CN112098974B - Method and device for realizing variable scanning field of view and variable scanning density laser radar - Google Patents
Method and device for realizing variable scanning field of view and variable scanning density laser radar Download PDFInfo
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- CN112098974B CN112098974B CN202010971300.XA CN202010971300A CN112098974B CN 112098974 B CN112098974 B CN 112098974B CN 202010971300 A CN202010971300 A CN 202010971300A CN 112098974 B CN112098974 B CN 112098974B
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Abstract
The invention relates to a method and a device for realizing a variable scanning field of view and variable scanning density laser radar, belonging to the field of laser measurement. The method comprises the steps of firstly scanning a target area with a large view field and a large light spot size to obtain position information of a suspected target in the view field, then controlling a zoom liquid lens to zoom, adjusting the distance between light spots, and simultaneously controlling two scanning galvanometers to scan a preset area in a small range, so that the stepping angle of the scanning galvanometers is reduced, the density of scanning points in the area in the small range is improved, and the high-resolution information of the suspected target is obtained. A method and a device for realizing a variable scanning field of view and a variable scanning density laser radar can give consideration to both large field of view early warning and high-resolution detection of a target.
Description
Technical Field
The invention relates to a method and a device for realizing a variable scanning field of view and variable scanning density laser radar, belonging to the field of laser measurement.
Background
The laser radar uses laser as a signal source, the laser is reflected by an object, then an echo signal is collected through a receiving system and compared with an initial signal, and the time or phase variation of an optical signal is obtained, so that the accurate information of the distance of the measured object is obtained. The laser has the advantages of high repetition frequency, small laser spot, concentrated energy, good directivity and the like. The laser radar can realize the long-distance and high-precision measurement of the measured object. Currently, laser radars are widely used in the fields of aerospace, remote sensing, measurement, intelligent driving and the like.
In application, the laser radar always needs to give consideration to both large field of view and high resolution. Meanwhile, in a laser radar system that performs scanning using a two-dimensional galvanometer, there is also distortion of the scanning position. Therefore, for a large field of view, it is necessary to perform scanning quickly to obtain the position of the suspected object while correcting the distortion of the scanned position. For small field scanning, it is necessary to increase the scanning density and obtain high-precision information of the target. Thus, in performing the scan, a large scan spot size and a large step angle are required for the large field of view, while a small spot size and a small step angle are required for the small field of view. This requires the emission spot to be scaled to change the size of the scanning spot size for different scanning fields of view.
Disclosure of Invention
The invention aims to overcome the problems that the traditional laser radar can not give consideration to both large view field and high resolution, and scanning position distortion exists in large-range scanning, and the like, and provides a method and a device for realizing the variable scanning view field and variable scanning density laser radar.
The purpose of the invention is realized by the following technical scheme:
the method for realizing the laser radar with variable scanning field and variable scanning density comprises the following steps:
step one, scanning a large field of view by adopting a laser radar based on a zoom liquid lens;
judging whether the scanning points are edge points or not; if the scanning point is an edge point, scanning is performed with n × n area array laser spots with a laser point pitch of e and a scanning step angle of Δ θ.
If the scanning point is a non-edge point, firstly, calculating the position distortion value of the current scanning point from the edge point.
Scanning point position coordinate S of ith row and jth column km Calculated by the following formula:
wherein, theta i 、θ j The scanning angle of the scanning galvanometer in the row and column directions during the ith and jth scanning of the row, H is the distance between the two scanning galvanometers in the vertical direction, l is the distance from the scanning galvanometer to the scanning area, and p km The position coordinates of the kth row and the mth column of the n multiplied by n area array laser spots. p is a radical of km The value of (d) is calculated by:
position coordinates S of edge scanning points 11 Calculated by the formula (3)
Wherein, theta 1 The scanning angle of the scanning galvanometer in the line direction during the 1 st line scanning is theta j The scanning angle of the scanning galvanometer in the column direction during the jth column scanning of the first row is obtained. P 11 The value of (d) is calculated by:
the position distortion of the ith row and jth column scanning point relative to the 1 st row and jth column in the row direction is calculated by formula (5)
L i ＝S km -S 11 . (5)
Magnification beta for compensating the position distortion of the scanning point i Calculated from the following formula
Controlling the zoom liquid lens to zoom and realize the amplification of the scanning point, wherein the distance between the laser points after the amplification is beta i *e(β i >1). With amplified laser spot spacing beta i E, scanning the stepping angle delta theta;
step three, repeating the step two until the large-field scanning is completed; and recording all suspected target area information with echo signals.
And step four, controlling the zoom liquid lens to zoom, reducing the scanning points, wherein the laser point interval is beta × e (beta <1) after the scanning points are reduced. Meanwhile, the stepping angle beta of the scanning galvanometer is reduced. And scanning the suspected target area recorded in the third step by a small visual field and high density by using the reduced laser dot spacing as beta < e (beta <1) and a scanning stepping angle beta as delta theta. Recording distance information of echo signals; and combining the distance information with the scanning position information to obtain the three-dimensional information of the target.
The device for realizing the variable scanning view field and variable scanning density laser radar comprises a transmitting module, a scanning module, a receiving module, a trigger and a data storage and processing unit.
The transmitting module comprises a laser, a collimating mirror, a first transflective mirror, a beam splitter, a zooming liquid lens and a reflector; laser emitted by the laser device is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror, and a part of light beam is reflected to generate a trigger signal. The other part of the transmitted beam passes through the beam splitter and is uniformly divided into n x n area array laser spots. The n x n area array laser spot is zoomed after passing through the zoom liquid lens. The zoomed n multiplied by n area array laser spot is emergent through the reflector and enters the scanning module after passing through the second transflective mirror.
The scanning module consists of two scanning galvanometers with vertical axes. And guiding the area array laser facula to scan the target area by controlling the scanning angle and the scanning stepping angle of the two galvanometers, finding a suspected target, and storing the suspected target area information to the data storage and processing unit.
The receiving module consists of a second transflective mirror, a focusing lens, a narrow-band filter and an area array APD detector. The laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, and light spots passing through the focusing lens are converged, pass through the narrow-band filter, then are received by the area array APD detector, and then are stored in the data storage and processing unit.
The two scanning galvanometers have a distance in the vertical direction. The two scanning galvanometers can realize scanning with a specific view angle and a specific mode under the control of a program.
Laser emitted by the laser device is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror, and a part of light beam is reflected to the trigger to generate a trigger signal. The other part of the transmitted beam passes through the beam splitter and is uniformly divided into n x n area array laser spots. The n x n area array laser spot is zoomed after passing through the zoom liquid lens. The zoomed n multiplied by n area array laser spot is emergent through the reflector and enters the scanning module after passing through the second transflective mirror. The scanning module consists of two scanning galvanometers with vertical axes. And by controlling the scanning angle and the scanning stepping angle of the two galvanometers, the area array laser facula emitted by the second transflective mirror is guided to scan the target area. The laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, and light spots passing through the focusing lens are converged, pass through the narrow-band filter and then are received by the area array APD detector.
The working process is as follows:
laser emitted by the laser device is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror, and a part of light beam is reflected to the trigger to generate a trigger signal. The other part of the transmitted beam passes through the beam splitter and is uniformly divided into n x n area array laser spots. The n x n area array laser spot is zoomed after passing through the zoom liquid lens. The zoomed n multiplied by n area array laser spot is emergent through the reflector and enters the scanning module after passing through the second transflective mirror.
And guiding the area array laser facula to scan the target area by controlling the scanning angle and the scanning stepping angle of the two galvanometers, finding a suspected target, and storing the suspected target area information to the data storage and processing unit.
The laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, and light spots passing through the focusing lens are converged, pass through the narrow-band filter, then are received by the area array APD detector, and then are stored in the data storage and processing unit.
The method for realizing the scanning of the laser radar with the variable scanning view field and the variable scanning density comprises the following steps:
step one, adopting a laser radar with variable scanning view field and variable scanning density to carry out large view field area (theta) xi ,θ yj ) A scan is performed.
Judging whether the scanning points are edge points or not; if the scanning point is an edge point, laser emitted by the laser device is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror, and a part of light beam generates a trigger signal. And the other part of the transmitted light beams are uniformly divided into n x n area array laser spots through a beam splitter, and the distance between the laser points in the formed n x n area array laser spots is e. The n multiplied by n area array laser spots are emitted out through the reflecting mirror, pass through the second transflective mirror and then enter the scanning module. And controlling the two galvanometers to guide the area array laser spots to scan the target area by taking the laser point interval as e and the scanning stepping angle as delta theta. Laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, light spots passing through the focusing lens are converged and pass through the narrow-band filter, then the light spots are received by the area array APD detector, and information of the suspected target area is stored in the data storage and processing unit.
If the scanning point is a non-edge point, firstly, calculating the position distortion value of the current scanning point from the edge point. And (3) calculating the position coordinates of the scanning point in the ith row and the jth column by using the formula (1) and the formula (2).
And (4) calculating the position coordinates of the edge scanning points through the formula (3) and the formula (4).
The position distortion of the ith row and jth column scanning point relative to the row direction with the 1 st row and jth column is calculated by formula (5).
Calculating the magnification beta for compensating the position distortion of the scanning point by the formula (6) i 。
Controlling the zoom liquid lens to zoom and realize the amplification of the scanning point, wherein the distance between the laser points after the amplification is beta i *e(β i >1)。
And step three, laser emitted by the laser is collimated by the collimating lens and then reflected to the trigger to generate a trigger signal by the first transflective lens. And the other part of the transmitted light beams are uniformly divided into n x n area array laser spots through a beam splitter, and the distance between the laser points in the formed n x n area array laser spots is e. The n x n area array laser spot is amplified through a zoom liquid lens, and the distance between laser points is beta after amplification i And e, passing through the second transflective mirror and then entering the scanning module. Controlling two galvanometers to amplify the post-laser spot spacing beta i And e, scanning the stepping angle delta theta, and guiding the area array laser spot to scan the target area. Laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, light spots passing through the focusing lens are converged and pass through the narrow-band filter, then the light spots are received by the area array APD detector, and information of the suspected target area is stored in the data storage and processing unit.
Repeating the second step and the third step until the large visual field area (theta) is completed xi ,θ yj ) Scanning; and recording all suspected target area information with echo signals.
Step four, carrying out small view field (theta) on the suspected target area recorded in step three by adopting a variable scanning view field and variable scanning density laser radar x1 ,θ y1 ) And (6) scanning.
Laser emitted by the laser device is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror, and a part of light beam is reflected to the trigger to generate a trigger signal. And the other part of the transmitted light beams are uniformly divided into n x n area array laser spots through a beam splitter, and the distance between the laser points in the formed n x n area array laser spots is e. And controlling the zooming liquid lens to zoom, reducing the scanning points, wherein the distance between the laser points is beta × e (beta <1) after the laser points are reduced, and the laser points enter the scanning module after passing through the second transflective lens. Meanwhile, the stepping angle beta of the scanning galvanometer is reduced. And (3) carrying out small-view-field and high-density scanning on the suspected target area recorded in the third step by taking the reduced laser dot spacing as beta <1) and the scanning stepping angle as beta delta theta. Recording distance information of echo signals; and combining the distance information with the scanning position information to obtain the three-dimensional information of the target.
Advantageous effects
1. According to the method and the device for realizing the variable scanning field of view and the variable scanning density laser radar, the zooming liquid lens is added in the coaxial structure, so that the scanning light spot can be zoomed, and the size of the scanning light spot can be changed.
2. When a large field area is scanned, the variable-scanning liquid lens can be controlled to locally amplify area array light spots generated by the beam splitter, scanning position distortion generated by the scanning galvanometer in the scanning process is compensated, the whole field is covered, and the whole field is scanned comprehensively.
3. The method and the device for realizing the variable scanning field of view and the variable scanning density laser radar can control the zoom liquid lens to reduce the area array light spot generated by the beam splitter when scanning a small field of view area, and can realize high-resolution scanning of a target area by combining with the small scanning stepping angle of the scanning galvanometer.
4. The method and the device for realizing the variable scanning field of view and the variable scanning density laser radar can firstly carry out rapid scanning on a large field of view range by using a large scanning spot and a large stepping angle to position a suspected target. And then, carrying out high-density scanning on the suspected target area by using a small scanning light spot and a small stepping angle. Therefore, the laser radar capable of realizing the variable scanning field and the variable scanning density can give consideration to both large-field early warning and high-resolution detection of the target.
Drawings
FIG. 1 is a schematic structural diagram of a lidar for achieving variable scan field and variable scan density according to an embodiment of the invention;
FIG. 2 is a flowchart of an exemplary implementation of a variable scan field of view and variable scan density lidar apparatus according to an embodiment of the present disclosure;
FIG. 3 is a diagram illustrating the calculation and compensation of the distortion value of the scanning point position according to the embodiment of the present invention;
FIG. 4 is a diagram illustrating the distortion of the scanning point position of the large field of view according to an embodiment of the present invention;
fig. 5 is a diagram of compensation of distortion of the position of a large-field scanning point in the embodiment of the invention.
Among them, 1-laser; 2-a collimating mirror; 3-a first transflective mirror; 4-a beam splitter; 5-a variable focus liquid lens; 6-a reflector; 7-a second transflective mirror; 8-a focusing lens; 9-narrow band filter; 10-area array APD detector; 11-scanning galvanometer; 12-a flip-flop; 13-data storage and processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a laser radar for realizing variable scanning field of view and variable scanning density, which comprises a transmitting module, a scanning module and a receiving module. Laser emitted by the laser 1 is collimated by the collimating mirror 2 and then passes through the first transflective mirror 3, and a part of signals are emitted to the trigger 12 to generate trigger signals. The other path of signal is uniformly divided into 3 multiplied by 3 area array laser spots through a beam splitter 4. The 3 x 3 area array laser spot is zoomed after passing through the zoom liquid lens 5. The zoomed 3X 3 area array laser spot is emergent through the reflector 6 and enters the scanning module after passing through the second transflective mirror 7. The scanning module consists of two scanning galvanometers 11 with vertical axes. By controlling the scanning angle and the scanning stepping angle of the two scanning galvanometers 11, the area array laser facula emitted by the second transflective mirror 7 is guided to scan the target area. The laser echo signal reflected by the target is reflected by the second transflective mirror 7, converged by the focusing lens 8, passes through the narrow band filter 9, and is received by the area array APD detector 10. The variable scanning field and variable scanning density laser radar firstly scans a target area with a large field of view and a large spot size to obtain position information of a suspected target in the field of view, then controls a zoom liquid lens to zoom, adjusts the distance between spots and the diameter of the spots, and simultaneously controls two scanning galvanometers to scan a preset area in a small range, so that the stepping angle of the scanning galvanometers is reduced, the density of scanning points in the area in the small range is improved, and the high-resolution information of the suspected target is obtained.
Fig. 1 shows a specific structure of a laser radar for realizing a variable scanning field and a variable scanning density by using the above working principle.
The emitting module is composed of a laser 1, a collimating mirror 2, a first transflective mirror 3, a beam splitter 4, a zoom liquid lens 5 and a reflector 6. Laser emitted by the laser 1 is collimated by the collimating mirror 2 and then passes through the first transflective mirror 3, and a part of signals are transmitted to the trigger 12 to generate trigger signals. The other path of signal is uniformly divided into 3 multiplied by 3 area array laser spots through a beam splitter 4. The 3 x 3 area array laser spot is zoomed after passing through the zoom liquid lens 5. The zoomed 3X 3 area array laser spot is emergent through the reflector 6 and enters the scanning module after passing through the second transflective mirror 7.
The scanning module consists of two scanning galvanometers 11 with vertical axes. By controlling the scanning angle and the scanning stepping angle of the two galvanometers 11, the area array laser spots are guided to scan the target area, a suspected target is found, and information of the suspected target area is stored in the data storage and processing unit 13.
The receiving module is composed of a second transflective mirror 7, a focusing lens 8, a narrow-band filter 9 and an area array APD detector 10. The laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror 7 and then focused by the focusing lens 8, and light spots passing through the focusing lens 8 are converged, pass through the narrow band filter 9, then are received by the area array APD detector 10, and then are stored in the data storage and processing unit 13.
Fig. 2 is a flow chart of the variable scan field and the variable scan density according to the embodiment of the present invention.
The working process of the laser radar with variable scanning view field and variable scanning density is as follows:
scanning a large field-of-view region (-6 degrees and 6 degrees) by using a variable scanning field-of-view and variable scanning density laser radar;
judging whether the scanning points are edge points or not; if the scanning point is an edge point, laser emitted by the laser 1 is collimated by the collimating mirror 2, and then reflected by the first transflective mirror 3, and a part of light beam is reflected to the trigger 12 to generate a trigger signal. The other part of the transmitted beam passes through the beam splitter 4 and is uniformly divided into 3 × 3 area array laser spots, and the laser point spacing in the formed 3 × 3 area array laser spots is 8 mm. The 3X 3 area array laser spot is emitted through the reflector 6 and enters the scanning module after passing through the second transflective mirror 7. And controlling the two galvanometers 11 to guide the area array laser spots to scan the target area by the laser point spacing of e being 8mm and the scanning stepping angle of delta theta being 1 deg. Laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror 7 and then focused by the focusing lens 8, light spots passing through the focusing lens 8 are converged and pass through the narrow-band filter 9, and then are received by the area array APD detector 10, and information of the suspected target area is stored in the data storage and processing unit 13.
If the scanning point is a non-edge point, firstly, calculating the position distortion value of the current scanning point from the edge point. Fig. 3 is a diagram of calculating and compensating the position distortion of the scanning point. And (3) calculating the position coordinates of the scanning point in the ith row and the jth column by using the formula (1) and the formula (2). The distance H between the two scanning mirrors 13 in the vertical direction is 50mm, and the distance l between the scanning mirrors 13 and the scanning area is 1 m.
And (4) calculating the position coordinates of the edge scanning points through the formula (3) and the formula (4).
The distortion of the scanning point of the ith row and the jth column relative to the position in the row direction with the 1 st row and the jth column is calculated by formula (5).
Calculating the magnification beta for compensating the position distortion of the scanning point by the formula (6) i 。
Controlling the liquid lens to zoom to realize the amplification of the scanning point, wherein the distance between the laser points is beta after the amplification i *e(β i >1)。
Thirdly, the laser emitted by the laser 1 is collimated by the collimating lens 2 and then passes through the first transflective lens 3, and a part of light beam is reflected to the touch screenThe transmitter 12 generates a trigger signal. The other part of the transmitted beam passes through the beam splitter 4 and is uniformly divided into 3 × 3 area array laser spots, and the distance between laser points in the formed 3 × 3 area array laser spots is 8 mm. The 3X 3 area array laser spot is amplified after passing through the zoom liquid lens 5, and the distance between laser points is beta after amplification i And e, passing through the second transflective mirror 7 and then entering the scanning module. The two galvanometers 11 are controlled to amplify the laser spot distance to be beta i And e, the scanning stepping angle is delta theta to be 1 degree, and the area array laser spot is guided to scan the target area. Laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror 7 and then focused by the focusing lens 8, light spots passing through the focusing lens 8 are converged and pass through the narrow-band filter 9, and then are received by the area array APD detector 10, and information of the suspected target area is stored in the data storage and processing unit 13.
Repeating the second step and the third step until the scanning of the large field area (-6 degrees and 6 degrees) is completed; and recording all suspected target area information with echo signals.
Step four, carrying out small view field (theta) on the suspected target area recorded in step three by adopting a variable scanning view field and variable scanning density laser radar x1 ,θ y1 ) And (6) scanning.
Laser emitted by the laser 1 is collimated by the collimating mirror 2 and then passes through the first transflective mirror 3, and a part of light beam is reflected to the trigger 12 to generate a trigger signal. The other part of the transmitted beam passes through the beam splitter 4 and is uniformly divided into 3 × 3 area array laser spots, and the laser point spacing in the formed 3 × 3 area array laser spots is 8 mm. And controlling the zooming liquid lens 5 to zoom, reducing the scanning points, wherein the distance between the laser points is beta × e (beta <1) after the laser points are reduced, and the laser points enter the scanning module after passing through the second transflective mirror 7. At the same time, the step angle β Δ θ of the scanning galvanometer 11 is reduced. And (3) carrying out small-view-field and high-density scanning on the suspected target area recorded in the third step by taking the reduced laser dot spacing as beta <1) and the scanning stepping angle as beta delta theta. Recording distance information of echo signals; and combining the distance information with the scanning position information to obtain the three-dimensional information of the target.
Fig. 4 is a diagram showing distortion of the position of a scanning point with a large field of view (-6 °,6 °) in the embodiment of the present invention. Fig. 5 is a diagram of compensating distortion of the position of a scanning point with a large field of view (-6 °,6 °) in the embodiment of the present invention.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. The method for realizing the laser radar with variable scanning view field and variable scanning density is characterized in that: the method comprises the following steps:
step one, scanning a large field of view by adopting a laser radar based on a zoom liquid lens;
judging whether the scanning points are edge points or not; if the scanning points are edge points, scanning by using n multiplied by n area array laser spots with the laser point spacing of e and the scanning stepping angle of delta theta;
if the scanning point is a non-edge point, firstly calculating the position distortion value of the current scanning point from the edge point;
scanning point position coordinate S of ith row and jth column km Calculated by the following formula:
wherein, theta i 、θ j The scanning angle of the scanning galvanometers in the row and column directions during the ith row and the jth column scanning, H is the distance between the two scanning galvanometers in the vertical direction, l is the distance between the scanning galvanometers and a scanning area, and p km The position coordinates of the mth row and the mth column of the laser spots in the n multiplied by n area array are obtained; p is a radical of km The value of (d) is calculated by:
position coordinates S of edge scanning points 11 Calculated by the formula (3)
Wherein, theta 1 The scanning angle of the scanning galvanometer in the line direction during the 1 st line scanning is theta j The scanning angle of the scanning galvanometer in the column direction during the jth column scanning of the first row; p 11 The value of (d) is calculated by:
the position distortion of the ith row and jth column scanning point relative to the 1 st row and jth column in the row direction is calculated by formula (5)
L i ＝S km -S 11 . (5)
Magnification beta for compensating the position distortion of the scanning point i Calculated from the following formula
Controlling the zoom liquid lens to zoom and realize the amplification of the scanning point, wherein the distance between the laser points after the amplification is beta i *e，β i >1; with amplified laser spot spacing beta i E, scanning the stepping angle delta theta;
step three, repeating the step two until the large-field scanning is finished; recording all suspected target area information with echo signals;
step four, controlling the zooming liquid lens to zoom, and reducing the scanning points, wherein the laser point interval is beta × e after the zooming is finished, and beta is less than 1; meanwhile, the stepping angle beta of the scanning galvanometer is reduced; scanning the suspected target area recorded in the third step in a small view field and high density mode by using the reduced laser point spacing of beta e, beta <1 and a scanning stepping angle beta delta theta; recording distance information of echo signals; and combining the distance information with the scanning position information to obtain the three-dimensional information of the target.
2. An apparatus for implementing the method of claim 1, wherein: the device comprises a transmitting module, a scanning module, a receiving module, a trigger and a data storage and processing unit;
the transmitting module comprises a laser, a collimating mirror, a first transflective mirror, a beam splitter, a zooming liquid lens and a reflector; laser emitted by the laser is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror, and a part of light beam is reflected to generate a trigger signal; the other part of the transmitted light beam is uniformly divided into n multiplied by n area array laser spots through a beam splitter; the n x n area array laser spots are zoomed after passing through the zoom liquid lens; the zoomed n multiplied by n area array laser spot is emergent through a reflector, passes through a second transflective mirror and then enters a scanning module;
the area array laser facula is guided to scan a target area by controlling the scanning angle and the scanning stepping angle of the two galvanometers, a suspected target is found, and information of the suspected target area is stored to the data storage and processing unit;
the laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, and light spots passing through the focusing lens are converged, pass through the narrow-band filter, then are received by the area array APD detector, and then are stored in the data storage and processing unit.
3. The apparatus of claim 2, wherein: the scanning module consists of two scanning galvanometers with vertical axes; and guiding the area array laser facula to scan the target area by controlling the scanning angle and the scanning stepping angle of the two galvanometers, finding a suspected target, and storing the suspected target area information to the data storage and processing unit.
4. The apparatus of claim 2, wherein: the receiving module consists of a second transflective mirror, a focusing lens, a narrow-band filter and an area array APD detector.
5. The apparatus of claim 3, wherein: the two scanning galvanometers have a distance in the vertical direction; the two scanning galvanometers can realize scanning with a specific field angle and a specific mode under the control of a program.
6. The laser radar scanning method with variable scanning field and variable scanning density by adopting the device as claimed in claim 2, 3, 4 or 5, is characterized in that: the method comprises the following specific steps:
step one, adopting a laser radar with variable scanning view field and variable scanning density to carry out large view field area (theta) xi ,θ yj ) Scanning is carried out;
judging whether the scanning points are edge points or not; if the scanning point is an edge point, laser emitted by the laser is collimated by the collimating mirror, and then reflected to the trigger by the first transflective mirror to generate a trigger signal; the other part of the transmitted light beams are uniformly divided into n multiplied by n area array laser spots through a beam splitter, and the distance between laser points in the formed n multiplied by n area array laser spots is e; the n multiplied by n area array laser spots are emitted out through the reflector, pass through the second transflective mirror and then enter the scanning module; controlling the two galvanometers to guide the area array laser spots to scan a target area with the laser point interval as e and the scanning stepping angle as delta theta; laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, light spots passing through the focusing lens are converged and pass through the narrow-band filter, and then the light spots are received by the area array APD detector, and suspected target area information is stored in the data storage and processing unit;
if the scanning point is a non-edge point, firstly calculating the position distortion value of the current scanning point from the edge point; calculating the position coordinates of the scanning point of the ith row and the jth column through a formula (1) and a formula (2);
calculating the position coordinates of the edge scanning points through a formula (3) and a formula (4);
calculating the position distortion of the ith row and jth column scanning point relative to the row direction with the 1 st row and jth column by formula (5);
calculating the magnification beta for compensating the position distortion of the scanning point by the formula (6) i ；
Controlling the zoom liquid lens to zoom and realize the amplification of the scanning point, wherein the distance between the laser points after the amplification is beta i *e，β i >1；
Thirdly, laser emitted by the laser is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror to generate a trigger signal; the other part of the transmitted light beams are uniformly divided into n multiplied by n area array laser spots through a beam splitter, and the distance between laser points in the formed n multiplied by n area array laser spots is e; the n x n area array laser spot is amplified through a zoom liquid lens, and the distance between laser points is beta after amplification i E, passing through the second transflective mirror and then entering the scanning module; controlling two galvanometers to amplify the post-laser spot spacing beta i E, scanning the stepping angle delta theta, and guiding the area array laser spot to scan the target area; laser echo signals reflected by the suspected target are sequentially reflected by the scanning module and the second transflective mirror and then focused by the focusing lens, light spots passing through the focusing lens are converged and pass through the narrow-band filter, and then the light spots are received by the area array APD detector, and suspected target area information is stored in the data storage and processing unit;
repeating the second step and the third step until the large field area (theta) is completed xi ,θ yj ) Scanning; recording all suspected target area information with echo signals;
step four, carrying out small view field (theta) on the suspected target area recorded in step three by adopting a variable scanning view field and variable scanning density laser radar x1 ,θ y1 ) Scanning;
laser emitted by the laser is collimated by the collimating mirror and then reflected to the trigger by the first transflective mirror, and a part of light beam is reflected to generate a trigger signal; the other part of the transmitted light beams are uniformly divided into n multiplied by n area array laser spots through a beam splitter, and the distance between laser points in the formed n multiplied by n area array laser spots is e; controlling the zooming liquid lens to zoom, reducing the scanning points, leading the laser point interval to be beta e and beta <1 after the laser point interval is reduced, and leading the laser point interval to enter the scanning module after passing through the second transflective lens; meanwhile, the stepping angle beta of the scanning galvanometer is reduced; performing small-view-field and high-density scanning on the suspected target area recorded in the third step by taking the reduced laser dot spacing as beta e, beta <1 and the scanning stepping angle as beta delta theta; recording distance information of echo signals; and combining the distance information with the scanning position information to obtain the three-dimensional information of the target.
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