CN108226902A - A kind of face battle array lidar measurement system - Google Patents
A kind of face battle array lidar measurement system Download PDFInfo
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- CN108226902A CN108226902A CN201810165771.4A CN201810165771A CN108226902A CN 108226902 A CN108226902 A CN 108226902A CN 201810165771 A CN201810165771 A CN 201810165771A CN 108226902 A CN108226902 A CN 108226902A
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- 238000005259 measurement Methods 0.000 title claims abstract description 16
- 238000010586 diagram Methods 0.000 description 3
- 238000000691 measurement method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- 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
-
- 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
-
- 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
- G01S7/483—Details of pulse systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a kind of face battle array lidar measurement systems.The system includes：Laser light source module, photodetector, transmitting camera lens, receives camera lens, spectroscope, two-dimensional position detector, control module and computing module at two-dimentional scanning mechanism；Control module is connect respectively with laser light source module and two-dimentional scanning mechanism, for controlling the scanning angle of laser intensity that laser light source module sends out and two-dimentional scanning mechanism；Spectroscope, for will be divided into two beams through the laser that two-dimentional scanning mechanism reflects, the laser beam that the reception of two-dimensional position detector is reflected through the spectroscope simultaneously generates the first electric signal, is sent to computing module；Computing module is connected respectively with two-dimensional position detector and photodetector, and the second electric signal for being generated according to the first electric signal and photodetector calculates the target component of testee.The embodiment of the present invention improves the spatial resolution of planar array scanning laser radar, improves the spatial position precision of measurement.
Description
Technical Field
The embodiment of the invention relates to a laser radar technology, in particular to an area array laser radar measuring system.
Background
The lidar is a radar system that transmits a probe signal (laser beam) to a target, compares a received signal (target echo) reflected from the target with the transmitted signal, and obtains information about the target, such as target distance, azimuth, altitude, speed, and attitude characteristic quantity, after appropriate processing.
In the existing laser radar measuring system, the deflection angle of the measuring beam is mostly measured indirectly, that is, the deflection angle of the beam is calculated by measuring the mechanical surface of the scanning mechanism, and the target parameters of the target object are obtained by calculating by using the indirectly obtained deflection angle. However, the accuracy or resolution of the indirect measurement method is not sufficient, and it is not easy to achieve the precise time synchronization of the laser pulse and the position feedback, thereby bringing a large position measurement error.
Disclosure of Invention
The embodiment of the invention provides an area array laser radar measuring system, which is used for directly measuring the deflection angle of a laser beam, so that the accuracy of target parameter measurement is improved.
The embodiment of the invention provides an area array laser radar measuring system, which comprises: laser light source module, two-dimensional scanning mechanism, photoelectric detector, transmitting lens and receiving lens still include: the system comprises a spectroscope, a two-dimensional position detector, a control module and an operation module; wherein,
the control module is respectively connected with the laser light source module and the two-dimensional scanning mechanism and is used for controlling the intensity of laser light emitted by the laser light source module and the scanning angle of the two-dimensional scanning mechanism;
the spectroscope is used for dividing the laser reflected by the two-dimensional scanning mechanism into two beams, wherein a reflected beam is irradiated onto the two-dimensional position detector, and a transmitted beam is irradiated onto a measured object through the transmitting lens;
the two-dimensional position detector receives the laser beam reflected by the spectroscope, generates a first electric signal and sends the first electric signal to the operation module;
and the operation module is respectively connected with the two-dimensional position detector and the photoelectric detector and is used for calculating the target parameters of the object to be measured according to the first electric signal and the second electric signal generated by the photoelectric detector.
Optionally, the operation module is specifically configured to:
determining a reflection angle of the reflected beam according to the first electrical signal;
determining the emergent angle of the transmitted light beam according to the reflection angle;
determining the angle of the light beam reflected from the measured object according to the second electric signal;
and determining the target parameters of the measured object according to the time of the laser light source module emitting laser, the time of the photoelectric detector receiving the second electric signal, the emergent angle of the transmitted light beam and the angle of the light beam reflected by the measured object.
Optionally, the target parameter includes at least one of a target distance, an orientation, a height, a speed, and a posture characteristic quantity of the measured object.
The embodiment of the invention directly measures the deflection angle of the laser beam irradiated on the object to be measured by adding the spectroscope and the two-dimensional position detector in the area array laser radar measuring system, further calculates the target parameter of the object to be measured, solves the problems of insufficient precision or resolution ratio of an indirect measuring mode of measuring and calculating the deflection angle of the beam by measuring and calculating the mechanical surface of the scanning mechanism, inaccurate time synchronization of pulse and position feedback, and accordingly target parameter measuring errors, improves the spatial resolution ratio of the area array scanning laser radar, and improves the spatial position precision of measurement.
Drawings
Fig. 1 is a schematic structural diagram of an area array lidar measurement system in an embodiment of the invention.
FIG. 2 is a schematic diagram of a photodetector array in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Examples
Fig. 1 is a schematic structural diagram of an area array laser radar measurement system provided in an embodiment of the present invention, and is suitable for situations such as laser ranging. As shown in fig. 1, the system specifically includes:
the device comprises a laser light source module 1, a two-dimensional scanning mechanism 2, a photoelectric detector 7, an emission lens 5, a receiving lens 6, a spectroscope 3, a two-dimensional position detector 4, a control module 8 and an operation module 9; wherein,
and the control module is respectively connected with the laser light source module 1 and the two-dimensional scanning mechanism 2 and is used for controlling the intensity of the laser light emitted by the laser light source module 1 and the scanning angle of the two-dimensional scanning mechanism 2.
Specifically, in the working process of the area array laser radar measuring system, the inclination angle of the two-dimensional scanning mechanism 2 can be continuously adjusted, so that a laser beam emitted by the laser light source module 1 is reflected by the two-dimensional scanning mechanism 2 and irradiates different positions on a measured object, thereby realizing two-dimensional scanning of a measuring scene and obtaining the overall information of the measured object. The two-dimensional scanning mechanism 2 can be a micro-electro-mechanical system galvanometer, a mechanical galvanometer, a rotating prism and the like, and the scanning frequency in each direction can reach above khz, so that high-resolution high-frame-frequency three-dimensional measurement of a measurement scene is realized.
A spectroscope 3 for dividing the laser beam reflected by the two-dimensional scanning mechanism 2 into two beams, wherein the reflected beam is incident on a two-dimensional position detector 4, and the transmitted beam (i.e., the main energy beam) is irradiated onto a measured object through an emission lens 5; the accurate measurement of the emergent angle of the light beam irradiated on the measured object can be realized.
A two-dimensional Position Detector 4 (PSD) is used to measure the two-dimensional coordinate Position of a light beam, is a device capable of detecting the Position of the light beam, and is widely used as a Position sensor combined with a light source. When the two-dimensional position detector 4 receives the laser beam reflected by the beam splitter, a first electric signal is generated and then sent to the operation module 9. The operation module 9 can calculate the reflection angle of the reflected light beam according to the received first electric signal, and further calculate the emergent angle of the light beam irradiated on the object to be measured. Particularly, because the PSD and the object to be measured receive the same laser pulse signal emitted by the light source and are in a direct measurement mode, the measurement of the emergent angle of the light beam irradiated on the object to be measured is more accurate.
In addition, the position irradiated by the reflected light beam is obtained through the two-dimensional position detector 4, the emergent angle of the light beam irradiated on the measured object is accurately measured, and then the position feedback is not needed to be carried out by the two-dimensional scanning mechanism 2, so that the limiting factors such as the size of a mirror surface and the scanning speed can be solved through diversified selection, and the measurement performance of the radar is improved.
And the operation module 9 is respectively connected with the two-dimensional position detector 4 and the photoelectric detector 7 and is used for calculating the target parameters of the object to be measured according to the first electric signal and the second electric signal generated by the photoelectric detector 7.
Further, the target parameter includes at least one of a target distance, an orientation, a height, a speed, and a posture characteristic quantity of the measured object.
The further operation module 9 is specifically configured to: determining a reflection angle of the reflected beam according to the first electrical signal; determining the emergent angle of the transmitted light beam according to the reflection angle; determining the angle of the light beam reflected from the measured object according to the second electric signal; and determining the target parameters of the measured object according to the time of the laser light source module emitting laser, the time of the photoelectric detector receiving the second electric signal, the emergent angle of the transmitted light beam and the angle of the light beam reflected by the measured object.
For example, assuming that a laser beam emitted by the laser source module 1 is reflected by the two-dimensional scanning mechanism 2 and irradiated onto the beam splitter 3, the beam splitter 3 divides the laser beam into two beams, one of the two beams strikes a point P on the two-dimensional position detector 4, the point P generates an electrical signal and transmits the electrical signal to the operation module 9, the operation module 9 can determine a two-dimensional coordinate of the point P according to the received electrical signal, further determine a reflection angle of a reflected beam reflected onto the two-dimensional position detector 4, and determine an exit angle of a transmitted beam, that is, an exit angle of a beam irradiated onto a measured object according to the reflection angle. The laser beam irradiated to the object to be measured is reflected by the object to the receiving lens 6 and irradiated to a point P1 in the photodetector array, as shown in fig. 2. Then, an electrical signal is generated at the point P1 and sent to the operation module 9, and the operation module 9 can determine the orientation of the irradiated object according to the electrical signal. Furthermore, the distance of the object to be measured can be calculated according to the time when the laser source module 1 emits laser and the time when the photoelectric detector receives the electric signal generated by the light beam reflected by the object to be measured, so that the target parameters of the object to be measured can be obtained. Furthermore, the phase delay of the laser beam can be determined according to the phase difference between the emergent light and the received light, so that the distance of the object to be measured can be calculated.
According to the technical scheme of the embodiment, the spectroscope and the two-dimensional position detector are added in the area array laser radar measuring system, the deflection angle of the laser beam irradiated to the object to be measured is directly measured, and then the target parameter of the object to be measured is calculated, so that the problems that the precision or resolution ratio of an indirect measuring mode of obtaining the deflection angle of the beam through measuring and calculating the mechanical surface of a scanning mechanism is insufficient, the time synchronization of pulse and position feedback is inaccurate, and therefore the target parameter measuring error is caused are solved, the spatial resolution ratio of the area array scanning laser radar is improved, and the measuring spatial position precision is improved; the two-dimensional scanning mechanism does not need to rotate a position feedback structure, the complexity of the scanning mechanism is simplified, the performance requirement on the scanning mechanism is reduced, and the model selection range of the scanning mechanism is expanded.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (3)
1. An area array lidar measurement system comprising: laser light source module, two-dimensional scanning mechanism, photoelectric detector, transmitting lens and receiving lens, its characterized in that, the system still includes: the system comprises a spectroscope, a two-dimensional position detector, a control module and an operation module; wherein,
the control module is respectively connected with the laser light source module and the two-dimensional scanning mechanism and is used for controlling the intensity of laser light emitted by the laser light source module and the scanning angle of the two-dimensional scanning mechanism;
the spectroscope is used for dividing the laser reflected by the two-dimensional scanning mechanism into two beams, wherein a reflected beam is irradiated onto the two-dimensional position detector, and a transmitted beam is irradiated onto a measured object through the transmitting lens;
the two-dimensional position detector receives the laser beam reflected by the spectroscope, generates a first electric signal and sends the first electric signal to the operation module;
and the operation module is respectively connected with the two-dimensional position detector and the photoelectric detector and is used for calculating the target parameters of the object to be measured according to the first electric signal and the second electric signal generated by the photoelectric detector.
2. The system of claim 1, wherein the computing module is specifically configured to:
determining a reflection angle of the reflected beam according to the first electrical signal;
determining the emergent angle of the transmitted light beam according to the reflection angle;
determining the angle of the light beam reflected from the measured object according to the second electric signal;
and determining the target parameters of the measured object according to the time of the laser light source module emitting laser, the time of the photoelectric detector receiving the second electric signal, the emergent angle of the transmitted light beam and the angle of the light beam reflected by the measured object.
3. The system of claim 1, wherein the target parameters include at least one of target distance, orientation, altitude, speed, attitude characteristic quantities of the object under test.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810165771.4A CN108226902A (en) | 2018-02-28 | 2018-02-28 | A kind of face battle array lidar measurement system |
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| CN201810165771.4A CN108226902A (en) | 2018-02-28 | 2018-02-28 | A kind of face battle array lidar measurement system |
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| CN201810165771.4A Pending CN108226902A (en) | 2018-02-28 | 2018-02-28 | A kind of face battle array lidar measurement system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109164464A (en) * | 2018-10-12 | 2019-01-08 | 北醒（北京）光子科技有限公司 | A kind of scanning means and laser radar |
| CN109490908A (en) * | 2018-11-07 | 2019-03-19 | 深圳市微觉未来科技有限公司 | A kind of Novel wire scanning laser radar and scan method |
| CN109870699A (en) * | 2019-04-03 | 2019-06-11 | 深圳市镭神智能系统有限公司 | A kind of laser radar |
| CN109932729A (en) * | 2019-04-19 | 2019-06-25 | 北京瑞特森传感科技有限公司 | Face battle array laser radar |
| CN110749893A (en) * | 2019-09-21 | 2020-02-04 | 深圳奥锐达科技有限公司 | Two-dimensional scanning laser radar device and electronic equipment |
| CN112462384A (en) * | 2020-10-13 | 2021-03-09 | 中航航空电子有限公司 | High-resolution solid-state area array laser radar system, control method and device |
| WO2021056666A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳奥锐达科技有限公司 | Transmitter and distance measuring system |
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Cited By (8)
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| CN112462384B (en) * | 2020-10-13 | 2024-04-05 | 中航航空电子有限公司 | High-resolution solid-state area array laser radar system, control method and device |
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