CN111308498A - Three-dimensional imaging laser radar device - Google Patents
Three-dimensional imaging laser radar device Download PDFInfo
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- CN111308498A CN111308498A CN202010162511.9A CN202010162511A CN111308498A CN 111308498 A CN111308498 A CN 111308498A CN 202010162511 A CN202010162511 A CN 202010162511A CN 111308498 A CN111308498 A CN 111308498A
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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
- 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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- Engineering & Computer Science (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a three-dimensional imaging laser radar device, and belongs to the technical field of laser radars. The area array light source comprises an area array light source, a sampling detector and an area array detector, wherein the sampling detector is arranged at the area array light source, the sampling detector receives an initial signal of projection light of the area array light source, the projection light of the area array light source is received by the area array detector after being reflected or scattered by a target to be detected, the area array light source is formed by one or more independent unit light source layouts, the area array detector is formed by one or more independent unit detectors, an addressable on-off lens assembly is arranged between the area array light source and an optical path of the area array detector, and the addressable on-off lens assembly controls the on-off of the optical path between the area array light source and the area array detector. Invalid floodlight irradiation is reduced, the illumination efficiency is improved, and the distance measurement distance is increased; a plurality of unit light sources irradiate simultaneously, a plurality of corresponding unit detectors receive simultaneously, signals are processed in parallel, the frame acquisition time is shortened, and the frame frequency of images is increased.
Description
Technical Field
The invention relates to a three-dimensional imaging laser radar device, and belongs to the technical field of laser radars.
Background
The requirement of automatic driving on the accurate and fast distance measurement in a long distance of more than 100 meters promotes the development of the three-dimensional imaging laser distance measuring instrument. Three-dimensional imaging lidar systems that have been proposed and implemented at present are basically divided into two categories, laser beam scanning schemes and focal plane array detection gaze schemes, in terms of the manner of imaging. The scanning scheme adopts a Time Delay Integration (TDI) technology and reads the electric signals in a serial mode; and the staring type scheme directly forms a two-dimensional image, and reads the electric signals in a parallel mode to form a third-dimensional distance.
After the full field angle (TFOV) has been determined, the following requirements are made for the choice of imaging system: (1) the full illumination angle (TFOL) of the light source is to cover TFOV; (2) the illumination angle (FOL) of the unit light source is preferably close to the field of view (FOV) of the unit receiver to improve the utilization efficiency of the light source, but if the FOV is too large than the FOL, stray light is easily mixed, and the signal-to-noise ratio is reduced; (3) the acquisition of a frame of point cloud images needs to be in a reasonable time frame, which is related to the number of point clouds, whether the scanning or staring scheme, and the driving mode of the array.
The mechanical point-by-point line-by-line motion scanning approach in the scanning scheme is being abandoned, based on reliability, lifetime, and speed considerations, instead of the near solid state micro-electromechanical (MEMS) micro-mirror vibration. Generally, a single galvanometer rotating in two dimensions is used to reflect a collimated narrow beam of light with a FOL as small as possible, so that the beam of light impinging on a local target is concentrated, and the intensity of illumination (also called illumination) is high, which is beneficial for distance measurement at a longer distance. The field angle FOV of a single detector is substantially consistent with the FOL. However, this point-by-point scanning scheme requires a long time to traverse the measurement of the full field angle (TFOV), resulting in a low frame rate. Assuming that a frame of point cloud samples is 480x 80-38.4K points, the interval time between 400 m in the TOF method is 2.4 microseconds, even if each space point only uses one pulse, about 0.12 seconds is needed to complete one frame, the period of setting the galvanometer is 0.25 seconds, and only a frame frequency of 4 frames/second can be achieved. In the existing scheme, for example, in the LiDcAR (High-definition Long-range LiDAR for autonomous driving) project dominated by the English-flying company in 2017, collimated light beams of a plurality of light sources are simultaneously converged on a single galvanometer and irradiated to different target intervals, and a plurality of detectors are correspondingly adopted to process signals in parallel, so that the frame frequency can be increased by several times.
The staring type solution eliminates mechanical or micro-electromechanical scanning components and employs all-solid-state emitters and receivers, at least the receiver containing the scanning drive mechanism of the circuit. Ideally, it is desirable to use both an addressable area array collimated light source and an addressable area array receiver and correlate the respective arrays of points of both, and make the FOL of the respective point array light source the same as the FOA of the point array receiver.
There is a Flash staring method that uses a single light source of continuous wave amplitude modulation to Flash flood the target and a conventional CMOS/CCD image receiver with projection and imaging optics in between. The system has good stability and low cost, but the FOL of a single light source is expanded to the integral field angle TFOV of the target, so that the illumination intensity on the target is reduced, and meanwhile, single photon counting can not be applied to the image receiver, so that the long-distance measurement is difficult to realize.
Both US patent No. US10429496 and chinese patent application No. 201711082437.4 propose an improved method for Flash, replacing the single point light source in the Flash method with a set of lattice light sources. The array of point array light sources corresponds to an area array receiver, such that the FOL of a single point array light source is several times smaller than the TFOL or TFOV. The method can simultaneously project a plurality of or all the dot matrix light sources, and parallelly output and process the time division multiplexing electric signals of each corresponding part on the area array receiver, so that the speed of the obtained point cloud data is several times faster. But this solution is based on having a regionally addressable area array detector with a sufficient number of arrays. For ranging requirements for single photon counting, such area array detectors do not currently exist.
Chinese patent No. 2010105990033 proposes a method for sparse array of multiple detectors, in which a two-dimensional piezoelectric ceramic galvanometer is used for scanning, and light rays from various positions of a target are reflected to one detector one by one to obtain a time division multiplexing electrical signal. But the time for acquiring the point cloud picture is too long due to the slow scanning time of the piezoelectric ceramic galvanometer. The bottleneck is researched, the advantages of a plurality of detectors are not utilized to output signals in parallel, and the signals are output in series in turn after waiting for the scanning angle of the galvanometer to arrive.
Therefore, the prior art related to the above-mentioned gaze fixation scheme has several disadvantages and shortcomings: (1) although a single light source in the Flash method can adopt a high-power light source, FOL is far larger than FOV of a dot matrix unit in an area array detector because the single light source is used as floodlight irradiation, and the illumination efficiency is low; (2) if all array points emit light simultaneously in the area array light source, the power is too large, and the heat dissipation has problems, particularly, the area array light source adopts a miniLED or VCSEL laser array; (3) if the area of the area array light source is limited, even if only a single array point emits light, the light emitting projection area and the power of the array point are limited; (4) the number of the dot matrixes of the area array detector in the Flash method needs to meet the image resolution, namely the number of the point clouds. Most of the existing area array detectors are CMOS/CCD image receivers, the technology is relatively mature, array points are more, but weak light receiving is poor, only amplitude modulation continuous waves and other modes can be adopted, and a more sensitive single photon counter (TCSPC) mode cannot be adopted; (5) a staring scheme with an advantageous 1550nm waveband for vehicle-mounted laser ranging is lacked, although an InGaAs image receiver with low lattice density exists at present, the requirement of the number of point clouds cannot be met, and an SPAD array device of the InGaAs, which can be suitable for single photon counting ranging, is not yet published.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the three-dimensional imaging laser radar device solves the problems that the existing laser radar staring type scheme adopts a floodlight illuminating light path structure, such as short detection distance, low light efficiency, low sensitivity and incapability of using 1550nm wave band, and has the defects.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a three-dimensional imaging laser radar device comprises an area array light source, a sampling detector and an area array detector, wherein the sampling detector is arranged at the area array light source, the sampling detector receives an initial signal of projection light of the area array light source, the projection light of the area array light source is received by the area array detector after being reflected or scattered by a target to be detected, the area array light source is formed by one or more independent unit light source layouts, the area array detector is formed by one or more independent unit detector layouts, an addressable on-off lens assembly is arranged between the area array light source and an optical path of the area array detector, and the addressable on-off lens assembly controls the on-off of the optical path between the area array light source and the area array detector;
the lens component comprises an area array collimating lens, a projection lens, a telescopic objective lens, a collimating micro-lens array, a digital micro-mirror array and a focusing lens, wherein the area array collimating lens is arranged in front of an area array light source along the light projection direction and is correspondingly distributed, the projection lens is arranged between the area array collimating lens and a target to be measured, and the telescopic objective lens, the collimating micro-lens array, the digital micro-mirror array and the focusing lens are sequentially arranged between the target to be measured and an area array detector.
As a preferred example, the area array light source is composed of one or more independent unit light source layouts, the area array collimating lens is composed of unit collimating lenses with the same number as the unit light sources in the same layout, the area array detector is composed of unit detectors with the same number as the unit light sources in the same layout, and the unit light sources, the unit collimating lenses and the unit detectors correspond to each other.
As a preferred example, the unit light source employs single or arrayed light emitting diodes, or lasers.
As a preferred example, the unit detector adopts an avalanche photodiode detector or a silicon photomultiplier.
As a preferable example, each unit light source of the area array light source is respectively connected to a sampling detector through an optical fiber, and the sampling detector adopts an avalanche type photodiode detector.
The invention has the beneficial effects that:
(1) in the laser radar light path structure, the FOL of the unit light source is smaller than the TFOL of the area array light source, and the FOV of the unit detector is also smaller than the TFOV of the area array detector, so that ineffective floodlight irradiation is reduced, the illumination efficiency is improved, and the ranging distance is increased;
(2) when the unit light sources correspond to the unit detectors one by one, the plurality of unit light sources irradiate different parts of the target to be detected at the same time, and the plurality of corresponding unit detectors receive and process signals at the same time, so that the frame acquisition time is reduced, and the frame frequency of the image is increased;
(3) most of the existing area array detectors are CMOS/CCD image receivers, although the technology is mature, the array points can be more, but the effect is poor under the condition of weak light receiving only by adopting modes of amplitude modulation continuous waves and the like, so that the unit detectors need to adopt avalanche type photodiode detectors or silicon photomultiplier tubes, and the single photon counting detection effect is better under the condition of weak light;
(4) because the array detector is expensive, under the condition that the array detector cannot be provided, only a single avalanche type photodiode or a silicon photomultiplier can be used as a unit detector to form an area array detector, the existing mature digital micromirror array technology is utilized to respectively project the reflection and scattered light of a plurality of unit light sources from the area array light source onto a plurality of different unit detectors, the three-dimensional information of a target unit area of a target to be detected projected by each unit light source is transferred to time-division multiplexing information flow, the requirement of the array detector is avoided, and particularly the requirement of a laser radar with infrared wavelength of 1550nm is avoided; for lidar at infrared wavelengths around 900nm, silicon avalanche photodiode array detectors (SPADs) have been available, but their high price limits their applicability.
Drawings
FIG. 1 is a schematic diagram of the optical path of embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of the optical path of embodiment 2 of the present invention;
fig. 3 is a schematic diagram of the circuit of the present invention.
In the figure: the device comprises an area array light source 1, a unit light source 1a, a sampling detector 2, an area array detector 3, a unit detector 3a, a target 4 to be detected, a target unit area 4a, an area array collimating lens 5, a unit collimating lens 5a, a projection lens 6, a telescopic objective lens 7, a collimating micro-lens array 8, a digital micro-mirror array 9, a focusing lens 10, an illuminating light beam edge 11, a unit illuminating light beam edge 11a, a receiving light beam edge 31 and a unit receiving light beam edge 31 a.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purpose and the efficacy of the invention easy to understand, the invention is further described with reference to the specific drawings.
As shown in fig. 1-3, a three-dimensional imaging lidar device comprises an area array light source 1, a sampling detector 2, and an area array detector 3, wherein the sampling detector 2 is arranged at the area array light source 1, the sampling detector 2 receives a start signal of projection light of the area array light source 1, the projection light of the area array light source 1 is received by the area array detector 3 after being reflected or scattered by a target 4 to be measured, the area array light source 1 is composed of one or more independent unit light sources 1a, the area array detector 3 is composed of one or more independent unit detectors 3a in the same layout, an addressable on-off lens assembly is arranged between the light paths of the area array light source 1 and the area array detector 3, and the addressable on-off lens assembly controls the on-off of the light path between the area array light source 1 and the area array detector 3;
the lens component capable of being switched on and off in an addressable mode comprises an area array collimating lens 5, a projection lens 6, a telescopic objective lens 7, a collimating micro-lens array 8, a digital micro-mirror array 9 and a focusing lens 10, wherein the area array collimating lens 5 in corresponding layout is arranged in front of an area array light source 1 along the light projection direction, namely a unit collimating lens 5a in the area array collimating lens 5 in corresponding layout is arranged in front of each unit light source 1a of the area array light source 1, the projection lens 6 is arranged between the area array collimating lens 5 and an object 4 to be detected, and the telescopic objective lens 7, the collimating micro-lens array 8, the digital micro-mirror array 9 and the focusing lens 10 are sequentially arranged between the object 4 to be detected and an area array detector 3.
The area array light source 1 is composed of one or more independent unit light sources 1a in a layout mode, the area array collimating lens 5 is composed of unit collimating lenses 5a with the same number as the unit light sources 1a in the same layout mode, the area array detector 3 is composed of unit detectors 3a with the same number as the unit light sources 1a in the same layout mode, and the unit light sources 1a, the unit collimating lenses 5a and the unit detectors 3a correspond to each other. The collimator microlens array 8 is also composed of a single collimator microlens in the same number and arrangement as the unit light sources 1 a.
The unit light source 1a employs a single or arrayed light emitting diode, or a laser.
The unit detector 3a adopts an avalanche photodiode detector or a silicon photomultiplier.
Each unit light source 1a of the area array light source 1 is connected to a sampling detector 2 through an optical fiber (not shown), and the sampling detector 2 adopts an avalanche type photodiode detector.
Example 1:
as shown in fig. 1, the optical path of an embodiment of the laser radar apparatus employs a band of 1550nm wavelength.
The area array light source 1 is composed of 6 identical unit light sources 1a in a layout of 1 row and 6 columns.
The area array detector 3 also comprises 6 identical unit detectors 3a, and the unit detectors 3a corresponding to the unit light sources 1a are selected from the layout of 1 row and 6 columns.
The area array collimating lens 5 is also composed of 6 identical unit collimating lenses 5a in a layout of 1 row and 6 columns, and the unit collimating lens 5a corresponding to the unit light source 1a is selected to draw a light path diagram.
The digital micromirror array 9 is located in the light path of the object 4 to be measured and the area array detector 3.
The full illumination angle (TFOL) of the area array light source 1 is indicated by an illumination beam edge 11, and the illumination angle (FOL) of one unit light source 1a is indicated by a unit illumination beam edge 11 a.
The full field angle (TFOV) of the area array probe 3 is indicated by the reception beam edge 31, and the field angle (FOV) of one unit probe 3a is indicated by the unit reception beam edge 31 a.
The area array collimating lens 5 collimates the emergent light beam of the area array light source 1. Each of the unit collimating lenses 5a collimates the outgoing light beam of one of the unit light sources 1 a. The projection lens 6 projects all the collimated beams to the object 4 to be measured and satisfies the requirement that TFOL is equal to TFOV. The telescope objective lens 7 images the target 4 to be measured, and the collimating micro-lens array 8 projects the image of the target to a corresponding local lattice of the digital micro-mirror array 9. The focusing lens 10 focuses the reflected light beam selected by the digital micromirror array 9 on the corresponding cell detector 3 a.
The working principle is as follows: after light rays emitted by a unit light source 1a of an area array light source 1 are collimated by a corresponding unit collimating lens 5a of an area array collimating lens 5, light rays limited by a unit irradiation light beam edge 11a emitted by a projection lens 6 are projected to a corresponding target unit area 4a of a target 4 to be measured, light rays limited by a unit receiving light beam edge 31a of the target unit area 4a are irradiated to a corresponding area of a digital micromirror array 9 through a telescopic objective lens 7 and a collimating microlens array 8, the digital micromirror array 9 in the area is sequentially scanned and turned over, and the unit receiving light beam edge 31a is projected onto a unit receiver 3a through a focusing lens 10 in a time division multiplexing sequence to complete scanning of the unit light source 1a irradiation area. A plurality of unit light sources 1a of the area array light source 1 irradiate a plurality of different target unit areas 4a simultaneously, a plurality of micromirrors at corresponding positions of the digital micromirror array 9 can scan simultaneously, a plurality of corresponding unit detectors 3a can receive simultaneously, and multi-path time division multiplexing signals can be processed in parallel, so that the frame acquisition time is reduced, and the frame frequency of images is increased.
The requirements of this embodiment are a detection range of 150m, a horizontal TFOV of 144 degrees, a vertical TFOV of 24 degrees, and a resolution of 0.3 degrees. Therefore, the number of pixels in the final image cannot be less than 480x80, and the number of point clouds in the digital micromirror array 9 is not less than 38400. At 150 meters, the area per pixel acquisition is no more than 0.78 meters by 0.78 meters. With a layout of the unit light sources 1a of 1x6 and a layout of the unit detectors 3a of 1x6, there is at least 80x80 pixels between each pair of unit light sources 1a and unit detectors 3 a.
The unit light source 1a is a single laser, the manufacturer Excelitas, the model number PVGS1506H, the wavelength is 1550nm, the output pulse light power is 7W, the divergence half angle is 18 degrees, after passing through the area array collimating lens 5, the full angle of beam divergence is 0.2 degrees, and the spot diameter is 0.52 meters at 150 meters.
The cell detector 3a is a single InGaAs Avalanche Photodiode (APD), made by Excelitas, model C30662, with a response wavelength range of 1100-1700nm, a photosensitive region diameter of 200 microns, and a breakdown voltage of 90V.
The digital micromirror array 9, manufacturer de state instrument, model DLP7000, digital micromirror array 9 dot matrix number 1024x768, digital micromirror array 9 area 13.68 microns x13.68 microns. In this embodiment, the number of the dot matrixes of the digital micromirror array 9 is 960x160, and the number of the dot matrixes corresponding to each pair of the unit light source 1a and the unit detector 3a is 160x 160. Cylindrical mirror surfaces are respectively added to the telescopic objective lens 7, the collimating micro-lens array 8 and the focusing lens 9, so that the imaging of the digital micro-mirror array 9 is magnified by 4 times on a vertical axis, the number of the used dot matrixes of the digital micro-mirror array 9 is 960x640, and the number of the dot matrixes corresponding to each pair of the unit light source 1a and the unit detector 3a is 160x 640.
Example 2
As shown in fig. 2, the optical path of an embodiment of the laser radar apparatus employs a wavelength band of 905 nm.
The area array light source 1 is composed of 8 identical unit light sources 1a in a layout of 2 rows and 4 columns.
The area array detector 3 is also composed of 8 identical unit detectors 3a in a layout of 2 rows and 4 columns.
The area array collimating lens 5 is also composed of 8 identical unit collimating lenses 5a in a layout of 2 rows and 4 columns, and the unit collimating lens 5a corresponding to the unit light source 1a is selected to draw a light path diagram.
Example 2 requires the same probe distance index as example 1, 144 degrees for horizontal TFOV and 24 degrees for vertical TFOV, all at 0.3 degrees. Therefore, the number of pixel points of the final image cannot be less than 480x80, and the number of point clouds is not less than 38400. At 150 meters, the area per pixel acquisition is no more than 0.78 meters by 0.78 meters. With a 2x4 layout of the unit light sources 1a and a 2x4 layout of the unit detectors 3a, there is at least 120x40 pixels between each pair of unit light sources 1a and unit detectors 3 a.
The unit light source 1a is a single laser, the manufacturer Excelitas, the model PGAS1503H, the wavelength is 905nm, the output pulse light power is 6.2W, the divergence half angle is 13 degrees, after passing through the area array collimating lens 5, the full angle of beam divergence is 0.2 degrees, and the spot diameter is 0.52 meters at 150 meters.
The unit detector 3a is a single silicon photomultiplier (MCCP), the manufacturer Hamamatsu, model S13720-1325PS5, the response wavelength range is 350-1000nm, the diameter of the photosensitive area is 1.3mmx1.3mm, and the maximum breakdown voltage is 57V.
The digital micromirror array 9, manufacturer de state instrument, model DLP7000, digital micromirror array 9 dot matrix number 1024x768, digital micromirror array 9 area 13.68 microns x13.68 microns. In this embodiment, the number of the dot matrixes of the digital micromirror array 9 is 960x320, and the number of the dot matrixes corresponding to each pair of the unit light source 1a and the unit detector 3a is 240x 160.
Fig. 3 is a schematic diagram of the circuit. The related components of the light path comprise an area array light source 1, an area array detector 3, a digital micro-mirror array 9 and a sampling detector 2. The high-speed hardware circuit of the embedded computer generates a scanning signal and a trigger signal, and synchronizes three channels:
(1) the embedded computer controls the area array light source 1 to emit light through the sequential logic circuit unit and the transmitting channel of the laser pulse power supply;
(2) the embedded computer receives the information of the area array detector 3 through a receiving channel of TCSPC of a sequential logic circuit unit, a time measuring module and a channel register, the area array detector 3 is powered by an APD bias voltage power supply, the sampling detector 2 is positioned near the area array light source 1, sampling light pulse signals of all unit light sources 1a in the area array light source 1 are captured through a plurality of optical fibers, the time measuring module of single photon counting transmitted to the time measuring module is used as an initial signal, and the distance is calculated through time difference;
(3) the embedded computer controls the digital micromirror array 9 to perform the turning scanning through the micromirror channel of the dot matrix driving circuit.
The driving power supply of the area array light source 1 provides a pulse width of a light pulse which is 10-50 nanoseconds, the time of a rising and falling edge of the pulse is less than 2 nanoseconds, the pulse repetition frequency is 1-100 according to requirements, and the pulse period is required to be more than the micro-mirror response time of the digital micro-mirror array 9 and the echo time of the maximum distance measurement, and is set to be 7 microseconds in the example.
The point cloud number of the digital micromirror array 9 is 34800, and if only one pair of the unit light source 1a and the unit detector 3a traverses 6 target unit areas 4a of the target 4 to be detected, the time for obtaining a frame of three-dimensional image is 0.24 seconds; in embodiment 1, 6 pairs of the unit light sources 1a and the unit detectors 3a are activated in parallel, and the time for obtaining one frame of three-dimensional image is 40 milliseconds, that is, the frame rate is 25 frames/second.
The receiving channel outputs the signals of each unit detector 3a to the channel register in parallel, and the signals pass through a time measuring module of TCSPC, wherein the time measuring module comprises a constant ratio discriminator (CFD), a Time Amplitude Converter (TAC) and an analog-to-digital converter (ADC), and the photon and time distribution of one space point of the target is obtained in a photon distribution processor. And finally, sending the ranging information to the embedded computer.
The dot matrix driving circuit of the digital micromirror array 9 is controlled by the embedded computer to schedule the opening and closing of the micromirrors corresponding to each spatial point.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a three-dimensional formation of image lidar device, it contains area array light source, sampling detector, area array detector, sampling detector establishes in area array light source department, and sampling detector receives the initial signal that area array light source throws light, and the area array light source throw light is received by area array detector after being measured target reflection or scattering, its characterized in that: the area array light source is composed of one or more independent unit light source layouts, the area array detector is composed of one or more independent unit detector layouts, an addressable on-off lens assembly is arranged between the area array light source and an optical path of the area array detector, and the addressable on-off lens assembly controls the on-off of the optical path between the area array light source and the area array detector; the lens component comprises an area array collimating lens, a projection lens, a telescopic objective lens, a collimating micro-lens array, a digital micro-mirror array and a focusing lens, wherein the area array collimating lens is arranged in front of an area array light source along the light projection direction and is correspondingly distributed, the projection lens is arranged between the area array collimating lens and a target to be measured, and the telescopic objective lens, the collimating micro-lens array, the digital micro-mirror array and the focusing lens are sequentially arranged between the target to be measured and an area array detector.
2. The three-dimensional imaging lidar device according to claim 1, wherein the area array light source comprises one or more independent unit light source layouts, the area array collimating lens comprises the same number of unit collimating lenses as the unit light sources and the same layout, the area array detector comprises the same number of unit detectors as the unit light sources and the same layout, and the unit light sources, the unit collimating lenses and the unit detectors correspond to each other.
3. The three-dimensional imaging lidar device according to claim 1 or 2, wherein the unit light source employs single or arrayed light emitting diodes, or lasers.
4. The lidar device for three-dimensional imaging according to claim 1 or 2, wherein the unit detector is avalanche photodiode detector or silicon photomultiplier.
5. The three-dimensional imaging lidar device according to claim 1, wherein each unit light source of the area array light source is connected to a sampling detector through an optical fiber, and the sampling detector is an avalanche photodiode detector.
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