CN112596073B - Long-distance high-resolution laser radar and detection method - Google Patents
Long-distance high-resolution laser radar and detection method Download PDFInfo
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- CN112596073B CN112596073B CN202011428011.1A CN202011428011A CN112596073B CN 112596073 B CN112596073 B CN 112596073B CN 202011428011 A CN202011428011 A CN 202011428011A CN 112596073 B CN112596073 B CN 112596073B
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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 a long-distance high-resolution laser radar and a detection method, which solve the problem of large measurement error of the laser radar in long-distance detection in the prior art, finely image a long-distance target in a secondary scanning mode, and improve the radar detection efficiency. And the rapid and fine detection of the target is realized. The system comprises a master control and data calculation system for processing laser point cloud data and controlling each subsystem, wherein a zooming laser emission system, a laser scanning system and a laser receiving system are respectively connected with the master control and data calculation system; the zooming laser emission system comprises a high repetition frequency high-power pulse optical fiber laser, an optical fiber collimator and a zooming optical system which are sequentially arranged; the laser receiving system comprises a receiving optical system and a photoelectric detector APD; the laser scanning system is a two-dimensional MEMS micro-scanning mirror.
Description
The technical field is as follows:
the invention belongs to the technical field of laser detection, and relates to a long-distance high-resolution laser radar and a detection method.
Background art:
the laser radar is a radar system for detecting characteristic quantities such as position, speed and the like of a target by emitting laser beams, and comprises a laser transmitter, an optical receiver, an information processing system and the like. The working principle is to emit laser beam to the target, then compare the received signal reflected from the target with the emitted signal, and after proper processing, the relevant information of the target, such as target distance, azimuth, height, speed, attitude and shape, etc. can be obtained.
When the laser radar carries out long-distance detection, the light spot of laser becomes larger along with the distance, when the detected object is smaller than the size of the light spot, the position of the object is deviated, because the radar marks the position of the detected target, the position is determined by the laser emission direction and the echo time, therefore, the small target appears at any position in the light spot, the obtained directions are the same, the measurement error is brought, and the error is increased along with the increase of the distance.
The invention content is as follows:
the invention aims to provide a long-distance high-resolution laser radar and a detection method, which solve the problem of large measurement error of the laser radar during long-distance detection in the prior art, finely image a long-distance target in a secondary scanning mode, improve the radar detection efficiency and realize quick and fine detection of the target.
In order to achieve the purpose, the invention adopts the technical scheme that:
a long range high resolution lidar characterized by: the system comprises a main control and data resolving system for processing laser point cloud data and controlling each subsystem, wherein a zooming laser emission system, a laser scanning system and a laser receiving system are respectively connected with the main control and data resolving system; the zooming laser emission system comprises a high repetition frequency high-power pulse optical fiber laser, an optical fiber collimator and a zooming optical system which are sequentially arranged; the laser receiving system includes a receiving optical system and a photodetector APD.
The laser scanning system is a two-dimensional MEMS micro-scanning mirror and adopts a non-resonant scanning mode.
The high repetition frequency high-power pulse fiber laser is an MOPA mode pulse fiber laser, and the seed source is a VCSEL with narrow line width; the high repetition frequency high power pulse optical fiber laser is a variable pulse laser, the output peak power is 1 KW-8 KW, the average power is 1W-20W, the output pulse width is 3 ns-15 ns, the output repetition frequency is 100 KHz-2 MHz, the output pulse energy is 8 muJ-15 muJ, and the divergence angle is 0.5-2 mrad.
The focal point of the laser receiving optical system is positioned on the surface of the photoelectric detector; the photoelectric detector is a semiconductor device capable of converting light waves into current, and the semiconductor material used by the photoelectric detector is related to laser waves emitted by the radar.
A detection method of a long-distance high-resolution laser radar is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the steps of adopting a main control and data resolving system, firstly adjusting a zooming laser emission system to enable the focal length of the zooming laser emission system to be infinite, ensuring that laser can cover the whole view field in the scanning process, primarily detecting and imaging a target to obtain the outline range of the target, then adjusting the zooming laser emission system, focusing an emission beam, precisely detecting the outline area of the target, and not scanning other areas.
The main control and data resolving system controls the scanning speed and the scanning angle of the MEMS micro-scanning mirror; the program flow is as follows: the MEMS adopts a quasi-static scanning mode, the MEMS realizes the deflection in two orthogonal directions through deflection voltages applied to two axes, and the deflection voltages are calculated from a preset deflection angle track, namely
Wherein theta is d For scanning the angular trajectory, J is the moment of inertia of the circular micromirror plate about the torsion axis, b is the damping coefficient, τ s Time, deflection voltage.
The master control and data resolving system processes the point cloud data to obtain a spatial three-dimensional distribution profile of the target; the program flow is as follows: firstly, the main control and data resolving system carries out point cloud filtering and point cloud registration processing on the obtained original target point cloud data, and then carries out mesh generation and mesh splicing on the target point cloud data to obtain a three-dimensional reconstruction map of the point cloud data.
The main control and data resolving system encodes the position of the spatial three-dimensional distribution profile area of the target and converts the position code of the target area into a control code for MEMS scanning; the program flow is as follows: the master control and data calculation system extracts the contour of the three-dimensional reconstruction map of the target point cloud data, and determines the target contour through the difference of one pixel and the surrounding pixels; and processing the target contour by grids, wherein the transverse direction and the longitudinal direction of the target grids correspond to two orthogonal axial directions of scanning, the target grids can surround the target contour, the target grids are converted into orientations according to the positions of the target grids in a field of view, and the scanning area of the MEMS is determined according to the orientations.
The main control and data resolving system controls the MEMS to carry out secondary scanning on a specific area through the control codes of the MEMS scanning, and reduces the scanning speed in the scanning process so as to improve the density of the point cloud. The main control and data resolving system stores emission sequence waveform and scanning waveform of two-dimensional MEMS micro-mirror; when the secondary scanning is carried out, the main control and data calculation system enables the laser emitting end to send a pulse sequence according to a fixed frequency, and the other side sends a deflection data instruction to the MEMS driving board through communication to control the two-dimensional MEMS micro-mirror to carry out quasi-static scanning in the target grid area, wherein the deflection data is deflection voltage, and the deflection voltage is changed when the secondary scanning is carried out so as to reduce the speed of the two-dimensional scanning.
The main control and data calculation system controls the zooming optical system by using the distance information of the target, the focal length of the zooming optical system is infinite during the primary detection, and the focal length is equal to the distance of the target during the secondary detection; the program flow is that the distance and the direction of the target grid area relative to the laser radar are determined through the target grid area determined by the first scanning, the focal length of the zooming optical system is adjusted through the main control and data resolving system, and the focal length of the zooming optical system is equal to the distance between the target grid area and the radar.
Compared with the prior art, the invention has the advantages and effects that:
1. the invention can carry out fine imaging on a long-distance target;
2. the invention roughly images the whole field of view through the first quick scanning to determine the outline range of the target, and then finely images the outline range of the target through the second scanning. Therefore, the invention does not need to precisely scan the whole field of view, and has high imaging speed;
3. the invention adopts the electrostatic drive MEMS micro scanning mirror as a laser scanning device, has no mechanical parts and has high reliability.
Description of the drawings:
FIG. 1 is a schematic diagram of a radar system of the present invention;
fig. 2 is a schematic diagram of the structure and the light path of the radar of the present invention.
In the figure, 101-a zoom laser emitting system, 102-a laser scanning system, 103-a laser receiving system, 104-a main control and data resolving system, 201-a high repetition frequency high-power pulse optical fiber laser, 202-an optical fiber collimator, 203-a zoom optical system, 204-a two-dimensional MEMS micro-scanning mirror, 205-a receiving optical system, 206-a photoelectric detector APD, 207-a computer.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention relates to a long-distance high-resolution laser radar and a detection method, which can realize long-distance high-resolution laser detection by adjusting a transmitted laser beam through a transmitting zoom optical system and imaging a secondary radar in an area needing precise detection. The laser radar comprises a 101 zooming laser emitting system, a 102 laser scanning system, a 103 laser receiving system and a 104 main control and data settlement system, wherein the 101 zooming laser emitting system, the 102 laser scanning system and the 103 laser receiving system are respectively connected with the 104 main control and data calculation system, and the principle is shown in figure 1. Referring to fig. 2, the zoom laser emission system 101 includes a high repetition frequency high power fiber laser 201, a fiber collimator 202, and a zoom optical system 203, which are sequentially arranged; the laser scanning system 102 employs a MEMS two-dimensional scanning mirror 204; the laser receiving system 103 comprises a laser receiving optical system 205 and a corresponding photodetector 206.
Example (b):
fig. 1 shows a schematic diagram of the structure of the present invention, and the specific structure includes a zoom laser emitting system 101, a laser scanning system 102, a laser receiving system 103, and a master control and data resolving system 104. The zooming laser emitting system 101, the laser scanning system 102 and the laser receiving system 103 are respectively connected with a main control and data resolving system 104,
as shown in fig. 2, the zoom laser emission system 101 includes a high repetition frequency high power pulse fiber laser 201, a fiber collimator 202, and a zoom optical system 203, which are sequentially arranged; the laser scanning system 102 is a two-dimensional MEMS micro-scanning mirror 204; the laser receiving system 103 includes a receiving optical system 205 and a corresponding photodetector APD 206; the master control and data calculation system 104 is responsible for processing the laser point cloud data and controlling the subsystems.
The high repetition frequency high power pulse fiber laser 201 is a MOPA mode pulse fiber laser, and the seed source is a narrow linewidth VCSEL. The high repetition frequency high power pulse optical fiber laser 201 is a variable pulse laser, the output peak power is 1 KW-8 KW, the average power is 1W-20W, the output pulse width is 3 ns-15 ns, the output repetition frequency is 100 KHz-2 MHz, the output pulse energy is 8 muJ-15 muJ, and the divergence angle is 0.5-2 mrad. The fiber laser 201 is coupled with a fiber collimator 202, and the fiber collimator 202 can perform beam expanding collimation on the laser beam of the fiber laser 201. The size of the collimated light spot of the fiber collimator 202 is less than 2 mm. The light beam emitted by the optical fiber collimator 202 enters the zooming optical system 203, the zooming optical system 203 can converge the light beam, the focal position is variable, and the focal position conversion range is consistent with the radar working distance range. The MEMS micro-scanning mirror 204 adopts a non-resonant scanning mode. The focal point of the laser receiving optical system 205 is located on the surface of the photodetector 206. The photodetector 206 is a semiconductor device that converts light waves into electrical current, and the semiconductor material used for the photodetector 206 is designed to be compatible with radar-emitting laser waves. The master control and data calculation system 104 controls the scanning speed and the scanning angle of the MEMS micro-scanning mirror 204.
The detection method of the long-distance high-resolution laser radar comprises the following steps:
by adopting the data calculation system 104, firstly, the focal length of the zooming laser emission system 101 is adjusted to be infinite, so that the laser can cover the whole view field in the scanning process, the target is initially detected and imaged, and the contour range of the target is obtained. And then adjusting the zooming laser emission system 101 to focus the emitted light beam, precisely detecting the target contour region, and not scanning other regions, thereby ensuring the radar detection precision and the radar detection speed.
The master control and data calculation system 104 controls the scanning speed and the scanning angle of the MEMS micro-scanning mirror 204. The program flow is as follows: the MEMS adopts a quasi-static scanning mode, the MEMS realizes the deflection in two orthogonal directions through deflection voltages applied to two axes, and the deflection voltages are calculated from a preset deflection angle track, namely
Wherein theta is d For scanning the angular trajectory, J is the moment of inertia of the circular micromirror plate about the torsion axis, b is the damping coefficient, τ s Is time, u d Is a deflection voltage.
The main control and data calculation system 104 processes the point cloud data to obtain a spatial three-dimensional distribution profile of the target. The program flow comprises the following steps: firstly, the main control and data calculation system 104 performs point cloud filtering and point cloud registration on the obtained original target point cloud data, and then performs mesh generation and mesh splicing on the target point cloud data to obtain a three-dimensional reconstruction map of the point cloud data.
The main control and data calculation system 104 encodes the orientation of the spatial three-dimensional distribution profile area of the target and converts the orientation encoding of the target area into a control encoding for MEMS scanning. The program flow comprises the following steps: the main control and data calculation system 104 extracts the contour of the three-dimensional reconstruction map of the target point cloud data, determines a target contour through the difference between one pixel and the surrounding pixels, the target contour is often irregular, so the target contour is subjected to grid processing, the transverse direction and the longitudinal direction of the target grid correspond to two orthogonal axial directions of scanning, the target grid can surround the target contour, the target grid is converted into an azimuth according to the position of the target grid in a field of view, and a scanning area of the MEMS is determined according to the azimuth.
The main control and data calculation system 104 controls the MEMS to perform secondary scanning on a specific area through the control code of the MEMS scanning, and reduces the scanning speed during the scanning process to increase the density of the point cloud, the scanning speed being related to the designed detection accuracy and detection speed of the laser radar. The program flow comprises the following steps: the master control and data calculation system 104 stores emission sequence waveforms and scanning waveforms of the two-dimensional MEMS micro-mirrors. During the secondary scanning, the main control and data calculation system 104 allows the laser emitting end to send a pulse sequence according to a fixed frequency, and transmits a deflection data instruction to the MEMS driving board through communication to control the two-dimensional MEMS micromirror to perform quasi-static scanning in the target grid region, where the deflection data refers to a deflection voltage, and changes the deflection voltage during the secondary scanning to reduce the speed of the two-dimensional scanning.
The main control and data calculation system 104 controls the zoom optical system 203 by using the distance information of the target, the focal length of the zoom optical system 203 is infinite during the first detection, and the focal length is equal to the target distance during the second detection. The program flow comprises the following steps: the distance and the orientation of the target grid area relative to the laser radar can be known through the target grid area determined by the first scanning, the focal length of the zoom optical system 203 is adjusted through the main control and data calculation system 104, and the focal length of the zoom optical system 203 is equal to the distance between the target grid area and the radar.
The above embodiments are merely illustrative of the principles and effects of the present invention, and it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (3)
1. A detection method of a long-distance high-resolution laser radar is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the steps that a main control and data resolving system (104) is adopted, firstly, a zooming laser emission system (101) is adjusted to enable the focal length of the zooming laser emission system to be infinite, the fact that laser can cover the whole view field in the scanning process is guaranteed, the target is initially detected and imaged to obtain the outline range of the target, then the zooming laser emission system (101) is adjusted to focus an emission beam, the outline area of the target is precisely detected, and other areas are not scanned;
the main control and data resolving system (104) controls the scanning speed and the scanning angle of the MEMS micro-scanning mirror (204);
the program flow is as follows: the MEMS adopts a quasi-static scanning mode, the MEMS realizes the deflection in two orthogonal directions through deflection voltages applied to two axes, and the deflection voltages are calculated by a preset deflection angle track, namely
Wherein theta is d For scanning the angular trajectory, J is the moment of inertia of the circular micromirror plate about the torsion axis, b is the damping coefficient, τ s Is time, u d Is a deflection voltage;
the main control and data resolving system (104) processes the point cloud data to obtain a spatial three-dimensional distribution profile of the target;
the program flow is as follows: firstly, the main control and data resolving system (104) carries out point cloud filtering and point cloud registration processing on the obtained original target point cloud data, and then carries out mesh subdivision and mesh splicing on the target point cloud data to obtain a three-dimensional reconstruction map of the point cloud data;
the main control and data resolving system (104) encodes the position of the spatial three-dimensional distribution profile area of the target and converts the position code of the target area into a control code of MEMS scanning;
the program flow is as follows: a main control and data calculation system (104) extracts the contour of the three-dimensional reconstruction map of the target point cloud data, and determines the target contour through the difference of one pixel and the surrounding pixels; and processing the target contour by grids, wherein the transverse direction and the longitudinal direction of the target grids correspond to two orthogonal axial directions of scanning, the target grids can surround the target contour, the target grids are converted into orientations according to the positions of the target grids in a field of view, and the scanning area of the MEMS is determined according to the orientations.
2. The method for detecting a long-range high-resolution lidar according to claim 1, wherein: the main control and data resolving system (104) controls the MEMS to carry out secondary scanning on a specific area through the control code of the MEMS scanning, and reduces the scanning speed in the scanning process so as to improve the density of the point cloud;
the main control and data resolving system (104) stores emission sequence waveforms and scanning waveforms of the two-dimensional MEMS micro-mirror; when secondary scanning is carried out, one side of the main control and data calculation system (104) enables a laser emission end to send a pulse sequence according to a fixed frequency, and the other side of the main control and data calculation system sends a deflection data instruction to an MEMS driving board through communication to control a two-dimensional MEMS micro-mirror to carry out quasi-static scanning in the target grid area, wherein the deflection data is deflection voltage, and the deflection voltage is changed when the secondary scanning is carried out so as to reduce the speed of the two-dimensional scanning.
3. The method for detecting a long-range high-resolution lidar according to claim 1, wherein: the main control and data calculation system (104) controls the zooming optical system (203) by using the distance information of the target, the focal length of the zooming optical system (203) is infinite during the primary detection, and the focal length is equal to the target distance during the secondary detection;
the program flow is that the distance and the direction of the target grid area relative to the laser radar are determined through the target grid area determined by the first scanning, the focal length of the zooming optical system (203) is adjusted through the main control and data resolving system (104), and the focal length of the zooming optical system (203) is equal to the distance between the target grid area and the radar.
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