CN107728161A - A kind of unmanned laser radar system - Google Patents
A kind of unmanned laser radar system Download PDFInfo
- Publication number
- CN107728161A CN107728161A CN201710929186.2A CN201710929186A CN107728161A CN 107728161 A CN107728161 A CN 107728161A CN 201710929186 A CN201710929186 A CN 201710929186A CN 107728161 A CN107728161 A CN 107728161A
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- China
- Prior art keywords
- laser
- lens set
- central processing
- light
- mirror
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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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
Abstract
The present invention relates to unmanned technical field, more particularly to a kind of unmanned laser radar system, including：Central processing circuit, light-source system, sensor-based system, light source lens set, sensing lens set, phototriode array detector, image decoder, electric system.Advantage：The problem of being easily disturbed system solves the problem unmanned control device, complicated, realize unmanned control device automation, jamproof, light structure Intelligent Recognition.
Description
Technical field
The present invention relates to unmanned technical field, more particularly to a kind of unmanned laser radar system.
Background technology
With the further development and the quickening of urbanization process of social economy, the popularization of motor vehicle and trip number
Substantial increase, the road network traffic capacity is difficult to the needs for meeting that the volume of traffic is growing, causes traffic accident to take place frequently, congested in traffic
The present situations such as aggravation.The safety and conevying efficiency problem of highway communication become to become increasingly conspicuous, many transformed thinkings of country, from
Extension road network scale is gradually transferred to using new and high technology to transform existing road traffic system and management system.Intelligent automobile
It is an important component in intelligent transportation system, intelligent automobile collection environment sensing, programmed decision-making, more grades auxiliary drive
It is integrated etc. multi-functional, concentration has used modern sensing, computer, communication, information fusion, artificial intelligence and the skill such as automatically controlled
Art, environment and state that can be residing for autonomous identifying vehicle, analysis be made according to the information obtained by each sensor and judged, is carried
It is quite varied in the application of civilian, military and space industry etc. for the foundation of next step decision-making.
The environment of operation of the unmanned Intelligent internet of things equipment such as unmanned plane, unmanned vehicle has uncertain and complexity,
Need constantly to detect surrounding environment, avoid colliding with barrier.Traditional unmanned plane uses sound wave Intelligent Recognition
Technical scheme, a kind of method are the comprehensive realization scanning of radar itself, and another method is to use phased-array radar, both sides
Case needs to increase complicated motor device so as to produce extra load.Traditional unmanned vehicle uses Visual intelligent identification technology side
Case, using the mature technology of image procossing, but easily receive the influence of the factors such as light, dust, smog, it is impossible to meet that whole day is waited to welcome sb.'s presence
Sail needs.
In summary, it is necessary to design a kind of jamproof, light structure applied to unmanned plane, unmanned vehicle Intelligent Recognition
Unmanned laser radar system.
The content of the invention
The present invention in view of the shortcomings of the prior art, proposes a kind of unmanned laser radar system, solved unmanned
The problem of that equipment is easily disturbed, complicated.
To achieve the above object, the present invention adopts the following technical scheme that：
The present invention proposes a kind of unmanned laser radar system, including：Central processing circuit, light-source system, sensing system
System, light source lens set, sensing lens set, phototriode array detector, image decoder, electric system；
The light source lens set, light-source system, central processing circuit are sequentially connected, the sensing lens set, photosensitive three pole
Pipe array detector, image decoder, central processing circuit are sequentially connected, the electric system and light source lens set, sensing mirror
Piece group, central processing circuit；
The light source lens set includes coupling mirror, PBS water chestnuts mirror and beam expanding lens, the coupling mirror, PBS water chestnuts mirror and beam expanding lens according to
Secondary connection, the coupling mirror in light-source system wavelength division multiplexer transmission signal be optically coupled；
The central processing circuit starts laser system start-up operation by sending to instruct, and the sensor-based system is to sensing mirror
The signal of piece group capture is transmitted into central processing circuit, and the signal that the central processing circuit is captured to sensing lens set enters
Row analysis in real time, motor system and the focal length for adjusting light source lens set, the light source lens set controlled until electric system,
Stop adjusting when sensing lens set is consistent with the surface balance for analyzing target.
Preferably, the light-source system includes blue light device, laser, band filters, and the blue light device, laser are simultaneously
It is connected with central processing circuit, and is connected simultaneously with band filters.
Preferably, the band filters include light source filter, wavelength division multiplexer, and the light source filter connects with the time
It is connected to the wavelength division multiplexer, and by optical signal transmission to the light source lens set.
Preferably, the light source filter includes all-pass optical filtering, the bandpass filter mirror of light connects in parallel, the band logical filter
Light microscopic is used to carry out blue light narrow-band-filter, and the all-pass optical filtering is used to filter to laser broadband.
Preferably, the sensing lens set includes optical filtering, dispersion mirror and collimating mirror, the optical filtering, dispersion mirror and standard
Straight mirror is sequentially connected, and the optical filtering filters to the optical signal being reflected back from analysis target.
Preferably, the electric system includes drive circuit, the motor being sequentially connected, and the motor is with sensing in lens set
Collimating mirror and light source lens set in beam expanding lens connection, the drive circuit receives the lens focus from central processing circuit
Signal command, and indication motor adjustment sensing lens set in condenser and the beam expanding lens in light source lens set focusing away from.
Preferably, the laser includes laser diode, the laser constant-current circuit being connected with each other, the laser Constant Electric Current
Road is connected with central processing circuit, and the laser diode is connected with the all-pass optical filtering in band filters, the laser two
Pole pipe performs laser constant-current circuit and receives the laser intensity signal instruction from central processing circuit, adjusts laser power and passes through
All-pass optical filtering carries out beam emissions.
Preferably, the blue light device includes blue light diode, the blue light constant-current circuit being connected with each other, the blue light Constant Electric Current
Road is connected with central processing circuit, and the blue light diode is connected with the bandpass filter mirror in band filters, the blue light two
Pole pipe performs blue light constant-current circuit and receives the blue light strength signal instruction from central processing circuit, adjusts blue power and passes through
Bandpass filter mirror carries out beam emissions.
Preferably, the central processing circuit model ARM926EJ, the circuit：By send instruct start blue light device,
Laser is started working, and drives the blue light device, laser to produce the light for meeting intensity requirement, and accurate light is carried out to analysis target
Beam is launched；The signal captured is analyzed, and exports analysis result.
Preferably, described image decoder model ASC8852.
Beneficial effects of the present invention：The present invention unmanned laser radar system, solve unmanned control device easily by
The problem of interference, complicated, realize unmanned control device automation, jamproof, light structure Intelligent Recognition.
Brief description of the drawings
With accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limitation of the invention.
Fig. 1 is the unmanned example structure schematic diagram of laser radar system one of the present invention.
Embodiment
Technical solution of the present invention is further described with embodiment below in conjunction with the accompanying drawings, this is the preferable reality of the present invention
Apply example.A kind of unmanned laser radar system provided in an embodiment of the present invention can apply to Internet of Things intelligent identification technology neck
Each scene in domain, including but not limited to 2G GSM, 3G CDMA, 4G LTE/LTE-A, 5G eMBB mobile communication, collection
Group communication, satellite communication, laser communication, fiber optic communication, DTV, radio frequency identification, power carrier, unmanned vehicle, unmanned plane, thing
The systems such as networking, radar, the embodiment of the present invention are not particularly limited to this.
As shown in figure 1, the present invention proposes a kind of unmanned laser radar system, including：Central processing circuit, light source system
System, sensor-based system, light source lens set, sensing lens set, phototriode array detector, image decoder, electric system, its
Middle image decoder model ASC8852.
The light source lens set, light-source system, central processing circuit are sequentially connected, the sensing lens set, photosensitive three pole
Pipe array detector, image decoder, central processing circuit are sequentially connected, the electric system and light source lens set, sensing mirror
Piece group, central processing circuit；
The central processing circuit starts laser system start-up operation by sending to instruct, and the sensor-based system is to sensing mirror
The signal of piece group capture is transmitted into central processing circuit, and the signal that the central processing circuit is captured to sensing lens set enters
Row analysis in real time, motor system and the focal length for adjusting light source lens set, the light source lens set controlled until electric system,
Stop adjusting when sensing lens set is consistent with the surface balance for analyzing target.
Specific work process and principle are as follows：
In transmitting terminal, include blue light device, laser, band filters provided with light-source system, blue light device, laser simultaneously with
Central processing circuit connects, and is connected simultaneously with band filters.Wherein, the laser of continuous spectrum includes the laser being connected with each other
Diode, laser constant-current circuit, laser constant-current circuit are connected with central processing circuit, in laser diode and band filters
All-pass optical filtering connects, and laser diode performs laser intensity signal of the laser constant-current circuit reception from central processing circuit and referred to
Order, adjust laser power and beam emissions are carried out by all-pass optical filtering.Also, there is provided the blue light device of narrow-band, including it is mutual
Blue light diode, the blue light constant-current circuit of connection, blue light constant-current circuit are connected with central processing circuit, blue light diode and frequency band
Bandpass filter mirror connection in filter, blue light diode perform blue light constant-current circuit and receive the blue light from central processing circuit
Strength signal instructs, and adjusts blue power and carries out beam emissions by bandpass filter mirror.
The spectrum excited needs the pretreatment by band filters, and it is multiple that band filters include light source filter, wavelength-division
With device, the wavelength division multiplexer of light source filter double spectrum channels of the light connects to required for providing simultaneously, and by optical signal transmission
To light source lens set.Wherein, light source filter includes all-pass optical filtering, the bandpass filter mirror of light connects in parallel, bandpass filter mirror
For carrying out narrow-band-filter to blue light, all-pass optical filtering is used to filter to laser broadband.Continuous spectrum laser sends broadband
Light wave enter band filters, required frequency band can be restricted to using all-pass optical filtering.Blue light sends the continuous light of narrow-band
Spectrum can scan the analysis wavelength of majority, and one or more of wavelength may be selected by being advantageous to improve spectrum in bandpass optical filter
Purity.Light source lens set includes coupling mirror, PBS water chestnuts mirror and beam expanding lens, and the coupling mirror, PBS water chestnuts mirror and beam expanding lens are sequentially connected,
The coupling mirror in light-source system wavelength division multiplexer transmission signal be optically coupled, optical signal is become wave beam by beam expanding lens
It is transmitted into analysis target.
In receiving terminal, optical signal launch is reflected back into sensing lens set into analysis target, and sensing lens set includes filter
Light microscopic, dispersion mirror and collimating mirror, the optical filtering, dispersion mirror and collimating mirror are sequentially connected, the optical filtering to from analysis target
The optical signal being reflected back is filtered.Light is changed into directional light by collimating mirror, obtains the spectrum to be balanced each other with incident direction, transmission
To PDAD.PDAD is transmitted into central processing circuit to the picture signal of capture, center
Process circuit is analyzed picture signal in real time, and exports analysis result.
In the present embodiment, central processing circuit model ARM926EJ, the circuit：By send instruct start blue light device,
Laser is started working, and driving blue light device, laser produce the light for meeting intensity requirement, and accurate light beam hair is carried out to analysis target
Penetrate；The signal captured is analyzed, and exports analysis result.Wherein, electric system include be sequentially connected drive circuit,
Motor, motor are connected with the condenser in sensing lens set and the poly- mirror of change in light source lens set, during drive circuit reception comes from
The lens focus signal command of process circuit is entreated, and indication motor adjustment is sensed in condenser and light source lens set in lens set
Beam expanding lens focusing away from.
In a word, unmanned laser radar system provided by the invention, using the laser of broadband continuum, narrow-band
Laser, for specific different analysis Object selection different wave lengths, obtain the imaging of EO-1 hyperion high-resolution confocal, tie simultaneously
Closing light imaging technique, high light spectrum image-forming technology, reflective conjugate focus imaging technique are combined, form multispectral optical imagery
System, deficiency of the single modality in terms of unmanned laser radar system is compensate for, it is double compared with single-mode technology
Mould technology provides more complete information, improves accuracy and specificity of unmanned laser radar system etc., realize it is multispectral,
High-resolution bimodal optical molecular image, new technological means is provided for the research of unmanned laser radar system, is had
Beneficial to the raising of the technical merit of unmanned laser radar system.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of unmanned laser radar system, including central processing circuit, it is characterised in that also include：Light-source system, biography
Sensing system, light source lens set, sensing lens set, phototriode array detector, image decoder, electric system；
The light source lens set, light-source system, central processing circuit are sequentially connected, the sensing lens set, phototriode battle array
Row detector, image decoder, central processing circuit are sequentially connected, the electric system and light source lens set, sensing lens set,
Central processing circuit；
The light source lens set includes coupling mirror, PBS water chestnuts mirror and beam expanding lens, and the coupling mirror, PBS water chestnuts mirror and beam expanding lens connect successively
Connect, the coupling mirror in light-source system wavelength division multiplexer transmission signal be optically coupled；
The central processing circuit starts laser system start-up operation by sending to instruct, and the sensor-based system is to sensing lens set
The signal of capture is transmitted into central processing circuit, and the signal that the central processing circuit is captured to sensing lens set carries out real
When analyze, motor system and the focal length for adjusting light source lens set, the light source lens set controlled until electric system, sensing
Stop adjusting when lens set is consistent with the surface balance for analyzing target.
2. unmanned laser radar system according to claim 1, it is characterised in that the light-source system includes blue light
Device, laser, band filters, the blue light device, laser are connected with central processing circuit simultaneously, and are filtered simultaneously with frequency band
Device connects.
3. unmanned laser radar system according to claim 2, it is characterised in that the band filters include light
Source optical filtering, wavelength division multiplexer, light connects are to the wavelength division multiplexer simultaneously for the light source filter, and by optical signal transmission extremely
The light source lens set.
4. unmanned laser radar system according to claim 3, it is characterised in that the light source filter is included simultaneously
Join all-pass optical filtering, the bandpass filter mirror of light connects, the bandpass filter mirror is used to carry out narrow-band-filter, the all-pass to blue light
Optical filtering is used to filter to laser broadband.
5. unmanned laser radar system according to claim 1, it is characterised in that the sensing lens set includes filter
Light microscopic, dispersion mirror and collimating mirror, the optical filtering, dispersion mirror and collimating mirror are sequentially connected, the optical filtering to from analysis target
The optical signal being reflected back is filtered.
6. unmanned laser radar system according to claim 1, it is characterised in that the electric system is included successively
Drive circuit, the motor of connection, the motor are connected with the collimating mirror in sensing lens set and the beam expanding lens in light source lens set,
The drive circuit receives the lens focus signal command from central processing circuit, and in indication motor adjustment sensing lens set
Condenser and the beam expanding lens in light source lens set focusing away from.
7. unmanned laser radar system according to claim 1, it is characterised in that the laser includes mutually interconnecting
Laser diode, the laser constant-current circuit connect, the laser constant-current circuit are connected with central processing circuit, the laser diode
It is connected with the all-pass optical filtering in band filters, the laser diode performs the reception of laser constant-current circuit and comes from central processing
The laser intensity signal instruction of circuit, adjust laser power and beam emissions are carried out by all-pass optical filtering.
8. unmanned laser radar system according to claim 1, it is characterised in that the blue light device includes mutually interconnecting
Blue light diode, the blue light constant-current circuit connect, the blue light constant-current circuit are connected with central processing circuit, the blue light diode
It is connected with the bandpass filter mirror in band filters, the blue light diode performs the reception of blue light constant-current circuit and comes from central processing
The blue light strength signal instruction of circuit, adjust blue power and beam emissions are carried out by bandpass filter mirror.
9. according to any described unmanned laser radar systems of claim 1-8, it is characterised in that the central processing electricity
Road model ARM926EJ, the circuit：By send instruct start blue light device, laser is started working, drive the blue light device,
Laser produces the light for meeting intensity requirement, and accurate beam emissions are carried out to analysis target；The signal captured is analyzed,
And export analysis result.
10. unmanned laser radar system according to claim 9, it is characterised in that described image decoder model
For ASC8852.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710929186.2A CN107728161A (en) | 2017-10-09 | 2017-10-09 | A kind of unmanned laser radar system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710929186.2A CN107728161A (en) | 2017-10-09 | 2017-10-09 | A kind of unmanned laser radar system |
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| CN107728161A true CN107728161A (en) | 2018-02-23 |
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| CN201710929186.2A Pending CN107728161A (en) | 2017-10-09 | 2017-10-09 | A kind of unmanned laser radar system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060483A (en) * | 2019-12-19 | 2020-04-24 | 淮阴师范学院 | Accurate optical test equipment capable of controlling and uniformly testing fluorescent-piezoelectric ceramic material |
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| US20120116192A1 (en) * | 2010-11-09 | 2012-05-10 | Takaaki Saito | Endoscopic diagnosis system |
| CN103954971A (en) * | 2014-05-22 | 2014-07-30 | 武汉大学 | On-board colorful three-dimensional scanning laser radar |
| CN105912027A (en) * | 2016-06-30 | 2016-08-31 | 西安交通大学 | Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle |
| CN106443635A (en) * | 2016-10-26 | 2017-02-22 | 上海博未传感技术有限公司 | Miniature laser radar system |
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2017
- 2017-10-09 CN CN201710929186.2A patent/CN107728161A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120116192A1 (en) * | 2010-11-09 | 2012-05-10 | Takaaki Saito | Endoscopic diagnosis system |
| CN102381481A (en) * | 2011-08-01 | 2012-03-21 | 四川省科学城久利科技实业有限责任公司 | Unmanned aerial vehicle-mounted laser radar system |
| CN103954971A (en) * | 2014-05-22 | 2014-07-30 | 武汉大学 | On-board colorful three-dimensional scanning laser radar |
| CN105912027A (en) * | 2016-06-30 | 2016-08-31 | 西安交通大学 | Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle |
| CN106443635A (en) * | 2016-10-26 | 2017-02-22 | 上海博未传感技术有限公司 | Miniature laser radar system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111060483A (en) * | 2019-12-19 | 2020-04-24 | 淮阴师范学院 | Accurate optical test equipment capable of controlling and uniformly testing fluorescent-piezoelectric ceramic material |
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