CN112558098A - Linear laser radar with high time resolution and wide view angle for plant protection unmanned aerial vehicle - Google Patents
Linear laser radar with high time resolution and wide view angle for plant protection unmanned aerial vehicle Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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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
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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
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- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- 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
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Abstract
The invention discloses a linear laser radar with high time resolution and wide view angle for a plant protection unmanned aerial vehicle, which belongs to the technical field of laser radar remote sensing. The invention is based on a mid-infrared ultrafast tunable laser source and a linear shaping technology, uses linear laser with high peak power and high repetition frequency, the wavelength of the output laser can be switched between an atmospheric window waveband and a water absorption waveband, the concentration and the range of pesticide sprayed by an unmanned aerial vehicle are measured by using the water absorption waveband laser, and the distance measurement is carried out by using the atmospheric window waveband laser. The device combines the wavelength characteristic of mid-infrared laser, the high pulse energy of ultrafast laser, the high repetition frequency characteristic, the high spatial resolution characteristic of linear laser and correspond signal receiving and processing system, has realized a section and has been used for plant protection unmanned aerial vehicle's large scale, high accuracy to survey and have the laser radar of real-time pesticide spraying concentration monitoring function.
Description
Technical Field
The invention relates to the field of laser remote sensing, in particular to a linear laser radar with high time resolution and wide view angle for a plant protection unmanned aerial vehicle.
Background
A plant protection unmanned aerial vehicle is an unmanned aerial vehicle for agricultural and forestry plant protection operation. The rotary wing type agricultural chemical spraying machine has the advantages that the operation height is low, the drift is less, the machine can hover in the air, a special take-off and landing airport is not needed, downward air flow generated by the rotary wing is beneficial to increasing the penetrability of fog flow to crops, the control effect is high, remote control operation is carried out, spraying operation personnel avoid the danger of exposure to pesticides, the spraying operation safety is improved, and the like.
The mid-infrared tunable laser has a pulse width of picoseconds (10)-12s) and even femtoseconds (10)-15s) order of magnitude, with a small pulse width and a high peak power (>kW), high repetition frequency (>MHz), and the like, and can be matched with a tunable device to generate laser with adjustable wavelength. The tunable light source is mainly applied to the fields of fluorescence imaging, Fluorescence Lifetime Imaging (FLIM), total reflection fluorescence microscopy (TIRF), single molecule imaging, broadband spectroscopy, Optical Coherence Tomography (OCT), flow cytometry and the like.
The wavelength range of the infrared laser is 7.6-10 mu m, electromagnetic waves are less reflected, absorbed and scattered through the atmosphere, wave bands with high transmissivity are called as atmospheric windows, a spectrum band with high transmissivity when sunlight penetrates through the atmosphere is usually called as an atmospheric window, 1.5-1.9 mu m, 2.4-2.5 mu m, 3.5-5.5 mu m and 8.0-10 mu m in the infrared laser are in the atmospheric window wave bands, and the infrared laser is less influenced by factors such as electromagnetic wave scattering and absorption and the like by the atmosphere, so that remote sensing detection is facilitated; the water vapor molecules are the primary absorber of infrared radiation. The stronger water vapor absorption band is located at 0.71-0.735 microns (micrometers), 0.81-0.84 microns, 0.89-0.99 microns, 1.07-1.20 microns, 1.3-1.5 microns, 1.7-2.0 microns, 2.4-3.3 microns and 4.8-8.0 microns, the plant protection unmanned aerial vehicle is mainly used for agriculture and forestry plant protection operation, agriculture and forestry plants are all carbohydrates, and the growth and distribution state of the agriculture and forestry plants and the water vapor content of the environment can be effectively detected according to the energy absorption condition of the plants on water absorption band laser.
At present, the wavelengths of the laser radars commonly used in the market are mostly 0.905 μm, 1.55 μm and 10.6 μm, which are all single wavelengths and cannot be adjusted, and are mostly continuous lasers, and compared with pulse lasers, the detection precision of the continuous lasers is lower. In plant protection unmanned aerial vehicle field, plant protection unmanned aerial vehicle an important application is for spraying the pesticide, at the spraying process of pesticide, has not had special apparatus yet to survey the scope and the concentration that the pesticide sprayed, causes the unreasonable application of pesticide, and some pesticides hold improper, can produce obvious phytotoxicity to crops at the spraying in-process, can not reach expected effect. In complex weather, such as windy weather, the existing plant protection unmanned aerial vehicle has no effective monitoring means for flight protection operation, and the expected action area is greatly deviated from the actual action area; for irregular plots, serious repeated spraying and missed spraying phenomena can also occur due to the lack of detection means.
The invention provides a linear laser radar with high time resolution and wide visual angle for a plant protection unmanned aerial vehicle, which has the advantages of large space coverage area, high space-time resolution, multiple functions (monitoring the effective adhesion degree of sprayed pesticide, detection) and high precision, and aims to solve the problems that the existing laser radar is low in detection precision and lacks of a laser radar specially used for the plant protection unmanned aerial vehicle flight defense operation.
Disclosure of Invention
Aiming at the problems, the invention provides a linear laser radar with high time resolution and wide view angle for a plant protection unmanned aerial vehicle.
To achieve the object of the present invention, there is provided a high temporal resolution, wide view angle line laser radar for a plant protection unmanned aerial vehicle, comprising: the device comprises an ultrafast light source module, a linear shaping module, a photoelectric detection module and a signal processing module;
the ultrafast light source module comprises one or more intermediate infrared ultrafast pulse laser light sources with tunable wavelengths and a splitter; the linear shaping module comprises an isolator, a collimator, a focusing lens and a linear generator; the photoelectric detection module comprises a signal acquisition module, a multi-channel analog-to-digital converter and a high-speed collector; the signal processing module comprises a micro-control processor and an upper computer;
the laser output by the intermediate infrared ultrafast pulse laser source is transmitted to the splitter through an optical fiber, the splitter equally divides the laser into three equal parts which are respectively transmitted to the linear shaping modules with the same structure through the optical fiber, wherein each path of laser is transmitted to the isolator through the optical fiber transmission module, is output to the collimator through the isolator, sequentially passes through two focusing lenses through the collimator for beam focusing, is transmitted to the linear generator through the focusing lenses, is diverged into linear laser through the linear generator, the linear laser is transmitted to the atmosphere through the detection window for detection and generates an echo signal, the echo signal is collected through the signal collection module, the collected echo signal is transmitted to the analog-to-digital conversion module, the analog-to-digital conversion module processes the received signal and transmits the processed signal to the high-speed collector, and the high-speed collector realizes the receiving and caching processing of the high-speed digital signal, and sending the cached signals to a micro control processor, and sending the signals to an upper computer by the micro control processor for calculation processing.
The intermediate infrared ultrafast pulse laser light source is provided with a solid gain medium and a saturable absorber.
The ultrafast light source module adopts a pulse laser working mode, and the pulse repetition frequency is greater than megahertz.
The collimator is an optical fiber collimator and is used for converting transmission light in the optical fiber into collimated light.
The linear shaper is a cylindrical lens and is used for diverging the point light source into a linear light source.
The signal acquisition module consists of one or more photoelectric detectors, is distributed annularly, has the detection wavelength range of 1.8-3 microns, and consists of a Datong avalanche diode with a preamplifier, wherein the specific parameters are that the incident light power is 5.0-5000 microwatts, the power voltage of the amplifier is +/-5.5- +/-12.5V, and the system bandwidth is more than 1 GHz.
The multichannel analog-to-digital converter is used for converting a corresponding input voltage signal into an output digital signal, the conversion time is less than 50ps, and the sampling rate is greater than Gs/s.
The high-speed collector is provided with a processor, a memory, various I/O ports, an interrupt system, a timer/timer function and a serial port module, is high-speed digital signal processing equipment and can reach the processing speed of more than 1.5 GHz.
The micro-control processor is an integrated circuit chip, and is a small and perfect micro-computer system formed by integrating a Central Processing Unit (CPU) with data processing capacity, a Random Access Memory (RAM), a Read Only Memory (ROM), a plurality of input/output ports, interrupt systems, a timer/counter and other functions (possibly comprising a display driving circuit, a pulse width modulation circuit, an analog multiplexer, an analog/digital (A/D) converter and other circuits) on a silicon chip by adopting a super-large scale integrated circuit technology;
the signal processing module can adjust the emergent laser intensity and wavelength of the intermediate infrared tunable laser module according to the control signal and the detection signal received in real time.
The splitter is a 1-to-3 splitter and is used for distributing the light energy transmitted in one optical fiber to three optical fibers according to a predetermined proportion.
The isolator is an optical fiber isolator and is used for preventing reflected laser from entering the light source.
The focusing lens is two convex lenses.
The micro control processor supports wireless communication, and the carrying module can be a Bluetooth module or a WIFI module.
The upper computer is a notebook computer supporting Bluetooth or wireless communication.
The output end of the intermediate infrared ultrafast pulse laser light source is connected with the input end of the cylindrical lens, the point laser is shaped into linear laser through the cylindrical lens and is emitted into the atmosphere, an echo signal generated after interaction of the laser and the atmosphere is received through the photoelectric detector array, an optical signal is transmitted to the processing chip, the processing chip sends a control signal to the stepping motor and the filter according to the corresponding received signal, the distance between the cylindrical lens and the incident laser light source is controlled by the stepping motor through the control signal, the wavelength of the output laser is adjusted by the filter through the control signal, and the processing chip calculates according to the real-time echo signal generated by the interaction of the laser and the atmosphere to obtain the distance between the target and the laser radar and the movement track.
Laser radar ranging and obstacle detection principle:
Ta1the laser emission time; t isa2Is the echo signal receiving time.
Calculating the distance S between the emergent laser and the measured object,
S＝c×(Ta2-Ta1)/2
wherein c is the speed of light; t isa1Emitting a laser pulse signal; t isa2Is the signal reception time. And further obtaining ranging information according to the formula to complete the ranging function.
(Ta2-Ta1) The pulse laser radar determines time t by using a clock crystal oscillator and a pulse counter, the clock crystal oscillator is used for generating electric pulse oscillation with fixed frequency, the time interval delta t of the pulse can be 1/f according to the delta t, f is the repetition frequency of laser, and the pulse counter is used for counting the electric pulse N generated by the crystal oscillator. From the start of the emission pulse, the generation pulse of the crystal oscillator is triggered synchronously with the counting start time of the counter. The time interval t is therefore N Δ t, from which it can be calculated that the distance can be
And calculating the effective distance from the radar to the unmanned aerial vehicle when the radar measures the obstacle according to the echo signal time difference, and judging whether the obstacle exists in the detection direction or not according to the existence of the echo signal.
The principle of measuring the concentration distribution of water vapor according to the absorption effect of laser in the atmospheric air in the water absorption wave band is as follows:
intensity of I according to Lambert-Beer's law of infrared spectroscopy0After the monochromatic laser with the frequency of V passes through the absorption medium with the length of L, the intensity measured at the receiving end is I, and the intensity measured at the receiving end is:
I(v)＝I0(v)e(-σ(v)NL)
where σ (v) is the absorption cross section of the gas molecule and N is the number density of molecules.
Because the gas volume is known, the cavity volume is known, the molecular number density, i.e., the gas concentration, is known,
the absorption cross section of the gas molecule can be calculated from the above formula.
The gas species can be determined from the absorption cross section of the corresponding gas molecule.
The laser light source of the novel laser detector is an excellent coherent light source, the emitted laser is pulse laser, and the received echo signal is also a pulse signal.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention has wide visual angle, the linear laser is constructed by utilizing the linear shaping technology, and the detection visual angle is far larger than that of the existing single-line or multi-line laser radar. The single-line laser radar performs detection sampling in a scanning mode in the using process, and the laser detection of the laser radar provided by the invention is linear, scanning is not needed, and vibration and energy waste caused by scanning are avoided. The detection precision of the multi-line laser radar greatly depends on the number of emitted laser, the linear laser provided by the invention can form effective detection in a linear region of the emitted laser, and the detection with high spatial resolution can be effectively carried out by adjusting the number and distribution density of the signal receivers.
(2) High precision, high pulse frequency (MHz) determined by high repetition frequency characteristic of mid-infrared ultrafast laser, narrow pulse width picosecond (10)-12s) and even femtoseconds (10)-15s) far superior to the commonly used nanosecond (10) of the prior art-9) The level light source determines that the precision of the impulse response time of the detector in use is thousands times (10) of that of the existing nanosecond laser detector3) Even millions times (10)6) The above. The characteristics of high peak power (watt level) and high repetition frequency (near hundred megahertz) can realize accurate detection in the environment with low remote visibility. The echo signals of the emergent laser are collected in real time, and the condition of the light propagation area is effectively fed back through the echo signals.
(3) Laser radar adopts the tunable light source of spectrum, provides the special laser wave band that can be used to plant protection unmanned aerial vehicle special use, is atmospheric window (low water absorption) wave band through adjusting the laser wave band, can be used to plant protection unmanned aerial vehicle to survey under the dense fog weather, adjusts the laser wave band and is water absorption wave band, can be used to plant protection unmanned aerial vehicle and fly to prevent under the operation, sprays the detection of pesticide concentration. The flying prevention operation capability of the plant protection unmanned aerial vehicle is enhanced, and the work of the plant protection unmanned aerial vehicle in the complex weather is also guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of a high-time-resolution wide-view linear lidar for a plant protection unmanned aerial vehicle according to an embodiment;
FIG. 2 is a schematic representation of the use of one embodiment; (line laser measurement);
FIG. 3 is a schematic diagram of the use of one embodiment; (measuring the actual range of action of the pesticide);
FIG. 4 is an infrared absorption spectrum of water of an embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the present application and do not limit the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the relevant embodiments, nor are separate alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
The utility model provides a linear laser radar that is used for plant protection unmanned aerial vehicle's high temporal resolution, wide visual angle, the structure is shown as figure 1, including well infrared tunable laser module, linear plastic module, photoelectric detection module and signal processing module.
The use schematic is shown in fig. 2.
The intermediate infrared tunable laser module comprises an intermediate infrared ultrafast pulse laser source with tunable wavelength and a splitter; the linear shaping module comprises an isolator, a collimator, a focusing lens and a linear generator; the photoelectric detection module comprises a signal acquisition module, a multi-channel analog-to-digital converter and a high-speed collector; the signal processing module comprises a micro-control processor and an upper computer;
the device comprises a mid-infrared ultrafast pulse laser light source 1, a semiconductor laser, a mid-infrared light source with tunable wavelength range of 1.8-3 μm, repetition frequency of 16.8MHz, pulse width of 14ps, working voltage of 12v and working temperature of-40 ℃ to +80 ℃;
the splitter 20 selects a (2+1) × 1 fluoride optical fiber splitter, wherein the input end of the splitter is connected with the tail fiber of the semiconductor laser in a mechanical splicing manner;
splitter input fibers 21;
a first splitter output fiber 22;
a second splitter output fiber 23;
a third splitter output fiber 24;
an isolator 01, a fiber isolator, with a working wavelength of 1.8-3 μm;
a collimator 02, an optical fiber collimator, a single-mode optical fiber collimator, a working wavelength of 1.8-3 μm, and a clear aperture
The maximum power is 300 mW;
the focal length of the first focusing lens 03 is 10 mm;
a second focusing lens 04, a convex lens, with a focal length of 10 mm;
a linear generator 05, a cylindrical lens, a working wavelength of 2.5 μm, antireflection films on both sides, a working temperature of-40 ℃ to 93 ℃, as shown in figure 1, a side view is shown at 05, a front view is shown at 07, and a top view is shown at 06;
a signal acquisition module 6, which in this embodiment is composed of 36 photodetectors distributed annularly at 10 ° intervals, wherein the single photodetector, a dartong avalanche diode with a preamplifier, has high sensitivity to light in a 1.8-3 μm band, and a fast response speed, and has specific parameters of 5.0-5000 microwatts of incident light power, an amplifier additionally provided, a power supply voltage of the amplifier is ± 5.5-12.5V, and a system bandwidth of 1.5 GHz;
the first multichannel analog-to-digital converter 41, the second multichannel analog-to-digital converter 42 and the third multichannel analog-to-digital converter 43 convert the corresponding input voltage signal into an output digital signal, the conversion time is less than 50ps, and the sampling rate is greater than Gs/s;
the high-speed collector 51 is an FPGA digital circuit, and the model of a chip Virtex-II Pro is selected;
the microcontroller 52 and the STM32 singlechip adopt a model STM32F4, the theoretical effective communication distance of a loaded Bluetooth 5.0 module is 300m, the upper limit of the transmission speed is 24Mbps, and the bandwidth of the amplification module is 90 MHz;
the upper computer 53 is a notebook computer supporting Bluetooth 5.0 communication;
the upper computer 53 sends a control instruction to the micro control processor 52, the micro control processor controls the output laser wavelength of the intermediate infrared ultrafast pulse laser light source 1 to be 2.5 μm, the output laser of the intermediate infrared ultrafast pulse laser light source 1 is transmitted to the splitter 20 through the splitter input optical fiber 21, the splitter 20 divides the laser into three equal parts, the three equal parts are respectively transmitted to the first splitter output optical fiber 22, the second splitter output optical fiber 23 and the third splitter output optical fiber 24 and are transmitted to the linear shaping module with the same structure, wherein each path of laser is transmitted to the isolator 01 through the optical fiber, is output to the collimator 02 through the isolator 01, sequentially passes through the first focusing lens 03 and the second focusing lens 04 through the collimator 02 for beam focusing, passes through the focusing lens to the linear generator 05, passes through the linear generator 05, the point laser is dispersed into the linear laser, and the linear laser passes through the detection window to the atmosphere, the detection is carried out, an echo signal is generated, the echo signal is collected through the signal collection module 6, the echo signal is collected and converted into an analog electrical signal, the analog electrical signal is sent to the multichannel analog-to-digital conversion module 6, the first multi-modulus conversion module 41, the second multi-modulus conversion module 42 and the third multi-modulus conversion module 43 process the received signal, the analog electrical signal is converted into a digital signal and sent to the high-speed collector 51, the high-speed collector 51 realizes the receiving and caching processing of the high-speed digital signal, the cached signal is sent to the micro-control processor 52, and the micro-control processor 52 sends the signal to the upper computer 53 for calculation processing.
Ta1The laser emission time; t isa2Is the echo signal receiving time.
Calculating the distance S between the emergent laser and the measured object,
S＝c×(Ta2-Ta1)/2
wherein c is the speed of light; t isa1Emitting a laser pulse signal; t isa2Is the signal reception time. And further obtaining ranging information according to the formula to complete the ranging function.
(Ta2-Ta1) The pulse laser radar determines time t by using a clock crystal oscillator and a pulse counter, the clock crystal oscillator is used for generating electric pulse oscillation with fixed frequency, the time interval delta t of the pulse can be 1/f according to the delta t, f is the repetition frequency of laser, and the pulse counter is used for counting the electric pulse N generated by the crystal oscillator. From the start of the emission pulse, the generation pulse of the crystal oscillator is triggered synchronously with the counting start time of the counter. The time interval t is therefore N Δ t, from which it can be calculated that the distance can be
According to the echo signal time difference, the effective distance from the obstacle measured by the radar to the unmanned aerial vehicle can be calculated, and whether the obstacle exists in the detection direction or not is judged according to the existence of the echo signal.
Embodiment 2 is based on that the laser radar of the invention is used for detecting the pesticide concentration of the plant protection unmanned aerial vehicle.
The utility model provides a linear laser radar that is used for plant protection unmanned aerial vehicle's high temporal resolution, wide visual angle, the structure is shown as figure 1, including well infrared tunable laser module, linear plastic module, photoelectric detection module and signal processing module.
The use schematic is shown in fig. 3.
The intermediate infrared tunable laser module comprises an intermediate infrared ultrafast pulse laser source with tunable wavelength and a splitter; the linear shaping module comprises an isolator, a collimator, a focusing lens and a linear generator; the photoelectric detection module comprises a signal acquisition module, a multi-channel analog-to-digital converter and a high-speed collector; the signal processing module comprises a micro-control processor and an upper computer;
the device comprises a mid-infrared ultrafast pulse laser light source 1, a semiconductor laser, a mid-infrared light source with tunable wavelength range of 1.8-3 μm, repetition frequency of 16.8MHz, pulse width of 14ps, working voltage of 12v and working temperature of-40 ℃ to +80 ℃;
the splitter 20 selects a (2+1) × 1 fluoride optical fiber splitter, wherein the input end of the splitter is connected with the tail fiber of the semiconductor laser in a mechanical splicing manner;
splitter input fibers 21;
a first splitter output fiber 22;
a second splitter output fiber 23;
a third splitter output fiber 24;
an isolator 01, a fiber isolator, with a working wavelength of 1.8-3 μm;
a collimator 02, an optical fiber collimator, a single-mode optical fiber collimator, a working wavelength of 1.8-3 μm, and a clear aperture
The maximum power is 300 mW;
the focal length of the first focusing lens 03 is 10 mm;
a second focusing lens 04, a convex lens, with a focal length of 10 mm;
a linear generator 05, a cylindrical lens, a working wavelength of 2 μm, antireflection films on both sides, a working temperature of-40 ℃ to 93 ℃, a side view as shown by 05 in fig. 1, a front view as shown by 07, and a top view as shown by 06;
a signal acquisition module 6, which in this embodiment is composed of 36 photodetectors distributed annularly at 10 ° intervals, wherein the single photodetector, a dartong avalanche diode with a preamplifier, has high sensitivity to light in a 1.8-3 μm band, and a fast response speed, and has specific parameters of 5.0-5000 microwatts of incident light power, an amplifier additionally provided, a power supply voltage of the amplifier is ± 5.5-12.5V, and a system bandwidth of 1.5 GHz;
the first multichannel analog-to-digital converter 41, the second multichannel analog-to-digital converter 42 and the third multichannel analog-to-digital converter 43 convert the corresponding input voltage signal into an output digital signal, the conversion time is less than 50ps, and the sampling rate is greater than Gs/s;
the high-speed collector 51 is an FPGA digital circuit, and the model of a chip Virtex-II Pro is selected;
the microcontroller 52 and the STM32 singlechip adopt a model STM32F4, the theoretical effective communication distance of a loaded Bluetooth 5.0 module is 300m, the upper limit of the transmission speed is 24Mbps, and the bandwidth of the amplification module is 90 MHz;
the upper computer 53 is a notebook computer supporting Bluetooth 5.0 communication;
a first pesticide spray area 100, a first pesticide spray area 101, a first pesticide spray area 102, areas of different pesticide concentrations;
the upper computer 53 sends a control instruction to the micro control processor 52, the micro control processor controls the output laser wavelength of the intermediate infrared ultrafast pulse laser light source 1 to be 2.5 μm, the output laser of the intermediate infrared ultrafast pulse laser light source 1 is transmitted to the splitter 20 through the splitter input optical fiber 21, the splitter 20 divides the laser into three equal parts, the three equal parts are respectively transmitted to the first splitter output optical fiber 22, the second splitter output optical fiber 23 and the third splitter output optical fiber 24 and are transmitted to the linear shaping module with the same structure, wherein each path of laser is transmitted to the isolator 01 through the optical fiber, is output to the collimator 02 through the isolator 01, sequentially passes through the first focusing lens 03 and the second focusing lens 04 through the collimator 02 for beam focusing, passes through the focusing lens to the linear generator 05, passes through the linear generator 05, the point laser is dispersed into the linear laser, and the linear laser passes through the detection window to the atmosphere, the first pesticide spraying area 100, the first pesticide spraying area 101 and the first pesticide spraying area 102 are detected to generate echo signals, the echo signals are collected through the signal collecting module 6, the echo signals are collected and converted into analog electric signals, the analog electric signals are sent to the multichannel analog-to-digital conversion module 6, the first multimode digital conversion module 41, the second multimode digital conversion module 42 and the third multimode digital conversion module 43 process the received signals, the analog electric signals are converted into digital signals and sent to the high-speed collector 51, the high-speed collector 51 receives and caches the high-speed digital signals and sends the cached signals to the micro-control processor 52, and the micro-control processor 52 sends the signals to the upper computer 53 for calculation processing.
Ta1Emitting laser at the moment; t isa2Is the echo signal receiving time.
Calculating the distance S between the emergent laser and the measured object,
S＝c×(Ta2-Ta1)/2
wherein c is the speed of light; t isa1Emitting a laser pulse signal; t isa2Is the signal reception time. And further obtaining distance measurement information according to the formula to complete the distance measurement function of the detector.
(Ta2-Ta1) The pulse laser radar determines time t by using a clock crystal oscillator and a pulse counter, the clock crystal oscillator is used for generating electric pulse oscillation with fixed frequency, the time interval delta t of the pulse can be 1/f according to the delta t, f is the repetition frequency of laser, and the pulse counter is used for counting the electric pulse N generated by the crystal oscillator. From the start of the emission pulse, the generation pulse of the crystal oscillator is triggered synchronously with the counting start time of the counter. The time interval t is therefore N Δ t, from which a calculation can be made
The infrared absorption spectrum of water (in the gaseous state) is shown in FIG. 4.
According to Lambert-Beer's law of infrared spectroscopy, a monochromatic laser with intensity of I0 and frequency of V passes through an absorption medium with length of L, and the intensity measured at a receiving end is I, then the intensity measured at the receiving end is I:
I(v)＝I0(v)e(-σ(v)NL)
where σ (v) is the absorption cross section of the gas molecule and N is the number density of molecules.
Therefore, the molecular number density N, i.e. the gas concentration, can be:
according to the invention, by adjusting the output wavelength of the laser, lasers with different wavelengths are sequentially output in a short time, wherein one laser wavelength is a high water absorption waveband, and the other laser wavelength is a low water absorption waveband, and the concentration distribution of pesticides in the area can be easily obtained according to the intensity difference of two echo signals.
It should be noted that the terms "first \ second \ third" referred to in the embodiments of the present application merely distinguish similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence when allowed. It should be understood that "first \ second \ third" distinct objects may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented in an order other than those illustrated or described herein.
The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, product, or device.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a linear lidar of high temporal resolution, wide visual angle for plant protection unmanned aerial vehicle which characterized in that, linear lidar includes: the device comprises an ultrafast light source module, a linear shaping module, a photoelectric detection module and a signal processing module;
the ultrafast light source module comprises one or more intermediate infrared ultrafast pulse laser light sources with tunable wavelengths and a splitter; the linear shaping module comprises an isolator, a collimator, a focusing lens and a linear generator; the photoelectric detection module comprises a signal acquisition module, a multi-channel analog-to-digital converter and a high-speed collector; the signal processing module comprises a micro-control processor and an upper computer;
the laser output by the intermediate infrared ultrafast pulse laser source is transmitted to the splitter through an optical fiber, the splitter equally divides the laser into three equal parts which are respectively transmitted to the linear shaping modules with the same structure through the optical fiber, wherein each path of laser is transmitted to the isolator through the optical fiber transmission module, is output to the collimator through the isolator, sequentially passes through two focusing lenses through the collimator for beam focusing, is transmitted to the linear generator through the focusing lenses, is diverged into linear laser through the linear generator, the linear laser is transmitted to the atmosphere through the detection window for detection and generates an echo signal, the echo signal is collected through the signal collection module, the collected echo signal is transmitted to the analog-to-digital conversion module, the analog-to-digital conversion module processes the received signal and transmits the processed signal to the high-speed collector, and the high-speed collector realizes the receiving and caching processing of the high-speed digital signal, and sending the cached signals to a micro control processor, and sending the signals to an upper computer by the micro control processor for calculation processing.
2. The high temporal resolution, wide view line lidar for plant protection drones of claim 1, wherein the mid-infrared ultrafast pulsed laser light source has a solid gain medium and a saturable absorber.
3. The high temporal resolution, wide view line lidar for plant protection drones of claim 1, wherein the ultrafast light source module operates with pulsed laser light with a pulse repetition rate greater than mhz.
4. The high temporal resolution, wide view line lidar for plant protection drones of claim 1, wherein the collimator is a fiber collimator for converting transmitted light in a fiber into collimated light.
5. The high temporal resolution, wide view linear lidar for plant unmanned aerial vehicles of claim 1, wherein the linear shaper is a cylindrical lens for diverging the point source of light into a linear source of light.
6. The high time resolution, wide view angle line lidar for plant protection unmanned aerial vehicles of claim 1, wherein the signal acquisition module comprises one or more photodetectors, is distributed in a ring shape, has a detection wavelength range of 1.8-3 μm, and comprises a dartong avalanche diode with a preamplifier, and has specific parameters of incident light power of 5.0-5000 microwatts, amplifier power supply voltage of ± 5.5- ± 12.5V, and system bandwidth of more than 1 GHz.
7. The high temporal resolution, wide view line lidar for plant protection drones of claim 1, wherein the multichannel analog-to-digital converter is configured to convert a corresponding input voltage signal to an output digital signal, wherein the conversion time is less than 50ps, and the sampling rate is greater than Gs/s.
8. The linear lidar with high time resolution and wide view angle for a plant protection unmanned aerial vehicle according to claim 1, wherein the high-speed collector has a processor, a memory, a plurality of I/O ports and interrupt systems, a timer/timer function, and a serial port module, is a high-speed digital signal processing device, and can achieve a processing speed of more than 1.5 GHz.
9. The high temporal resolution, wide view line lidar for plant protection drones of claim 1, wherein the micro-controller processor is an integrated circuit chip, which is a small and perfect microcomputer system formed by integrating the functions of a central processing unit CPU with data processing capability, a random access memory RAM, a read only memory ROM, various I/O ports and interrupt systems, a timer/counter, etc. onto a silicon chip by using the very large scale integrated circuit technology;
10. the high temporal resolution, wide view line lidar for plant protection drones of claim 1, wherein the signal processing module is capable of adjusting the outgoing laser intensity and wavelength of the mid-infrared tunable laser module based on real-time received control and detection signals.
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