but the light beam of LASER Light Source transmitting can only be entered
Row imaging
The system is also adopted by the method for imaging, but can be achieved on line scanning, and whole two dimension smooth surface is imaged, so that
The measurement to forestry plant three-D profile range information is realized, the method scan efficiency is high, simple and stable structure, detection range
Far, more than 100 meters.
The content of the invention
1st, the purpose of the present invention.
Typically using the method for calculating the light flight time, light source generally uses pulse laser to traditional three-dimensional point cloud, uses
Avalanche photodide (APD) or photomultiplier (PMT) receive reflected light as photo-detector.This method needs design
Complicated digital circuit.
2nd, the technical solution adopted in the present invention.
The present invention proposes a kind of forestry plant three-dimensional point cloud measurement laser radar system, including photodetector, optics
Imaging len, cycle counter, LASER Light Source, LASER Light Source sends continuous laser irradiation measured object positioned at measured object upper vertical
Body back reflection is imaged to optical imaging lens, then by photodetector, and photodetector passes through cycle count with LASER Light Source
Device is connected, to synchronous modulation Laser emission.
Further in specific embodiment, the lower section of LASER Light Source is also located at including cylinder microscope group, LASER Light Source passes through
Set of cylindrical lenses sends continuous laser irradiation testee.
Further in specific embodiment, also including light source switch control circuit control LASER Light Source switch.
Further in specific embodiment, described cylinder microscope group is laser alignment original paper, and laser is former through laser alignment
Part sends line source.
Further in specific embodiment, also including embedded system, harddisk memory, the signal warp of detector record
Harddisk memory is arrived in storage after crossing embedded system treatment.
The present invention proposes a kind of forestry plant three-dimensional point cloud measurement laser radar method, comprises the following steps：
(1) forestry plant three-dimensional point cloud measurement laser radar system is fixed on unmanned plane, by unmanned aerial vehicle control system
Open LASER Light Source；
(2) laser that LASER Light Source sends, the ground earthward incident from high-altitude that is converted to line source by laser alignment original paper
The three-D profile of face forestry plant can produce reflected light signal；
(3) reflected light signal produced by is collected by after optical image unit imaging by laser pick-off unit；
(4) photodetector is connected with LASER Light Source by cycle counter, to synchronous modulation Laser emission.Modulation
LASER Light Source is worked with pattern between bright dark phase, when LASER Light Source is lighted, detector record measured target detectable signal；LASER Light Source
During extinguishing, the tested background signal of detector record；
(5) signal of detector record is stored in harddisk memory by after embedded system treatment.
Further in specific embodiment, by the way of a kind of scanning of push-broom type.
3rd, beneficial effects of the present invention.
(1) laser light incident hot spot is converted to line source by the present invention using cylinder microscope group, to realize that push-broom type line is scanned
(Push Broom)。
(2) present invention compares traditional point cloud measuring system, and succinctly flexibly, detection range is remote, in high-altitude pair for detection method
The point cloud measurement of forestry plant is significant.
To sum up, the present invention realizes that forestry plant three-dimensional point cloud is measured, and using continuous ray laser Radar Technology, solves the skill
Art can not realize that line is scanned, and be only capable of carrying out the object on transmitting laser beam the problem of simple scan；The method is without complexity
Design of Digital Circuit, simple structure, stabilization, detection range is remote.
Brief description of the drawings
Fig. 1 is the structural representation of high light spectrum image-forming range laser radar device.1- photodetectors (CCD/ in figure
CMOS), 2- cylinders microscope group, 3- receiving telescopes, 4- cycle counters (subsidiary laser driven power supply), 5- LASER Light Sources, 6- is embedding
Embedded system, 7- harddisk memories
The digital simulation figure that Fig. 2 photodetectors (CCD/CMOS) are received.
Specific embodiment
Embodiment 1
As shown in figure 1, a kind of forestry plant three-dimensional point cloud measurement laser radar system of the present embodiment, including 1 photodetection
Device (CCD/CMOS), 2 cylinder microscope groups, 3 optical imaging lens, 4 cycle counters, 5 LASER Light Sources.
Forestry plant three-dimensional point cloud proposed by the present invention measures laser radar system, including laser emission element, light are studied
As unit, photoelectric detection unit, data collection and analysis unit；Described laser emission element by optical image unit unit with
Photoelectric detection unit is connected；Described data collection and analysis unit is connected with photoemission unit and photoelectric detection unit.
Wherein, laser emission element includes continuous laser source (Laser diode), laser alignment original paper, laser controlling
Circuit, the laser alignment original paper is changed into using the continuous laser that LASER Light Source described in cylinder microscope group sends after laser alignment original paper
From high-altitude vertical incidence to forestry plant direction, the plane of incidence is a triangle to line source, can make full use of visual field, is now existed
The scattered light intensity that air in light path occurs be can be ignored, and line source is incided and reflected on forestry plant profile,
The reflected light can be optically imaged cell imaging, and imaging is collected by photoelectric detection unit.Specifically, optical image unit is
Plane where one image-forming objective lens, the lens has an inclination angle with plane where incident laser, and two planes intersect at straight line；
Photoelectric detection unit be two-dimensional array CCD/CMOS, the area array CCD is connected with the data collection and analysis unit, i.e., by with
Notebook computer is connected to record and receives the echo-signal that area array CCD is collected into, and plane where the area array CCD swashs with lens and incidence
Plane where light intersects at same straight line, equally inclines an angle, and inclined angle meets husky with the relation of intersecting straight lines
Nurse law of imagery (Scheimpflug).What the area array CCD was received is transmitting smooth surface imaging.
Embodiment 2
Forestry plant three-dimensional point cloud measurement laser radar system uses following imaging distance-finding method described in the present embodiment：By
The continuous laser source of laser emission element sends vertically downward from high-altitude, and laser sends through laser alignment original paper and becomes line source
Inject in atmospheric environment, laser can occur reflected signal, produced reflected light letter when the forestry plant on ground appears in light path
Number cell imaging is optically imaged, obtain forestry plant profile information.Optical signal is acquired by photoelectric detection unit again；
Finally, it is connected with computer by data collection and analysis unit, can obtains right using Sharpe law of imagery (Scheimpflug)
Different distance and its intensity signal in light path are answered so as to realize that forestry plant three-dimensional point cloud is detected.
Specifically, comprising the following steps：
(1) forestry plant three-dimensional point cloud measurement laser radar system is fixed on unmanned plane, by unmanned aerial vehicle control system
Open LASER Light Source.
(2) laser that LASER Light Source 5 sends, the ground earthward incident from high-altitude that is converted to line source by laser alignment original paper
The three-D profile of face forestry plant can produce reflected light signal.
(3) reflected light signal produced by is collected by after optical image unit imaging by laser pick-off unit.
(4) photodetector 1 is connected with LASER Light Source 5 by cycle counter 4, to synchronous modulation Laser emission.
Modulation LASER Light Source is worked with pattern between bright dark phase, when LASER Light Source is lighted, detector record measured target detectable signal；Laser
When light source extinguishes, the tested background signal of detector record.
(5) signal of detector record is by storage after the treatment of embedded system 6 to harddisk memory 7.
In the present embodiment, 1 photodetector (CCD/CMOS), 2 cylinder microscope groups, 3 optical imaging lens, 4 cycle counters,
The harddisk memory of 5 LASER Light Source, 6 embedded system 7 is existing matured product or can process, using these existing products
Or the function that processing original paper has, system described in the present embodiment of structure, compare traditional point cloud measuring system, detection method letter
Clean flexibly detection range is remote, and in high-altitude, the point cloud measurement to forestry plant is 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 (7)
1. a kind of forestry plant three-dimensional point cloud measures laser radar system, it is characterised in that：Including photodetector (1), optics
Imaging len (3), cycle counter (4), LASER Light Source (5), LASER Light Source (5) sends continuous sharp positioned at measured object upper vertical
Light irradiation testee back reflection to optical imaging lens (3), then by photodetector (1) be imaged, photodetector (1) with
LASER Light Source (5) is connected by cycle counter (4), to synchronous modulation Laser emission.
2. forestry plant three-dimensional point cloud according to claim 1 measures laser radar system, it is characterised in that：Also include post
Face microscope group (2) is positioned at the lower section of LASER Light Source (5), and it is tested that LASER Light Source (5) sends continuous laser irradiation by set of cylindrical lenses
Object.
3. forestry plant three-dimensional point cloud according to claim 1 measures laser radar system, it is characterised in that：Also include light
Source switch control circuit controls LASER Light Source (5) switch.
4. forestry plant three-dimensional point cloud according to claim 1 measures laser radar system, it is characterised in that：Described post
Face microscope group (2) is laser alignment original paper, and laser sends line source through laser alignment original paper.
5. forestry plant three-dimensional point cloud according to claim 1 measures laser radar system, it is characterised in that：Also include embedding
Embedded system (6), harddisk memory (7), the signal of detector record is deposited by storing hard disk after embedded system (6) treatment
Reservoir (7).
6. a kind of forestry plant three-dimensional point cloud measures laser radar method, it is characterised in that：Comprise the following steps：
(1) forestry plant three-dimensional point cloud measurement laser radar system is fixed on unmanned plane, is opened by unmanned aerial vehicle control system
LASER Light Source；
(2) laser that LASER Light Source sends, the ground woods earthward incident from high-altitude that be converted to line source by laser alignment original paper
The three-D profile of industry plant can produce reflected light signal；
(3) reflected light signal produced by is collected by after optical image unit imaging by laser pick-off unit；
(4) photodetector is connected with LASER Light Source by cycle counter, to synchronous modulation Laser emission.Modulation laser
Light source is worked with pattern between bright dark phase, when LASER Light Source is lighted, detector record measured target detectable signal；LASER Light Source extinguishes
When, the tested background signal of detector record；
(5) signal of detector record is stored in harddisk memory by after embedded system treatment.
7. forestry plant three-dimensional point cloud according to claim 1 measures laser radar method, it is characterised in that：Including following
Step：By the way of a kind of scanning of push-broom type.
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| CN201710141948.2A CN106908804A (en) | 2017-03-10 | 2017-03-10 | A kind of forestry plant three-dimensional point cloud measures laser radar system and method |
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| CN201710141948.2A CN106908804A (en) | 2017-03-10 | 2017-03-10 | A kind of forestry plant three-dimensional point cloud measures laser radar system and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456327A (en) * | 2018-05-08 | 2019-11-15 | 探维科技(北京)有限公司 | Laser radar reception device and laser radar system |
| CN113031763A (en) * | 2021-03-08 | 2021-06-25 | 桂林蓝港科技有限公司 | Virtual reality method and equipment for generating three-dimensional model based on point cloud data |
| CN114384071A (en) * | 2020-10-21 | 2022-04-22 | 南京牧镭激光科技有限公司 | Wall and floor brick side bottom surface defect measuring device based on laser TOF technology |
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| US20150301180A1 (en) * | 2011-09-08 | 2015-10-22 | Advanced Scientific Concepts Inc. | Terrain mapping ladar system |
| US20160161611A1 (en) * | 2013-08-23 | 2016-06-09 | Panasonic Intellectual Property Management Co., Ltd. | Distance measurement system and solid-state imaging sensor used therefor |
| CN207216023U (en) * | 2017-03-10 | 2018-04-10 | 苏州四百克拉光电科技有限公司 | A kind of forestry plant three-dimensional point cloud measures laser radar system |
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2017
- 2017-03-10 CN CN201710141948.2A patent/CN106908804A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150301180A1 (en) * | 2011-09-08 | 2015-10-22 | Advanced Scientific Concepts Inc. | Terrain mapping ladar system |
| US20160161611A1 (en) * | 2013-08-23 | 2016-06-09 | Panasonic Intellectual Property Management Co., Ltd. | Distance measurement system and solid-state imaging sensor used therefor |
| CN207216023U (en) * | 2017-03-10 | 2018-04-10 | 苏州四百克拉光电科技有限公司 | A kind of forestry plant three-dimensional point cloud measures laser radar system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456327A (en) * | 2018-05-08 | 2019-11-15 | 探维科技(北京)有限公司 | Laser radar reception device and laser radar system |
| CN114384071A (en) * | 2020-10-21 | 2022-04-22 | 南京牧镭激光科技有限公司 | Wall and floor brick side bottom surface defect measuring device based on laser TOF technology |
| CN113031763A (en) * | 2021-03-08 | 2021-06-25 | 桂林蓝港科技有限公司 | Virtual reality method and equipment for generating three-dimensional model based on point cloud data |
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Effective date of registration: 20191225 Address after: 511458 No.106, Fengze East Road, Nansha District, Guangzhou City, Guangdong Province (self compiled Building 1) x1301-b9390 (cluster registration) (JM) Applicant after: Guangzhou Guanghe Optical Technology Co., Ltd Address before: 8, building 215500, building 1, Tongji Science and Technology Plaza, 333 Lake Road, Changshu hi tech Industrial Development Zone, Jiangsu, Suzhou, 805 Applicant before: Suzhou four hundred carat Photoelectric Technology Co., Ltd. |