CN112698346B - Non-view tracking system - Google Patents
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- CN112698346B CN112698346B CN202011545202.6A CN202011545202A CN112698346B CN 112698346 B CN112698346 B CN 112698346B CN 202011545202 A CN202011545202 A CN 202011545202A CN 112698346 B CN112698346 B CN 112698346B
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- 230000003287 optical effect Effects 0.000 claims abstract description 128
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
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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
- G01S17/66—Tracking systems using electromagnetic waves other than radio 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
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present disclosure provides a non-view tracking system comprising: the signal source is used for generating a trigger signal; the optical receiving and transmitting plate comprises an optical metal substrate, an optical transmitting module and an optical receiving module, wherein the optical metal substrate is used for fixing the optical transmitting module and the optical receiving module, the optical transmitting module is used for transmitting laser signals to an intermediate object, the optical receiving module is used for receiving diffuse reflection laser signals returned by the intermediate object, and the diffuse reflection laser signals are signals obtained by diffuse reflection of a target object in a non-visual field; the pulse laser is connected with the optical emission module and is used for receiving the trigger signal and transmitting the laser signal to the optical emission module in response to the trigger signal; the single photon detector is connected with the optical receiving module and is used for receiving the diffuse reflection laser signal transmitted by the optical receiving module, generating a detection signal and transmitting the detection signal to the time-to-digital converter; and the time digital converter is used for receiving the trigger signal and the detection signal and recording time information.
Description
Technical Field
The present disclosure relates to the field of lidar, and more particularly, to a non-field of view tracking system.
Background
The Non-line-of-sight (NLOS) field mainly researches how to effectively acquire related information of objects and scenes hidden outside the line of sight, and more particularly, how to locate, track and image the objects hidden outside the line of sight.
In 2009, researchers from the media laboratory of the millboard college of science first put forward the concept of non-visual field at the international computer vision conference in the current year, and initially demonstrated the possibility of capturing objects outside the visual field.
In the prior art, for example, a visible light single photon detection (SPAD) array with 32x32 pixels is utilized by Gariepy et al, so that a set of non-visual field positioning tracking system with the working wave band of about 800nm is realized, however, the SPAD array with 32x32 pixels can collect a large amount of redundant information, and certain pressure is brought to the post-processing of data and the adopted hardware, so that the further integration and real-time implementation are not facilitated; in another example, chan et al uses three single-point SPADs to build a set of non-visual field positioning system, but as the system faces mainly a non-visual field scene at a long distance, the system is provided with heavy devices such as a large telescope and the like, has a huge overall structure and is not portable, and meanwhile, the system needs to collect signals by means of point-by-point scanning and does not have a real-time tracking function.
Therefore, in the process of realizing the invention, the whole structure of the non-visual field positioning and tracking system in the related technology is huge, the system is not portable, and the real-time tracking is difficult to realize well.
Disclosure of Invention
In view of this, the present disclosure provides a non-view tracking system.
According to an embodiment of the present disclosure, a non-view tracking system includes: the signal source is used for generating a trigger signal; the optical transceiver comprises an optical metal substrate, an optical transmitting module and an optical receiving module, wherein the optical metal substrate is used for fixing the optical transmitting module and the optical receiving module, the optical transmitting module is used for transmitting laser signals to an intermediate object, the optical receiving module is used for receiving diffuse reflection laser signals returned by the intermediate object, and the diffuse reflection laser signals are signals obtained by diffuse reflection of a target object in a non-visual field; the pulse laser is connected with the optical emission module and is used for receiving the trigger signal and transmitting a laser signal to the optical emission module in response to the trigger signal; the single photon detector is connected with the optical receiving module and is used for receiving the diffuse reflection laser signal transmitted by the optical receiving module, generating a detection signal and transmitting the detection signal to the time-to-digital converter; and the time-to-digital converter is used for receiving the trigger signal and the detection signal and recording time information.
According to an embodiment of the present disclosure, the signal source, the optical transceiver board, the pulse laser, the single photon detector, and the time-to-digital converter are integrated in a chassis.
According to an embodiment of the present disclosure, the chassis is mounted on a bracket with pulleys.
According to an embodiment of the present disclosure, the optical transceiver board includes at least two optical receiving modules.
According to an embodiment of the present disclosure, each of the above-described optical receiving modules includes: an optical coupling module and an optical filtering module.
According to an embodiment of the disclosure, the optical transceiver board further includes a direction adjustment mechanism, where the direction adjustment mechanism is connected to the optical metal substrate, the optical transmitting module, and the optical receiving module, respectively, and is configured to adjust a transmitting direction of the optical transmitting module and a receiving direction of the optical receiving module.
According to an embodiment of the present disclosure, the above-described pulse laser includes: near infrared pulse laser.
According to an embodiment of the present disclosure, the signal source and the time-to-digital converter are integrated on the same circuit board.
According to an embodiment of the present disclosure, the single photon detector includes: at least two-channel single photon detector.
According to an embodiment of the present disclosure, the non-view tracking system further includes: and an information processing device for receiving the time information of the time-to-digital converter and calculating the position information of the target object according to the time information and the focus position information of the intermediate object.
According to the embodiment of the disclosure, because the small optical device is used and the reasonable structural design is adopted, the problems of huge volume and complex structure of the non-vision tracking system are at least partially overcome, and the effects of integration and practicability are further achieved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments thereof with reference to the accompanying drawings in which:
FIG. 1 schematically illustrates a typical non-view tracking scene;
FIG. 2 schematically illustrates a non-view tracking system schematic according to the present disclosure;
FIG. 3 schematically illustrates a schematic diagram of an integrated non-view tracking system according to an embodiment of the present disclosure;
FIG. 4 schematically illustrates a schematic diagram of a non-view tracking system for locating a tracking scene in accordance with an embodiment of the present disclosure;
fig. 5 schematically illustrates a schematic diagram of a prototype system of a non-vision tracking system, according to another embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a formulation similar to at least one of "A, B or C, etc." is used, in general such a formulation should be interpreted in accordance with the ordinary understanding of one skilled in the art (e.g. "a system with at least one of A, B or C" would include but not be limited to systems with a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
Embodiments of the present disclosure provide a non-view tracking system comprising: the signal source is used for generating a trigger signal; the optical receiving and transmitting plate comprises an optical metal substrate, an optical transmitting module and an optical receiving module, wherein the optical metal substrate is used for fixing the optical transmitting module and the optical receiving module, the optical transmitting module is used for transmitting laser signals to an intermediate object, the optical receiving module is used for receiving diffuse reflection laser signals returned by the intermediate object, and the diffuse reflection laser signals are signals obtained by diffuse reflection of a target object in a non-visual field; the pulse laser is connected with the optical emission module and is used for receiving the trigger signal and transmitting the laser signal to the optical emission module in response to the trigger signal; the single photon detector is connected with the optical receiving module and is used for receiving the diffuse reflection laser signal transmitted by the optical receiving module, generating a detection signal and transmitting the detection signal to the time-to-digital converter; and the time digital converter is used for receiving the trigger signal and the detection signal and recording time information.
Fig. 1 schematically shows a typical non-view tracking scene schematic.
As shown in fig. 1, the application scenario includes an intermediate object 101, a target object 102, an obstacle 103, and a tracking system 104, where the tracking system 104 includes a transmitting end 1041 and a receiving end 1042. Due to the shielding of the obstacle 103, the common positioning and tracking system cannot directly position and track the target object 102, and cannot directly acquire the specific coordinate information r of the target object 0 (x 0 ，y 0 ，z 0 ). Based on the application scene, the bookThe disclosed embodiments employ the following methods:
first, the transmitting end 1041 of the tracking system 104 emits a laser signal to irradiate a point r on the intermediate object 101 l (x l ，y l ,0). The intervening objects may include various objects having a planar structure, such as walls, metal plates, and the like. It should be noted that, the mediating object provided by the embodiments of the present disclosure is not limited thereto, and may also include objects with non-planar structures.
Thereafter, the laser pulse is diffusely reflected at this point and propagates to the target object 102; on the surface of the target object 102, the laser light undergoes a second diffuse reflection and propagates to a point r on the intermediate object 101 i (x i ，y i 0).
Finally, the photon carrying the object information is at this point r i A third diffuse reflection occurs and is received by the detection end 1042 of the tracking system 104.
For each photon carrying hidden object information, the detection end 1042 will record the time of flight t of the photon from emission to reception i The following equation for distance is obtained:
R 0 +R 1 +R 2 +R 3 ＝t i xc 1
Point r on intervening object l And r i The coordinates of (2) can be obtained by calculation according to the angle information of the laser signal or by calibration by auxiliary equipment through laser ranging and other methods, which are well known to those skilled in the art, and therefore are not described in detail. The above equation can be modified to obtain the following equation:
R 1 +R 2 ＝t i ×c-R 0 -R 3 (II)
Thus, the target object 102 that can be known is located at r l 、r i Is the focus, R 1 +R 2 Is an ellipsoid with a long axis.
According to the Euclidean geometry in three-dimensional space, one three-dimensional point in space needs at least 3 intersecting planes to be determined, so that the three-dimensional point is defined by 3 groups of laser points r l And r i Is used for sittingThe target and the corresponding photon flight time t i The coordinate position of the target object 102 can be obtained by obtaining the intersecting areas of the 3 ellipsoids.
Fig. 2 schematically illustrates a schematic diagram of a non-view tracking system according to an embodiment of the present disclosure.
As shown in fig. 2, the non-vision tracking system includes a signal source 201, an optical transceiver board 202, a pulsed laser 203, a single photon detector 204, and a time-to-digital converter 205.
The signal source 201 is configured to generate a trigger signal, and the signal source 201 may be any device capable of generating a stable, controllable signal, including, but not limited to, a function signal generator, etc.
The optical transceiver board 202 includes an optical metal substrate 2021, an optical transmitting module 2022, and an optical receiving module 2023, where the optical metal substrate 2021 is used to fix the optical transmitting module 2022 and the optical receiving module 2023, the optical transmitting module 2022 is used to transmit a laser signal to the intermediate object 101, and the optical receiving module 2023 is used to receive a diffuse reflection laser signal returned by the intermediate object 101, where the diffuse reflection laser signal is a signal obtained by performing diffuse reflection on the target object 102 in a non-viewing area. The optical transmitting module 2022 and the optical receiving module 2023 are constituted by devices having a beam collimation coupling function, including, for example, but not limited to, collimators, lens groups, and the like. The optical signals between the optical transmitting module 2022 and the pulse laser 203, and between the optical receiving module 2023 and the single photon detector 204 are transmitted via a medium with good optical conduction properties, such as, but not limited to, an optical fiber.
The pulse laser 203 is connected to the optical transmitting module 2022, and is configured to receive the trigger signal and transmit the laser signal to the optical transmitting module 2022 in response to the trigger signal. The pulsed laser 203 may be a laser generator of any operating band, including near infrared laser pulses, and the like.
The single photon detector 204 is connected to the optical receiving module 2023, and is configured to receive the diffuse reflection laser signal transmitted by the optical receiving module 2023, and generate a detection signal for transmitting to the time-to-digital converter 205. The single photon pulser 204 is a high sensitivity device, such as an InGaAs single photon avalanche diode or the like, operating in the operating band of the pulsed laser 203.
A time-to-digital converter 205 for receiving the trigger signal and the probe signal and recording time information.
According to the embodiment of the disclosure, because the small optical device is used and the reasonable structural design is adopted, the problems of huge volume and complex structure of the non-vision tracking system are at least partially overcome, and the effects of integration and practicability are further achieved.
Fig. 3 schematically illustrates a schematic diagram of an integrated non-view tracking system according to an embodiment of the present disclosure.
As shown in fig. 3, an integrated non-vision tracking system, a time control and measurement circuit board 301 integrates the functions of a signal source 201 and a time digitizer 205, according to an embodiment of the present disclosure. The time control and measurement circuit board 301 may be any circuit having signal generation, signal acquisition and data storage functions, or other programmable circuits, including but not limited to FPGAs, for example. The circuit board 301 interacts with the pulse laser 203 and the single photon detector 204 via printed board lines, wires, or electrical connectors.
According to an integrated non-vision tracking system of an embodiment of the present disclosure, the time control and measurement circuit board 301, the optical transceiver board 202, the pulsed laser 203, and the single photon detector 204 are integrated in the chassis 300. Wherein the optical transceiver board 202 is a panel of the chassis 300.
According to an integrated non-vision tracking system of embodiments of the present disclosure, chassis 300 may be mounted on a rack with pulleys to facilitate movement and maintain optical stability during actual use.
According to an integrated non-view tracking system of an embodiment of the present disclosure, the optical transceiver board 202 includes at least two optical receiving modules 2023 thereon, and the single photon detector 204 is at least two-channel single photon detector 204. The at least two paths of optical receiving modules 2023 may simultaneously receive the diffusely reflected laser signals reflected from at least two different locations on the intermediate object 101, and the at least two paths of single photon detectors 204 may simultaneously respond to the at least two paths of diffusely reflected laser signals. According to the European geometry principle, the non-field of view tracking system of the present disclosure can obtain two-dimensional or three-dimensional coordinate information of the target object 102 in one transmit-receive-process action.
According to an integrated non-view tracking system of an embodiment of the present disclosure, the optical receiving module 2023 includes two parts, an optical coupling module and an optical filtering module, where the optical coupling module is configured to receive a laser signal and couple the laser signal into a light guiding medium, and the optical filtering module is configured to filter a received laser signal in a specific band range.
According to the integrated non-view tracking system of the embodiment of the present disclosure, the optical transceiver board 202 further includes a pointing adjustment mechanism 302, where the pointing adjustment mechanism 302 is connected to the optical metal substrate 2021 and the optical transmitting module 2022, and the optical receiving module 2023, respectively, for adjusting the transmitting direction of the optical transmitting module 2021 and the receiving direction of the optical receiving module 2023. For example, when the laser spot position on the intermediate object 101 is preset, the optical emission module 2022 can be driven to point to the preset laser spot position by adjusting the pointing adjustment mechanism 302; alternatively, the optical receiving module 2023 may receive the diffuse reflected laser light signal reflected from the point on the specified mediating object 101 by adjusting the pointing mechanism 302.
Fig. 4 schematically illustrates a schematic diagram of a non-view tracking system for locating a tracking scene according to an embodiment of the present disclosure.
As shown in fig. 4, the non-view tracking system according to the embodiment of the present disclosure further includes an information processing device 401 for receiving the time information of the time-to-digital converter 205 and calculating the position information of the target object 102 according to the time information and the position information of the laser point on the intermediate object 101. The information processing apparatus 401 is an electronic device having functions of information reception, information processing, information storage, and information output, and includes, for example, but is not limited to, a computer, a single-chip microcomputer, and the like.
Fig. 5 schematically illustrates a schematic diagram of a prototype system of a non-vision tracking system, according to another embodiment of the present disclosure.
As shown in fig. 5, the transmitting portion of the prototype system of another embodiment of the present disclosure includes a pulsed laser 203 and a collimator 501. The pulse laser 203 transmits a laser signal in response to a trigger signal transmitted from the FPGA504, transmits the laser signal to the collimator 501 on the optical transceiver board 202 via an optical fiber, and transmits the laser signal to the intermediate object 101 by adjusting the angle of the collimator 501 by the pointing adjustment mechanism 302. The trigger signal of the laser is synchronously input to a timing module in the FPGA504 as a start timing signal.
According to another embodiment of the prototype system of the present disclosure, the pulse laser 203 may be a 1550nm pulse laser with a pulse width of 500ps, or may be replaced by a narrow pulse width subnanosecond, picosecond, femtosecond pulse laser with a near infrared band. The near infrared band belongs to the invisible light band, and compared with the visible light band, the near infrared band has higher eye safety, and can not be perceived by a reconnaissance target in practical application. The pulse width of the pulse laser is the sum of the time required for the photon number to rise from the half maximum value to the peak value and the time required for the photon number to fall from the peak value to the half maximum value, and the narrower the pulse width is, the higher the precision of time measurement is, so that the positioning precision is improved.
According to a prototype system according to another embodiment of the present disclosure, collimator 501 includes a collimator head and optical fibers, and may be replaced with a combination of convex lens groups plus optical fibers.
According to the prototype system of the other embodiment of the disclosure, the optical fiber can adopt a multimode optical fiber with a 62.5um core diameter, so that higher collection efficiency is ensured, and the stability of the system is improved.
According to a prototype system according to another embodiment of the present disclosure, FPGA504 may integrate the functions of signal source 201 and time-to-digital converter 205, as well as other electronic designs.
The receive portion of the prototype system of another embodiment of the present disclosure includes 3 collimators 502, 3 filters 503, and a single photon detector 204. The 3 collimators 502 are respectively aligned with three different detection points on the intermediate object 101 by pointing to the adjustment angles of the adjustment mechanism 302, so as to receive photons subjected to three diffuse reflections. The emitted laser signals are collected by the 3 collimators 502 after three diffuse reflections, and are coupled into collecting optical fibers after spectral filtering by the 3 filters 503, and are transmitted into the single photon detector 204 by the optical fibers. The detector transmits each channel detection signal to a timing module integrated in the FPGA504 as a timing end signal, measures the photon flight time, and transmits photon flight time related information data to the computer 505.
In the prototype system according to another embodiment of the present disclosure, the coordinates of the detection point on the intermediate object 101 can be obtained by calculating the pointing included angle of the transmitting portion and the receiving portion by combining with the photon flight time through a simple geometric relationship, and finally the position of the located tracked object can be obtained by calculating by the computer software.
According to another embodiment of the prototype system of the present disclosure, the filter 503 may be a 1550nm narrow-band filter, or may be an optical fiber filter. The passband of the narrow-band filter is relatively narrow, and is generally below 5% of the central wavelength value, for example, the 1550nm narrow-band filter generally only allows light signals within a wavelength range of 1472.5-1627.5 nm to pass through, noise interference except the wavelength range is filtered, and the noise interference comprises but is not limited to visible light noise, ultraviolet noise and the like, so that the practical requirement of the system for working all day is met.
In accordance with another embodiment of the prototype system of the present disclosure, single photon detector 204 may be a three-channel integrated near infrared single photon detector, three small single channel detectors may be used, or other near infrared single photon detectors with time jitter less than 1 ns.
According to a prototype system according to another embodiment of the present disclosure, the substrate of the optical transceiver plate 202 may be a high-strength thick plate of aluminum alloy, on which the collimator 501 of the transmitting part, the collimator 502 of the 3 sets of the receiving part, and the filter 503 are fixed by an adjusting bracket.
According to another embodiment of the present disclosure, the prototype system may have both the transmit and receive parts of the system integrated into a chassis. For example, the volume of the metal chassis used in another embodiment of the present disclosure is only 287mm×215mm×93.5mm, where the optical transceiver board 202 is vertically installed at the front end of the prototype system and serves as a side panel of the metal chassis; collimators 501, 502, a filter 503 and a pointing adjustment mechanism 302 on the optical transceiver plate 202 are closely arranged in a region of 100mm x 100 mm; the pulse laser 203 and the single photon detector 204 are all miniaturized optical devices, can be installed in a space of 250mm multiplied by 150mm multiplied by 50mm, are closely spaced, and are connected with an optical transceiver board through optical fibers; the back end of the prototype system is an FPGA504 circuit board with the size of only 250mm multiplied by 200mm multiplied by 20mm, and is arranged on the other side panel of the metal case.
The prototype system of the non-vision tracking system according to another embodiment of the present disclosure achieves high integration and miniaturization of the system, wherein the integration includes integration of a signal source module, a time-to-digital converter, a three-channel single photon detector, and a pulse laser, and can achieve compact electronic connection. With the vertical optical transceiver board design, the optical emission and the three paths of optical reception provide stable and compact installation and fixation. The optical transmission adopts an optical fiber transmission mode, so that the stability and the integration requirements are ensured. The small optical device is adopted to replace large equipment such as telescope systems in the prior art, has the advantages of small volume, portability and the like, and has practicability. According to the embodiment of the disclosure, a set of practical non-visual field tracking system is provided, which can simultaneously satisfy the practical demands of working, real-time performance, portability and the like all day. The embodiment of the disclosure is directed against various demands in practical application, a set of near infrared band practical non-vision tracking system is designed and built, and the system has the capability of real-time positioning tracking in a common sunlight environment, and is simple in structure, small and portable.
The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.
Claims (10)
1. A non-view tracking system, comprising:
the signal source is used for generating a trigger signal;
the optical receiving and transmitting plate comprises an optical metal substrate, an optical transmitting module and an optical receiving module, wherein the optical metal substrate is used for fixing the optical transmitting module and the optical receiving module, the optical transmitting module is used for transmitting laser signals to an intermediate object, the optical receiving module is used for receiving diffuse reflection laser signals returned by the intermediate object, and the diffuse reflection laser signals are signals obtained by diffuse reflection of a target object in a non-visual field;
the pulse laser is connected with the optical emission module and is used for receiving the trigger signal and responding to the trigger signal to transmit a laser signal to the optical emission module;
the single photon detector is connected with the optical receiving module and is used for receiving the diffuse reflection laser signal transmitted by the optical receiving module, generating a detection signal and transmitting the detection signal to the time-to-digital converter; and
the time-to-digital converter is used for receiving the trigger signal and the detection signal and recording time information.
2. The non-vision tracking system of claim 1, wherein the signal source, the optical transceiver board, the pulsed laser, the single photon detector, and the time-to-digital converter are integrated in a chassis.
3. The non-vision tracking system of claim 2, wherein the chassis is mounted on a cradle with pulleys.
4. The non-vision tracking system of claim 1, wherein the optical transceiver board comprises at least two optical receiving modules.
5. The non-vision tracking system of claim 4, wherein each of the optical receiving modules comprises: an optical coupling module and an optical filtering module.
6. The non-vision tracking system of claim 1, the optical transceiver board further comprising a pointing adjustment mechanism, wherein the pointing adjustment mechanism is respectively connected with the optical metal substrate and the optical transmitting module, the optical receiving module, for adjusting a transmitting direction of the optical transmitting module and a receiving direction of the optical receiving module.
7. The non-vision tracking system of claim 1, wherein the pulsed laser comprises: near infrared pulse laser.
8. The non-vision tracking system of claim 1, wherein the signal source and the time-to-digital converter are integrated on the same circuit board.
9. The non-vision tracking system of claim 1, wherein the single photon detector comprises: at least two-channel single photon detector.
10. The non-view tracking system of claim 1, further comprising:
and the information processing device is used for receiving the time information of the time-to-digital converter and calculating the position information of the target object according to the time information and the focus position information of the intermediate object.
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| CN101339077A (en) * | 2008-05-14 | 2009-01-07 | 南京大学 | Single photon detector based on superconducting film material and method of manufacture |
| CN107422392A (en) * | 2017-08-08 | 2017-12-01 | 中国科学院西安光学精密机械研究所 | Winding angle positioning and tracking system and method based on single photon detection |
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| CN101339077A (en) * | 2008-05-14 | 2009-01-07 | 南京大学 | Single photon detector based on superconducting film material and method of manufacture |
| CN107422392A (en) * | 2017-08-08 | 2017-12-01 | 中国科学院西安光学精密机械研究所 | Winding angle positioning and tracking system and method based on single photon detection |
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