CN108710135A - A kind of video mosaic system configuring big visual field laser three-D detection for different axis - Google Patents
A kind of video mosaic system configuring big visual field laser three-D detection for different axis Download PDFInfo
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- CN108710135A CN108710135A CN201810614819.5A CN201810614819A CN108710135A CN 108710135 A CN108710135 A CN 108710135A CN 201810614819 A CN201810614819 A CN 201810614819A CN 108710135 A CN108710135 A CN 108710135A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of video mosaic system configuring big visual field laser three-D detection for different axis, belongs to laser three-D detection technology field.The system includes the optical-fiber bundling device of the lens group and multiple sub-optical fibre Shu Zucheng of multiple lens compositions, each sub-optical fibre beam input terminal in optical-fiber bundling device is respectively arranged near the focal plane of each lens of lens group, collect laser echo signal, the laser echo signal of collection is transferred to subsequent single photodetector by the output end of optical-fiber bundling device, and electric signal is converted by photodetector.Present invention is mainly used for the visual field matching technique problems solved in current different axis configuration wide view-field three-D laser measurement, and with simple in structure, reliable, and field coverage is big, the feature of echo signal intensity more equilibrium in covered visual field.
Description
Technical field
The invention belongs to laser three-D detection technology fields, and in particular to one kind configuring big visual field laser three-D for different axis
The video mosaic system of detection.
Background technology
Active laser three-dimensional detection based on laser lighting has the advantages that protrusion, has begun including unmanned automobile
The numerous areas such as driving are used widely.Active laser three-dimensional detection system generally comprises laser transmitting system and laser returns
Wave receives system, coincide to ensure that laser transmitting system and return laser beam receive system visual field between the two, Laser emission
System and return laser beam receive system and arranged coaxial or the configuration of different axis may be used.Emit visual field in the system of arranged coaxial and connects
Rating field overlaps always, therefore its working field of view depends primarily on the scanning range of transmitting laser.But because arranged coaxial
System needs to consider transmitting and the splicing of receiving light path simultaneously in light path, and general light path is complex, emits laser in addition
Veiling glare back reflection（Or scattering）Also the reliable detection of jamming target echo-signal to a certain extent.Unlike this, different axis configuration
Laser three-D detection system, emit that light path and receiving light path are respectively independent, itself light channel structure is relatively easy, and emit light
Scattered stray light can ignore the interference for receiving system substantially in road, therefore have its advantage in some applications.But different axis is matched
The laser three-D detection field of view of receiver and transmitting visual field set are respectively independent, and the good registration of visual field is to protect both when system works
Demonstrate,prove the premise of system worked well.
It is involved when the laser three-D detection system of a different axis configuration is used for the three-dimensional detection of larger field range
Field of view of receiver will be very big.In the required laser radar of automobile Unmanned Systems, if the range that need to be detected include from
0.2 meter to 200 meters of distance, then corresponding subtended angle is just very big, close to 90 degree of detection viewing field.Emission system generally may be used at this time
With the scanning galvanometer using wide-angle come coverage goal visual field, or the laser of large angle will directly be used to shine after transforming laser
Bright coverage goal visual field.But the visual field for receiving system is often difficult to adopt synchronous scanning galvanometer, generally requires special knot
Structure designs.
For a receiving optics, after the size of receiving plane determines, the focal length of optical system is bigger, corresponding to regard
Field is just smaller.Conversely, the focal length of optical system is smaller, corresponding visual field is bigger.On the other hand, it is received from optical echo signal
It is seen in ability, the bore of lens is bigger, then receives that ability is stronger, conversely, the bore of lens is smaller, then it is weaker to receive ability.Greatly
The optical lens of bore, focal length are difficult to be made very small, therefore limit its field of view of receiver.Small-bore optical system, focal length
Smaller, field of view of receiver can be made larger, but signal reception is weaker.
The similar laser three-D as used in automobile Unmanned Systems is detected, available Laser emission work(is limited to
The laser echo signal of rate, the apparent closer distance target of laser echo signal of distant object is small, it is therefore desirable to receive signal
The strong larger caliber optical lens of ability, and at this time due to practical smaller, the large-aperture optical lens of the subtended angle of distant object
Corresponding visual field can actually be covered；And for close-in target, when laser irradiation intensity used is identical, laser echo signal
It is relatively strong, more small-bore optical lens can be used to receive, corresponding field of view of receiver is big at this time, just corresponds to the big of close-in target
Subtended angle visual field.
Invention content
The purpose of the present invention is the receiving optics in the big visual field laser three-D detection system configured for different axis to exist
How to ensure to cover prodigious optics field of view of receiver problem when not scanning optical vibrating mirror, proposes a kind of new reception optical field of view
The technical solution of splicing apparatus.The present invention can make full use of different focal length lens in the difference for receiving signal capabilities and receive light
The difference in visual field is learned, and considers the strength characteristic of different distance target echo scattered signal, utilizes invented optical field of view
Splicing designs one kind and can cover entire large field of view scan range and make the different distance echo signal intensity ratio of collection
More balanced optical receiving system.The optical field of view splicing can be widely applied for the big visual field laser three-D of different axis configuration
Measuring system.
A kind of video mosaic system configuring big visual field laser three-D detection for different axis, it is characterised in that including
The optical-fiber bundling device of the lens group and multiple sub-optical fibre Shu Zucheng of multiple lens compositions, the focal length of the lens group Large diameter
The small field of view of remote target is corresponded to away from lens, is responsible for receiving the laser echo signal of remote target, the short focal length lens of minor diameter
The big visual field of corresponding disclosed herein is responsible for receiving the echo-signal of close-in target, each height in the optical-fiber bundling device
Fiber optic bundle input terminal is respectively arranged near the focal plane of each lens of lens group, collects laser echo signal, the light
The laser echo signal of collection is transferred to subsequent single photodetector by the output end of fine bundling device, is turned by photodetector
Change electric signal into.
A kind of video mosaic system configuring big visual field laser three-D detection for different axis, it is characterised in that described
Lens group include 3 or more lens, and the bore of lens used and focal length are different, and the focal length of each lens is 3 millimeters
~100 millimeters, the selection principle of bore and focal length is：The focal length of lens more heavy caliber is bigger, and corresponding ranging distance is bigger, depending on
Rink corner is smaller；The the focal length of lens the small-bore smaller, and apart from smaller, field angle is bigger for corresponding ranging.
A kind of video mosaic system configuring big visual field laser three-D detection for different axis, it is characterised in that described
Optical-fiber bundling device include the total single output fiber bundle of multiple incident sub-optical fibre beams and one, the incident sub-optical fibre beam
Quantity at 3 or more.
A kind of video mosaic system configuring big visual field laser three-D detection for different axis, it is characterised in that described
Optical-fiber bundling device output end and photodetector direct-coupling or coupled by optical lens, photodetector used
Quantity is one.
Present invention is mainly used for the current different axis of solution to configure the visual field matching technique problem in wide view-field three-D laser measurement,
And with simple in structure, reliable, field coverage is big, the feature of echo signal intensity more equilibrium in covered visual field.By
Receiving optics is not using the movement parts such as galvanometer, system reliability enhancing in technology of the present invention, and connects
Rating field and transmitting visual field can ensure to be aligned completely, have very great help to the normal work of stablizing of system.For these reasons,
According to system of the present invention, different operating can be effectively obtained apart from upper each visual field under big visual field laser scanning irradiation
Three-dimensional laser image.
Description of the drawings
Fig. 1 is the structure principle chart of the present invention.
Specific implementation mode
The specific implementation mode that the invention will now be described in detail with reference to the accompanying drawings.
A kind of video mosaic system configuring big visual field laser three-D detection for different axis includes the return laser beam of big visual field
Receiving optics.The lens group 4 and multiple sub-optical fibres that the return laser beam receiving optics of big visual field is made of multiple lens
The optical-fiber bundling device 5 of Shu Zucheng is constituted.Lens group 4 includes 3 or more lens, and each not phase of the bore of lens used and focal length
Together, the focal length of each lens is 3 millimeters~100 millimeters.The bore of lens and the selection principle of focal length are in lens group 4：Lens
Focal length more heavy caliber it is bigger, corresponding ranging distance is bigger, and field angle is smaller；The the focal length of lens the small-bore smaller, corresponding
Ranging apart from smaller, field angle is bigger.The long-focus lens of 4 Large diameter of lens group corresponds to the small field of view of remote target, bears
Duty receives the laser echo signal of remote target, and the short focal length lens of minor diameter corresponds to the big visual field of disclosed herein, is responsible for reception
The echo-signal of close-in target.Optical-fiber bundling device 5 includes multiple incident sub-optical fibre beams and a total single output optical fibre
Beam, the quantity of the incident sub-optical fibre beam is at 3 or more.Each sub-optical fibre beam input terminal in optical-fiber bundling device 5 is set respectively
It is placed near the focal plane of each lens of lens group 4, collects laser echo signal.The output end of optical-fiber bundling device 5 will be collected
Laser echo signal be transferred to subsequent single photodetector 6, electric signal is converted by photodetector 6.
As shown in Figure 1, a pulse laser 1 swashs by optical scan vibration lens 2 to object to be measured field emission pulse
Light；The pulse laser emitted is reflected via object to be measured 3（Or scattering）A portion enters in receiving optics afterwards.
Receiving optics includes lens group 4, it is made of one group of different optical lens of focal length, is respectively designated as lens 401, lens
402 and lens 403, the laser echo signal that each lens in lens group 4 are received is input to each height of optical-fiber bundling device 5
The input terminal of fiber optic bundle 501,502,503, and by the single output end output coupling of optical-fiber bundling device 5 to photodetector 6, light
Return laser beam optical signal is converted into electric signal by electric explorer 6, is handled by follow-up signal processing system.
Above-mentioned pulse laser 1 be it is a kind of there is high peak power solid state laser, including semiconductor laser and
Optical fiber laser.
Above-mentioned scanning galvanometer 2 is a kind of mechanical system of achievable deflection optical, including motor driving and piezoelectric ceramics
The optical scanning system of control.
Above-mentioned lens group 4 is made of multiple conventional optical lenses, and setting angle is different, can be mutually linked simultaneously
Cover entire optics field of view of receiver.
Above-mentioned optical-fiber bundling device 5 is a kind of fiber optic bundle of special construction, and one end is a total fiber optic bundle, and the other end is
Include the multiple-branching construction of multiple sub-optical fibre beams.
Above-mentioned photodetector 6 is a kind of opto-electronic conversion detector with very fast response speed, including two pole of photoelectricity
The devices such as avalanche photodide, the photon detector that pipe, avalanche photodide, Geiger mode angular position digitizer are run.
Present invention is mainly used for the current different axis of solution to configure the visual field matching technique problem in wide view-field three-D laser measurement,
And with simple in structure, reliable, field coverage is big, the feature of echo signal intensity more equilibrium in covered visual field.By
Receiving optics is not using the movement parts such as galvanometer, system reliability enhancing in technology of the present invention, and connects
Rating field and transmitting visual field can ensure to be aligned completely, have very great help to the normal work of stablizing of system.For these reasons,
According to system of the present invention, different operating can be effectively obtained apart from upper each visual field under big visual field laser scanning irradiation
Three-dimensional laser image.
As an example, table 1 lists ranging distance range and lens parameter, wherein assuming that device height is 6m, is
Unite the farthest ranging distance L needed1_ max is 229.13m, and the corresponding field angle of each lens is ΘiIt is with maximum/minimum angle
Θi_max/Θi_ min, then be calculated as follows（fiFor lens i focal lengths；Li_Max/Li_min be the ranging of lens i it is farthest/
Minimum distance；H is device height；i=1,2,3）：
Θi=114.65/fi,
Θ1—max=90-arctan（h/L1_max）,
Θi—max-Θi—min=Θi,
Θi+1—max=Θi—min。
Table 1：Big visual field laser ranging example（Device height 6m, the farthest ranging distance 229.13m of system）
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although ginseng
According to foregoing embodiments, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified, either which part or all technical features are carried out etc.
With replacement；And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution
Range.
Claims (4)
1. a kind of video mosaic system configuring big visual field laser three-D detection for different axis, it is characterised in that including multiple lens
The lens group of composition（4）With the optical-fiber bundling device of multiple sub-optical fibre Shu Zucheng（5）, the lens group（4）The length of Large diameter
Focal length lenses correspond to the small field of view of remote target, are responsible for receiving the laser echo signal of remote target, the short focus of minor diameter is saturating
Mirror corresponds to the big visual field of disclosed herein, is responsible for receiving the echo-signal of close-in target, the optical-fiber bundling device（5）In it is each
A sub- fiber optic bundle input terminal is respectively arranged at lens group（4）Each lens focal plane near, collect laser echo signal, institute
The optical-fiber bundling device stated（5）Output end the laser echo signal of collection is transferred to subsequent single photodetector（6）, by
Photodetector（6）It is converted into electric signal.
2. a kind of video mosaic system configuring big visual field laser three-D detection for different axis as described in claim 1, special
Sign is the lens group（4）Including 3 or more lens, and the bore of lens used and focal length are different, each lens
Focal length be 3 millimeters~100 millimeters, the selection principle of bore and focal length is：The focal length of lens more heavy caliber is bigger, corresponding survey
Bigger away from distance, field angle is smaller；The the focal length of lens the small-bore smaller, and apart from smaller, field angle is bigger for corresponding ranging.
3. a kind of video mosaic system configuring big visual field laser three-D detection for different axis as described in claim 1, special
Sign is the optical-fiber bundling device（5）Including multiple incident sub-optical fibre beams and a total single output fiber bundle, described
Incident sub-optical fibre beam quantity at 3 or more.
4. a kind of video mosaic system configuring big visual field laser three-D detection for different axis as described in claim 1, special
Sign is the optical-fiber bundling device（5）Output end and photodetector（6）Direct-coupling is coupled by optical lens,
Photodetector used（6）Quantity is one.
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| CN109816310A (en) * | 2019-01-22 | 2019-05-28 | 浙江华是科技股份有限公司 | A kind of navigation channel Ship IC Card port management system and its management method based on artificial intelligence |
| CN110412594A (en) * | 2019-07-22 | 2019-11-05 | 北京光勺科技有限公司 | A kind of laser multi-channel detection system |
| CN111766610A (en) * | 2020-08-17 | 2020-10-13 | 南京晓庄学院 | Aerosol laser radar system based on CCD lateral detection |
| CN113567994A (en) * | 2020-08-05 | 2021-10-29 | 北京一径科技有限公司 | Optical system of laser radar and laser radar system |
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