CN112462384B - High-resolution solid-state area array laser radar system, control method and device - Google Patents
High-resolution solid-state area array laser radar system, control method and device Download PDFInfo
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- CN112462384B CN112462384B CN202011092604.5A CN202011092604A CN112462384B CN 112462384 B CN112462384 B CN 112462384B CN 202011092604 A CN202011092604 A CN 202011092604A CN 112462384 B CN112462384 B CN 112462384B
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- 239000007787 solid Substances 0.000 claims 6
- 238000001514 detection method Methods 0.000 abstract description 20
- 238000003384 imaging method Methods 0.000 abstract description 6
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
The invention relates to the technical field of photoelectric detection, in particular to a high-resolution solid-state area array laser radar system, a control method and a device, wherein the high-resolution solid-state area array laser radar system comprises: the emission module is used for generating and emitting laser; the receiving module is used for receiving the laser reflected by the detected object, and comprises an echo detector and a scanner capable of moving along an optical axis, and the position of the laser irradiated on the echo detector can be changed by moving the position of the scanner; and the control module is respectively connected with the transmitting module and the receiving module and is used for controlling the operation of the transmitting module and the receiving module and synthesizing an image of the measured object according to at least two reflection images of the same measured object obtained by the scanner. The invention can realize multi-point and multi-time detection of the target by arranging the movable scanner, thereby realizing high-resolution detection imaging, and having low cost and easy realization.
Description
Technical Field
The invention relates to the technical field of photoelectric detection, in particular to a high-resolution solid-state area array laser radar system, a control method and a device.
Background
The importance of lidar as a core sensor for robots and unmanned vehicles is self-evident, and at present, lidars are classified into mechanical lidar and solid-state lidar according to the presence or absence of a component. The mechanical laser radar is provided with a rotating component for controlling the laser emission angle, and the solid-state laser radar does not need the mechanical rotating component and mainly depends on an electronic component to control the laser emission angle. Compared with a mechanical laser radar, the solid-state laser radar has small volume, low manufacturing cost and wider application scene.
The solid-state laser radar mainly comprises a laser, a collimation light path, a transflector, a Dammann grating, a hollow reflector, a laser echo receiving and processing circuit and the like, can realize solid-state scanning-free laser detection imaging, and has a system resolution limited by the resolution of an adopted array APD (avalanche photodiode ).
Limited by process and material technology, the resolution of APD array detectors employed in the prior art is difficult to rapidly increase in a short period, and the resolution of APD arrays currently available is about 10 x 10, which is difficult to meet the requirements of high resolution laser detection. The manufacturing difficulty of the high-resolution APD array is extremely high, the cost is increased in an order of magnitude, and meanwhile, the volume and the power consumption of a rear-end receiving processing circuit are also increased sharply by the high-resolution APD array, so that the planar array solid-state laser radar is limited by extremely high technical difficulty, huge volume power consumption and high manufacturing cost, and is difficult to widely popularize and apply.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a high-resolution solid-state area array laser radar system, a control method and a device.
The embodiment of the invention is realized in such a way that a high-resolution solid-state area array laser radar system comprises:
the emission module is used for generating and emitting laser;
the receiving module is used for receiving the laser reflected by the detected object, and comprises an echo detector and a scanner capable of moving along an optical axis, and the position of the laser irradiated on the echo detector can be changed by moving the position of the scanner; and
the control module is respectively connected with the transmitting module and the receiving module and is used for controlling the operation of the transmitting module and the receiving module and synthesizing an image of the measured object according to at least two reflection images of the same measured object obtained by the scanner.
In one embodiment, a control method of a high-resolution solid-state area array laser radar system is further provided, including the following steps:
emitting lattice laser;
collecting reflected lattice laser to obtain a reflected image;
controlling the scanner to move a preset distance, emitting lattice laser and collecting the reflected lattice laser to obtain a reflected image;
repeating the previous step for a plurality of times, and synthesizing the image of the measured object according to the obtained plurality of reflected images.
In one embodiment, the embodiment of the invention further provides a control device of the high-resolution solid-state area array laser radar system, which comprises:
the emitting unit is used for emitting lattice laser;
the acquisition unit is used for acquiring the reflected lattice laser to obtain a reflected image;
the mobile unit is used for controlling the scanner to move a preset distance so as to emit lattice laser and collect the reflected lattice laser to obtain a reflected image;
and the image synthesis unit is used for synthesizing the image of the object to be detected according to the obtained plurality of reflection images.
According to the high-resolution solid-state area array laser radar system provided by the embodiment of the invention, the movable scanner is arranged, so that the synchronous translation of the transmitting laser lattice and the receiving laser lattice relative to the target is realized, the multiple times of multipoint rapid detection of the target is realized, the acquired multiple reflection images are spliced and fused through the control system, and the high-resolution detection imaging is realized by utilizing the low-resolution area array detector. The scheme of the invention has low cost and small volume power consumption, can greatly improve the laser detection resolution, and is favorable for promoting the wide application of the solid-state laser radar.
Drawings
FIG. 1 is a block diagram of a high resolution solid-state area array lidar system provided in one embodiment;
FIG. 2 is a block diagram of a high resolution solid-state area array lidar system provided in one embodiment;
FIG. 3 is a flow chart of a method of controlling a high resolution solid-state area array lidar system provided in one embodiment;
FIG. 4 is a block diagram of a high resolution solid-state area array lidar system control device provided in one embodiment;
fig. 5 is an internal block diagram of a computer device provided in one embodiment.
In the figure: 1. a laser light source; 2. a beam expanding collimating lens; 3. a half-lens; 4. a grating; 5. a first focusing lens; 6. a hollow mirror; 7. a scanner; 8. an echo detector; 9. a second focusing lens; 10. a photocell.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of the present application.
Fig. 1 shows a block diagram of a high-resolution solid-state area array laser radar system according to an embodiment of the present invention, where the high-resolution solid-state area array laser radar system includes:
an emission module 100 for generating and emitting laser light;
a receiving module 200 for receiving the laser light reflected by the object to be detected, the receiving module 200 comprising an echo detector 8 and a scanner 7 movable along an optical axis, the position of the laser light irradiated onto the echo detector 8 being changeable by moving the position of the scanner 7; and
the control module 300 is respectively connected with the transmitting module 100 and the receiving module 200, and is used for controlling the operation of the transmitting module 100 and the receiving module 200, and synthesizing an image of the object to be measured according to at least two reflected images of the same object to be measured obtained by the scanner 7.
In the embodiment of the present invention, the emitting module 100 is used for generating and emitting laser, and the embodiment of the present invention is not limited to the generating manner of the laser, and the emitting module 100 may be implemented by using an existing module.
In the embodiment of the present invention, the receiving module 200 is configured to receive the laser light reflected by the object to be measured, and in the embodiment of the present invention, unlike the prior art, the receiving module 200 includes an echo detector 8 and a scanner 7 that can move along the optical axis, where the echo detector 8 is configured to receive the laser light reflected by the object to be measured and generate an electrical signal, and the control device obtains a reflected image of the object to be measured according to the electrical signal. It should be understood that the reflected image in this application is only used to distinguish the image obtained directly by the echo detector 8 from the image synthesized by the control system module by means of an algorithm; in addition, the system provided by the invention can be used as a general area array laser radar, and the reflected image is an image of the measured object acquired by the system. In the embodiment of the invention, the scanner 7 is used for receiving the reflected laser of the object to be detected and transmitting the reflected laser to the echo detector 8, the scanner 7 can move along the axis direction of the emergent light of the system, and the synchronous translation of the emitting laser lattice and the receiving laser lattice relative to the target can be realized by moving the scanner 7, so that the encrypted detection of the object to be detected is realized.
In the embodiment of the present invention, the control module 300 may control the operations of the transmitting module 100 and the receiving module 200, and may also synthesize the image of the object according to the reflected images of the objects acquired by the echo detector 8. The embodiment of the present invention is not limited to the specific hardware implementation of the control module 300.
In the embodiment of the present invention, the echo detector 8 may be any one of, but not limited to, an array avalanche photodiode, a micro-photodetector, and a high sensitivity enhancement charge-coupled device; the scanner 7 may be, but is not limited to, any one of a transmissive piezoelectric ceramic microbolometer, a reflective piezoelectric ceramic microbolometer, and a high-speed galvanometer.
According to the high-resolution solid-state area array laser radar system provided by the embodiment of the invention, the movable scanner 7 is arranged, so that the synchronous translation of the transmitting laser lattice and the receiving laser lattice relative to the target is realized, the target is rapidly detected for multiple times, the acquired multiple reflection images are spliced and fused through the control system, and the high-resolution detection imaging is realized by using the low-resolution area array detector. The scheme of the invention has low cost and small volume power consumption, can greatly improve the laser detection resolution, and is favorable for promoting the wide application of the solid-state laser radar.
As shown in fig. 2, in one embodiment of the present invention, the emission module 100 includes a laser light source 1, a beam expanding collimator lens 2, a grating 4, and a first focusing lens 5;
the laser light source 1 is connected with the control module 300 and is used for emitting laser beams according to the control of the control module 300;
the beam expanding and collimating lens 2 is arranged at the outgoing side of the laser light source 1 and is used for expanding and collimating the laser emitted by the laser light source 1;
the grating 4 is arranged on the outgoing side of the beam expanding and collimating lens 2 and is used for diffraction and splitting of laser beams;
the first focusing lens 5 is disposed on the outgoing side of the grating 4, and is configured to focus the outgoing light of the grating 4 to generate a lattice light spot.
In the embodiment of the present invention, the emission module 100 includes a laser light source 1, a beam expanding and collimating lens 2, a grating 4 and a first focusing lens 5, where the laser light source 1 generates laser light according to the control of the control module 300, and the beam expanding and collimating lens 2 is formed by combining two lenses, and is used for expanding and collimating the laser light generated by the laser light source 1. The laser beam after beam expansion and alignment irradiates the grating 4, and in the embodiment of the invention, the grating 4 is a dammann grating 4, and the dammann grating 4 is a commonly used diffraction element. In the embodiment of the invention, the laser passing through the dammann grating 4 is focused by the first focusing lens 5 to form a lattice light spot.
In the high-resolution solid-state area array laser radar system provided by the embodiment of the invention, the transmitting module 100 utilizes the laser light source 1 to generate laser, utilizes the beam expanding collimating lens 2 to expand and collimate the laser, then utilizes the Dammann grating 4 and the first focusing lens 5 to form lattice light spots, and utilizes the lattice light spots to detect the measured object, so that the reflection image of the measured object can be obtained.
As shown in fig. 2, in one embodiment of the present invention, the control module 300 further includes a synchronous acquisition unit, where the synchronous acquisition unit is configured to acquire a laser emission signal;
the synchronous acquisition unit comprises a half lens 3, a second focusing lens 9 and a photoelectric tube 10;
the semi-transparent mirror 3 is arranged between the beam expanding collimating lens 2 and the grating 4, and the semi-transparent mirror 3 forms an included angle with the axis of the laser path;
the second focusing lens 9 is used for focusing the laser reflected by the semi-transparent mirror 3 and enabling the focused laser beam to irradiate the photoelectric tube 10;
the photocell 10 is configured to generate an electrical signal based on the received laser beam and transmit the electrical signal to the control module 300.
In the embodiment of the invention, the synchronous acquisition unit is used for acquiring the laser emission signal, the emission module 100 is controlled by the control module 300 to emit laser, but the control signal is sent from the control module 300 to the emission module 100 to receive the control signal, and then the emission module 100 emits the laser, and the control precision of the system is affected by the time delay during the emission of the laser.
In the embodiment of the invention, the synchronous acquisition unit comprises a half lens 3, a second focusing lens 9 and a photoelectric tube 10, the half lens 3 is used for leading out detection laser from a transmission light path of the system, most of the system transmission laser passes through the half lens 3, and the other part of the system transmission laser is reflected by the half lens 3, the reflected laser is focused by the second focusing lens 9 and irradiates the photoelectric tube 10 after being focused, and the photoelectric tube 10 generates an electric signal and transmits the electric signal to the control module 300 so as to realize timing.
The high-resolution solid-state area array laser radar system provided by the embodiment of the invention is also provided with the synchronous acquisition unit, and the emission time of the system laser can be acquired more accurately through the arrangement of the synchronous acquisition unit, so that the control accuracy is improved.
As shown in fig. 2, in one embodiment of the present invention, the receiving module 200 further includes a hollow mirror 6;
the hollow reflector 6 is disposed on an incident side of the emergent light of the scanner 7, an included angle is formed between an axis of the hollow reflector 6 and an axis of the emergent light of the system, a through hole for allowing the emergent light of the system to pass through is formed in the middle of the hollow reflector 6, and reflected light received by the scanner 7 is reflected by the hollow reflector 6 and then irradiates the echo detector 8.
In the embodiment of the present invention, a through hole through which the outgoing light of the system passes is formed in the middle of the hollow reflecting mirror 6, the reflected light of the object to be measured received by the scanner 7 is reflected by the hollow reflecting mirror 6 and then irradiates onto the echo detector 8, the echo generates an electrical signal after the detector receives the illumination, and the control module 300 can obtain the reflected image of the object to be measured according to the electrical signal.
The high-resolution solid-state area array laser radar system provided by the embodiment of the invention can reflect the reflected light of the measured object to the echo detector 8 by arranging the hollow reflecting mirror 6, and has a simple structure and is easy to realize.
As shown in fig. 2, in one embodiment of the present invention, a transimpedance amplifier, a voltage comparator and a timer are connected between the echo detector 8 and the control module 300, and an input end of the timer is connected with the synchronous acquisition unit, and an output end of the timer is connected with the control module 300.
In the embodiment of the invention, the transimpedance amplifier inputs a current signal and outputs a voltage signal, and the transimpedance amplifier belongs to a common signal amplifier type.
In the embodiment of the invention, the voltage comparator is used for comparing the input voltage with the reference voltage and outputting a corresponding signal according to the comparison result.
The high-resolution solid-state area array laser radar system provided by the embodiment of the invention can be used for carrying out preliminary pretreatment on signals by arranging the transimpedance amplifier, the voltage comparator and the timer.
As shown in fig. 2, in one embodiment of the present invention, the control module 300 is further connected to a scanner 7 driving unit, and the scanner 7 driving unit is configured to drive the scanner 7 to move along the axis of the system emergent light according to the control of the control module 300.
In the embodiment of the invention, the scanning driving unit can adopt a miniature servo motor as a power source, the transmission structure can adopt transmission elements such as gears, worm gears, screw rods and the like, and the invention is not particularly limited to a specific implementation mode and structure, and is optional.
The high-resolution solid-state area array laser radar system provided by the embodiment of the invention can drive the scanner 7 to move along the axis direction of the emergent light of the system by arranging the driving unit of the scanner 7, thereby realizing high-density detection of the detected object, further providing the system resolution, and the mode does not depend on the resolution of the echo detector 8, and has low cost and easy realization.
As shown in fig. 3, an embodiment of the present invention further provides a control method of a high-resolution solid-state area array laser radar system, which includes steps S302 to S308:
step S302, emitting lattice laser;
step S304, collecting reflected lattice laser to obtain a reflected image;
step S306, the scanner 7 is controlled to move a preset distance, dot matrix laser is emitted, and reflected dot matrix laser is collected to obtain a reflected image;
step S308, repeating the previous step for a plurality of times, and synthesizing an image of the object to be detected according to the obtained plurality of reflection images.
In the embodiment of the present invention, the light spot received by the echo detector 8 may be moved by a preset distance by moving the scanner 7, and in the embodiment of the present invention, the preset distance may be an integer multiple of the diameter of the light spot, or may be a fraction of the diameter of the light spot, and the moving direction may be along the direction of the line connecting any two adjacent light spots in the light spot array. When the device moves each time, at least one direction or distance is different, a plurality of reflected images of the measured object can be obtained through multiple movements, and the control system can synthesize the images of the measured object by fusing the plurality of reflected images. The embodiment of the present invention is not particularly limited with respect to the method of fusing various images.
The control method of the high-resolution solid-state area array laser radar system provided by the embodiment of the invention realizes synchronous translation of the transmitting laser lattice and the receiving laser lattice relative to the target by moving the scanner 7, thereby realizing multi-time multi-point rapid detection of the target, and realizing high-resolution detection imaging by utilizing a low-resolution area array detector through splicing and fusing acquired multiple reflection images. The scheme of the invention has low cost and small volume power consumption, can greatly improve the laser detection resolution, and is favorable for promoting the wide application of the solid-state laser radar.
As shown in fig. 4, an embodiment of the present invention further provides a control device of a high-resolution solid-state area array laser radar system, including:
an emission unit 401 for emitting a lattice laser;
the acquisition unit 402 is used for acquiring the reflected lattice laser to obtain a reflected image;
a moving unit 403 for controlling the scanner 7 to move a preset distance to emit the lattice laser and collect the reflected lattice laser to obtain a reflected image;
and an image synthesis unit 404, configured to synthesize an image of the object according to the obtained plurality of reflection images.
In the embodiment of the present invention, it should be understood that, in implementing a complete workflow, each unit does not perform an operation only once, and some units may repeatedly perform some operations, and a specific working process may refer to a process of a control method of a high-resolution solid-state area array laser radar system provided in the embodiment of the present invention, which is not described in detail herein.
The control device of the high-resolution solid-state area array laser radar system provided by the embodiment of the invention realizes synchronous translation of the transmitting laser lattice and the receiving laser lattice relative to the target through the mobile unit, thereby realizing multi-time multi-point rapid detection of the target, realizing splicing and fusion of multiple acquired reflected images through the image synthesis unit, and realizing high-resolution detection imaging by utilizing the low-resolution area array detector. The scheme of the invention has low cost and small volume power consumption, can greatly improve the laser detection resolution, and is favorable for promoting the wide application of the solid-state laser radar.
FIG. 5 illustrates an internal block diagram of a computer device in one embodiment. As shown in fig. 5, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The nonvolatile storage medium of the computer device stores an operating system and may also store a computer program, where the computer program when executed by the processor may cause the processor to implement the control method of the high-resolution solid-state area array laser radar system provided in the embodiment of the present invention. The internal memory may also store a computer program, which when executed by the processor, causes the processor to execute the control method of the high-resolution solid-state area array laser radar system provided in the embodiment of the invention. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the control device of the high-resolution solid-state area array laser radar system provided in the embodiment of the present invention may be implemented as a computer program, and the computer program may be executed on a computer device as shown in fig. 5. The memory of the computer device may store various program modules constituting the control means of the high-resolution solid-state area array lidar system, such as the transmitting unit, the acquiring unit, the moving unit and the image synthesizing unit shown in fig. 4. The computer program constituted by the respective program modules causes the processor to execute the steps in the control method of the high-resolution solid-state area array laser radar system of the respective embodiments of the present invention described in the present specification.
For example, the computer device shown in fig. 5 may perform step S302 by transmission in the control apparatus of the high-resolution solid-state area array lidar system shown in fig. 4; the computer equipment can execute the step S304 through the acquisition unit; the computer device may perform step S306 by the mobile unit; the computer device may perform step S308 through the image synthesizing unit.
In one embodiment, a computer device is presented, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
emitting lattice laser;
collecting reflected lattice laser to obtain a reflected image;
the scanner 7 is controlled to move a preset distance, and the dot matrix laser is emitted and the reflected dot matrix laser is collected to obtain a reflected image;
repeating the previous step for a plurality of times, and synthesizing the image of the measured object according to the obtained plurality of reflected images.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which when executed by a processor causes the processor to perform the steps of:
emitting lattice laser;
collecting reflected lattice laser to obtain a reflected image;
the scanner 7 is controlled to move a preset distance, and the dot matrix laser is emitted and the reflected dot matrix laser is collected to obtain a reflected image;
repeating the previous step for a plurality of times, and synthesizing the image of the measured object according to the obtained plurality of reflected images.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. A high resolution solid state area array lidar system, the high resolution solid state area array lidar system comprising:
the emission module is used for generating and emitting laser;
the receiving module is used for receiving the laser reflected by the detected object, and comprises an echo detector and a scanner capable of moving along an optical axis, and the position of the laser irradiated on the echo detector can be changed by moving the position of the scanner; and
the control module is respectively connected with the transmitting module and the receiving module and is used for controlling the operation of the transmitting module and the receiving module and synthesizing an image of the detected object according to at least two reflection images of the same detected object obtained by the scanner;
the emission module comprises a laser light source, a beam expansion collimating lens, a grating and a first focusing lens;
the laser light source is connected with the control module and used for emitting laser beams according to the control of the control module;
the beam expanding and collimating lens is arranged on the outgoing side of the laser light source and is used for expanding and collimating the laser emitted by the laser light source;
the grating is arranged on the outgoing side of the beam expanding and collimating lens and is used for diffraction and light splitting of laser beams;
the first focusing lens is arranged on the emergent side of the grating and is used for focusing emergent light of the grating so as to generate lattice light spots;
the scanner can move along the axis direction of the emergent light of the system, and the synchronous translation of the transmitting laser lattice and the receiving laser lattice relative to the target is realized by moving the scanner.
2. The high resolution solid state area array lidar system according to claim 1, wherein the control module further comprises a synchronous acquisition unit for acquiring a lasing signal;
the synchronous acquisition unit comprises a half lens, a second focusing lens and a photoelectric tube;
the semi-transparent lens is arranged between the beam expanding collimating lens and the grating, and an included angle is formed between the semi-transparent lens and the axis of the laser path;
the second focusing lens is used for focusing the laser reflected by the semi-transparent mirror and enabling the focused laser beam to irradiate the photoelectric tube;
the photoelectric tube is used for generating an electric signal according to the received laser beam and transmitting the electric signal to the control module.
3. The high resolution solid state area array lidar system according to claim 1, wherein the receiving module further comprises a hollow mirror;
the hollow reflector is arranged on the incidence side of the emergent light of the scanner, the axis of the hollow reflector and the axis of the emergent light of the system form an included angle, a through hole for allowing the emergent light of the system to pass through is formed in the middle of the hollow reflector, and the reflected light received by the scanner is reflected by the hollow reflector and then irradiates the echo detector.
4. The high-resolution solid-state area array lidar system according to claim 1, wherein a transimpedance amplifier, a voltage comparator and a timer are connected between the echo detector and the control module, one input end of the timer is connected with the synchronous acquisition unit, and the output end of the timer is connected with the control module.
5. The high-resolution solid-state area array lidar system according to claim 1, wherein the control module is further connected to a scanner driving unit, and the scanner driving unit is configured to drive the scanner to move along an axis of the system emergent light according to control of the control module.
6. The high resolution solid state area array lidar system according to claim 1, wherein the echo detector is any one of an array avalanche photodiode, a photodetector, and a high sensitivity enhancement charge-coupled device.
7. The high resolution solid state area array lidar system of claim 1, wherein the scanner is any one of a transmissive piezoelectric ceramic microbeamer, a reflective piezoelectric ceramic microbeamer, and a high speed galvanometer.
8. The control method of the high-resolution solid-state area array laser radar system is characterized by comprising the following steps of:
emitting lattice laser;
collecting reflected lattice laser to obtain a reflected image;
controlling the scanner to move a preset distance, emitting lattice laser and collecting the reflected lattice laser to obtain a reflected image;
repeating the previous step for a plurality of times, and synthesizing an image of the measured object according to the obtained plurality of reflected images;
the scanner can move along the axis direction of the emergent light of the system, and the synchronous translation of the transmitting laser lattice and the receiving laser lattice relative to the target is realized by moving the scanner.
9. A control device of a high-resolution solid-state area array laser radar system, comprising:
the emitting unit is used for emitting lattice laser;
the acquisition unit is used for acquiring the reflected lattice laser to obtain a reflected image;
the mobile unit is used for controlling the scanner to move a preset distance so as to emit the lattice laser and collect the reflected lattice laser to obtain a reflected image, the scanner can move along the axis direction of the emergent light of the system, and the synchronous translation of the emitted laser lattice and the received laser lattice relative to the target is realized by moving the scanner;
and the image synthesis unit is used for synthesizing the image of the object to be detected according to the obtained plurality of reflection images.
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