CN112748443B - Dynamic target three-dimensional imaging device and method - Google Patents
Dynamic target three-dimensional imaging device and method Download PDFInfo
- Publication number
- CN112748443B CN112748443B CN202011553610.6A CN202011553610A CN112748443B CN 112748443 B CN112748443 B CN 112748443B CN 202011553610 A CN202011553610 A CN 202011553610A CN 112748443 B CN112748443 B CN 112748443B
- Authority
- CN
- China
- Prior art keywords
- detected
- target
- point cloud
- information
- dynamic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- 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 invention provides a dynamic target three-dimensional imaging device and a method, wherein the device comprises a laser emission system, a light beam scanning system, an echo detection system and a data processing system. The laser emission system is used for generating a laser beam and transmitting the laser beam to the beam scanning system; the beam scanning system utilizes an all-solid-state optical phased array to dynamically scan the scattering echo signal of the target to be detected; the echo detection system is used for collecting point cloud information of the target to be detected at different positions; and the data processing system reconstructs a dynamic three-dimensional image of the object to be detected according to the point cloud information of the object at different positions. The invention realizes light beam scanning by utilizing the all-solid-state optical phased array, has no mechanical scanning component, has high precision and light weight, and can meet the three-dimensional imaging requirements of high precision and dynamic targets; and the three-dimensional image of the target can be reconstructed by utilizing the point cloud data and the scanning distribution information of the target, so that the method has strong anti-interference performance and high robustness, and has excellent performance in a strong noise environment in daytime.
Description
Technical Field
The invention relates to the field of laser three-dimensional imaging, in particular to a dynamic target three-dimensional imaging device and method.
Background
With the rapid development of the fields of digital earth, digital city, reverse engineering, virtual reality and the like, various tools and means for acquiring three-dimensional space information are also continuously emerging. The laser active three-dimensional imaging technology is widely applied due to the characteristics of high precision, non-contact, high speed and the like. The laser active three-dimensional imaging technology is used as a spatial information acquisition means of information, a three-dimensional model of a target can be acquired in a point cloud mode, and high-precision three-dimensional reconstruction of the target can be realized through further data processing.
In recent years, in order to meet the requirement of three-dimensional rapid imaging of a remote target, a single photon laser three-dimensional imaging technology has been rapidly developed, and when a single photon detector detects one or more target echo photons, a response pulse is generated, and pulse accumulation at different echo moments is realized by using Time-dependent single photon counting (TCSPC, time-correlated single photon counting) counting, so as to obtain the distance information of the target. And combining the two-dimensional scanning of the receiving and transmitting light beams, the complete three-dimensional point cloud information of the target can be obtained.
Currently, single photon laser three-dimensional imaging technology mainly applies measurement of a static target, on one hand, when the target moves, echo pulses accumulated by TCSPC cannot normally represent the target distance. When the target motion speed is low, the echo pulse accumulation value of TCSPC can be widened, and the measurement false alarm rate is increased; at faster target speeds, the TCSPC echo pulse accumulation will be completely submerged in the noise signal, resulting in measurement failure. On the other hand, high requirements are put on the scanning speed and the scanning precision of the moving part for the light beam scanning of the high-speed moving object in the moving state, and at present, a mechanical scanning mode, such as a two-dimensional scanning galvanometer, is provided with a mechanical rotating part, has low response speed and is difficult to meet the requirements of the two-dimensional scanning of the light beam of the high-speed moving object.
Disclosure of Invention
Embodiments of the present invention provide a dynamic target three-dimensional imaging apparatus and method that overcomes or at least partially solves the above-mentioned problems.
According to a first aspect of an embodiment of the present invention, there is provided a dynamic target three-dimensional imaging apparatus, including a laser emission system, a beam scanning system, an echo detection system, and a data processing system; the laser emission system is used for generating a laser beam and transmitting the laser beam to the beam scanning system; the beam scanning system is used for emitting the laser beam to the detection target area and receiving a scattered echo signal of a target to be detected; the system is also used for carrying out dynamic beam scanning on the scattered echo signals of the target to be detected by utilizing the all-solid-state optical phased array to acquire the point cloud information of the target to be detected at different positions; the echo detection system is used for collecting point cloud information of the target to be detected at different positions and transmitting the point cloud information to the data processing system; the data processing system is used for reconstructing a dynamic three-dimensional image of the object to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions.
On the basis of the technical scheme, the embodiment of the invention can be improved as follows.
Optionally, the laser emission system comprises a laser driver, a laser, a beam modulation component, a PIN detector, a signal modulation component and an A/D conversion component; the laser is used for generating a pulse laser beam with specific frequency and specific energy according to the driving of the laser driver and entering the beam modulation component; the beam modulation component is used for carrying out light splitting treatment on the laser beam, so that main energy of the laser beam is transmitted to the beam scanning system, and little energy is transmitted to the PIN detector; the PIN detector is used for completing optical synchronization according to the minimum energy and outputting a synchronization signal to the signal modulation component; the signal modulation component is used for carrying out noise suppression and signal amplification on the synchronous signals output by the PIN detector; the A/D conversion component is used for converting the conditioned analog signals into digital signals and transmitting the digital signals to the data processing system.
Optionally, the light beam scanning system comprises a telescope group, an all-solid-state optical phased array and a driving circuit; the telescope group is used for emitting laser beams to a detection target area and receiving scattered echo signals of a target to be detected; the all-solid-state optical phased array is used for carrying out dynamic beam scanning on the emergent beam and the scattered echo signal of the target to be detected according to the driving signal of the driving circuit, obtaining point cloud information of the target to be detected at different positions and transmitting the point cloud information to the echo detection system.
Optionally, the echo detection system comprises a beam coupling device, a single photon detector and a TCSPC device; the beam coupling device is used for collecting scattered echo signal energy of a target to be detected and coupling the scattered echo signal energy to the single photon detector; the single photon detector is used for receiving scattered echo energy of a target to be detected and outputting pulses to the TCSPC device; the TCSPC device is used for receiving the pulse output by the single photon detector and recording the PIN detection synchronizing signal time difference.
Optionally, the data processing system comprises an FPGA and a hard disk; and the FPGA is used for detecting the time difference of the synchronizing signal according to the synchronizing signal output by the A/D conversion assembly and the PIN output by the TCSPC module and completing the time sequence control and synchronization of the laser, the all-solid-state optical phased array and the TCSPC device.
According to a second aspect of an embodiment of the present invention, there is provided a dynamic target three-dimensional imaging method, including: setting system parameters of a dynamic target three-dimensional imaging device; after the system parameters are set, carrying out dynamic beam scanning on the emission beam emitted to the detection target area and the scattered echo signal of the target to be detected through an all-solid-state optical phased array to obtain point cloud information of the target to be detected at different positions; and reconstructing a dynamic three-dimensional image of the target to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the target to be detected at different positions.
Optionally, the setting the system parameters of the dynamic target three-dimensional imaging device includes: setting the repetition frequency of laser emitted by the laser as l Hz, setting the minimum time resolution of the TCSPC device as deltat, setting the time of single acquisition time as T, and setting the total accumulated acquisition time as N.
Optionally, reconstructing the dynamic three-dimensional image of the object to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions includes: acquiring point cloud information of a target to be detected at each position; projecting point cloud information of an object to be detected at any position from a point cloud two-dimensional space to a polar coordinate parameter space, wherein data points on a straight line in the point cloud two-dimensional space data are converged to one point in the polar coordinate parameter space; searching peak points in a polar coordinate parameter space to obtain polar coordinate parameters of the position with the most convergence points, wherein the polar coordinate parameters are the polar coordinate parameters in the polar coordinate parameter space after the point cloud information of the object to be detected is projected at any position; obtaining speed information and distance information of the object to be detected at any position according to polar coordinate parameters of the point cloud information of the object to be detected at any position in a polar coordinate parameter space; and reconstructing a dynamic three-dimensional image of the object to be detected according to the speed information and the distance information of the object to be detected at each position.
Optionally, the point cloud information of the object to be detected at any position is projected from the point cloud two-dimensional space to the polar coordinate parameter space by the following formula:
ρ＝xcosθ+ysinθ。
wherein x is the echo time in the point cloud space coordinate, and y is the measurement times in the point cloud space coordinate.
Optionally, the obtaining the speed information and the distance information of the object to be detected at any position according to the polar coordinate parameters of the point cloud information of the object to be detected at any position in the polar coordinate parameter space includes:
wherein (ρ) max ,θ max ) The polar coordinate parameter of the position with the maximum number of convergence points is y, which is the motion track function of the target to be detected, v i,j For the speed information of the object to be detected at any one position, R i,j And c is the light velocity, and (i, j) is the coordinate information of any position in the point cloud data space.
According to the three-dimensional imaging device and the three-dimensional imaging method for the dynamic target, a beam scanning system performs dynamic beam scanning on a scattered echo signal of the target to be detected by using an all-solid-state optical phased array, and point cloud information of the target to be detected at different positions is obtained; and the data processing system reconstructs a dynamic three-dimensional image of the object to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions. The embodiment of the invention utilizes the all-solid-state optical phased array to carry out two-dimensional scanning on the receiving and transmitting light beams, has no mechanical scanning component, has high precision and light weight, and can meet the three-dimensional imaging requirements of high precision and dynamic targets; and the three-dimensional image of the target can be reconstructed by utilizing the point cloud data of the target and the scanning distribution information of the all-solid-state optical phased array, so that the three-dimensional image has strong anti-interference performance and high robustness, and has excellent performance in a strong noise environment in daytime.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional imaging device for a dynamic target according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for three-dimensional imaging of a dynamic target according to an embodiment of the present invention;
FIG. 3 is a flow chart for reconstructing a three-dimensional image of an object to be detected based on point cloud information;
fig. 4 is a schematic diagram of point cloud spatial distribution information of an object to be detected.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Fig. 1 is a schematic structural diagram of a three-dimensional imaging device for a dynamic target according to an embodiment of the present invention, where, as shown in fig. 1, the three-dimensional imaging device includes a laser emission system, a beam scanning system, an echo detection system, and a data processing system.
The laser emission system is used for generating a laser beam and transmitting the laser beam to the beam scanning system; the beam scanning system is used for emitting laser beams to the detection target area and receiving scattering echo signals of the target to be detected; the system is also used for carrying out dynamic beam scanning on the scattered echo signals of the target to be detected by utilizing the all-solid-state optical phased array to acquire the point cloud information of the target to be detected at different positions; the echo detection system is used for collecting point cloud information of the target to be detected at different positions and transmitting the point cloud information to the data processing system; and the data processing system is used for reconstructing a dynamic three-dimensional image of the object to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions.
It can be appreciated that based on the problems existing in the background technology, the embodiment of the invention provides a device capable of rapidly performing three-dimensional imaging of a dynamic target, and the device can realize two-dimensional scanning of laser receiving and transmitting beams at high speed, and has high scanning precision and compact structure. The three-dimensional imaging device mainly comprises a laser emission system, a light beam scanning system, an echo detection system and a data processing system.
The laser emission system is used for generating a narrow-pulse high-power active laser beam so as to ensure high resolution of the system and scattered echo energy. The beam scanning system mainly emits laser beams to the target to be detected, receives scattered echo signals of the target to be detected, and utilizes the all-solid-state optical phased array to dynamically scan the emitted laser beams and the scattered echo signals of the target to be detected, so as to obtain point cloud information of the target to be detected at different positions. The data processing system is mainly used for reconstructing a dynamic three-dimensional image of the object to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions.
The dynamic target three-dimensional imaging device provided by the embodiment of the invention utilizes the all-solid-state optical phased array to carry out two-dimensional scanning on the receiving and transmitting light beams, has no mechanical scanning component, has high precision and light weight, and can meet the three-dimensional imaging requirements of high precision and dynamic targets; and the three-dimensional image of the target can be reconstructed by utilizing the point cloud data of the target and the scanning distribution information of the all-solid-state optical phased array, so that the three-dimensional image has strong anti-interference performance and high robustness, and has excellent performance in a strong noise environment in daytime.
In one possible embodiment, a laser emission system includes a laser driver, a laser, a beam modulation assembly, a PIN detector, a signal modulation assembly, and an a/D conversion assembly.
The laser is used for generating a pulse laser beam with specific frequency and specific energy according to the driving of the laser driver and entering the beam modulation component; the beam modulation component is used for carrying out light splitting treatment on the laser beam, so that main energy of the laser beam is transmitted to the beam scanning system, and little energy is transmitted to the PIN detector; the PIN detector is used for completing optical synchronization according to the minimum energy and outputting a synchronization signal to the signal modulation component; the signal modulation component is used for carrying out noise suppression and signal amplification on the synchronous signals output by the PIN detector; and the A/D conversion component is used for converting the conditioned analog signals into digital signals and transmitting the digital signals to the data processing system.
It will be appreciated that the laser emitting system is comprised of a laser, a laser driver, a beam modulating assembly, a PIN detector, a signal modulating assembly, an a/D conversion assembly. The laser driver is used for driving and controlling the laser; the laser is used for emitting pulse laser with specific frequency and energy; the beam modulation component is used for splitting laser emergent light, and the proportion is 99.5%:0.5%, wherein 99.5% of the energy is output to the beam scanning system, and 0.5% of the energy is output to the PIN detector; the PIN detector is used for receiving the energy after the laser beam splitting to complete the optical synchronization, and the PIN detector receives the energy of the laser and outputs the energy to a TCSPC device of the echo detection system after passing through the signal modulation component and the A/D conversion component; the signal conditioning component is used for completing noise suppression and signal amplification of the output signal of the PIN detector; the A/D conversion component is used for converting the conditioned analog signal into a digital signal.
The beam modulation component is a laser beam expander and a spectroscope, wherein the laser beam expander is used for expanding the laser emergent beam and reducing the divergence angle. The laser beam emitted by the laser passes through the beam expander and then passes through the spectroscope, the spectroscope divides the main energy of the laser into the beam scanning system, and little energy is divided into the PIN detector. The signal modulation component is a signal comparator and an amplifier and is used for shaping and amplifying the detection output signal of the PIN detector to generate a standard TTL signal.
In one possible embodiment, a beam scanning system includes a set of telescopes, an all-solid-state optical phased array, and a drive circuit; the telescope group is used for emitting laser beams to a detection target area and receiving scattered echo signals of a target to be detected; and the all-solid-state optical phased array is used for carrying out dynamic beam scanning on the emergent beam and the scattered echo signal of the target to be detected according to the driving signal of the driving circuit, acquiring the point cloud information of the target to be detected at different positions and transmitting the point cloud information to the echo detection system.
It can be appreciated that the beam scanning system is used to accomplish the high-speed scanning of the transmitted light and the collection of the target echo energy, and to achieve the rapid detection of a large field of view area, including all-solid-state optical phased arrays and telescope sets. The telescopic component is a receiving and transmitting common aperture telescopic imaging system and is used for completing laser emission and target echo energy reception. The all-solid-state optical phased array is an OPA optical phased array component and is used for completing rapid scanning of emitted and received light beams, and the driving circuit is used for driving the deflection angle of the all-solid-state optical phased array so that the all-solid-state optical phased array can be realized. Specifically, the all-solid-state optical phased array is used for carrying out dynamic beam scanning on the emergent beam and the scattered echo signal of the object to be detected according to the driving signal of the driving circuit, and obtaining point cloud information of the object to be detected at different positions.
In one possible embodiment, the echo detection system includes a beam coupling device, a single photon detector, and a TCSPC device. The beam coupling device is used for collecting scattered echo signal energy of a target to be detected and coupling the scattered echo signal energy to the single photon detector; the single photon detector is used for receiving scattered echo energy of a target to be detected and outputting pulses to the TCSPC device; and the TCSPC device is used for receiving the pulse output by the single photon detector and recording the PIN detection synchronizing signal time difference.
It is understood that the echo detection system is used to collect the scattered echo signal of the target, and the scattered echo signal passes through the beam coupling system and enters the single photon detector, including the beam coupling system, the single photon detector and the TCSPC device.
When the single photon detector is input by an optical fiber, the light beam coupling system is used for coupling the target echo energy to the end face of the optical fiber and inputting the target echo energy to the photosensitive surface of the single photon detector by the optical fiber; when the single photon detector is spatially input, the single photon detector is used for directly coupling the target echo energy to the photosensitive surface of the single photon detector. The single photon detector is a Geiger-mode photomultiplier or superconducting nanowire single photon detector and is used for receiving one or more echo photons of a target and generating an output pulse signal.
In one possible embodiment, a data processing system includes an FPGA and a hard disk; and the FPGA is used for detecting the time difference of the synchronizing signal according to the synchronizing signal output by the A/D conversion assembly and the PIN output by the TCSPC module and completing the time sequence control and synchronization of the laser, the all-solid-state optical phased array and the TCSPC device.
It can be understood that the data processing system is used for completing system hardware control, data acquisition and processing work, collecting target scattering echo information under different angles, and reconstructing a target three-dimensional point cloud image.
Fig. 2 is a schematic diagram of a three-dimensional imaging method of a dynamic target according to an embodiment of the present invention, where, as shown in fig. 2, the three-dimensional imaging method of a dynamic target includes: 201. setting system parameters of a dynamic target three-dimensional imaging device; 202. after the system parameters are set, carrying out dynamic beam scanning on the emission beam emitted to the detection target area and the scattered echo signal of the target to be detected through an all-solid-state optical phased array to obtain point cloud information of the target to be detected at different positions; 203. and reconstructing a dynamic three-dimensional image of the target to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the target to be detected at different positions.
It can be understood that firstly, setting system parameters of the dynamic target three-dimensional imaging device, and after the system parameters are set, performing light beam dynamic scanning through the all-solid-state optical phased array to obtain point cloud information of the target to be detected at different positions. And reconstructing a dynamic three-dimensional image of the object to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions obtained by scanning.
The method comprises the steps of setting basic parameters of a dynamic target three-dimensional imaging device, setting the repetition frequency of laser emergent laser to be l Hz, setting the minimum time resolution of TCSPC to be deltat, setting the time of single acquisition to be T, and setting the total accumulated acquisition time to be N.
After the system parameters are set, controlling an all-solid-state optical phased array, starting to scan the (1, 1) th point according to a designed beam scanning path, recording the corresponding time of a pulse signal output by single photon detection within the time 0-T of single acquisition times by a TCSPC device, and accumulating the acquisition times N to obtain target point cloud information f (1, 1) at the (1, 1) th point; and repeatedly adopting the all-solid-state optical phased array to complete full-path scanning to obtain target point cloud information f (i, j) of the target points (1, 1) - (n, n) (i, j=1, 2, …, n).
In a possible embodiment, referring to fig. 3, reconstructing a dynamic three-dimensional image of an object to be detected according to two-dimensional scanning distribution information of an all-solid-state optical phased array and point cloud information of the object to be detected at different positions includes: acquiring point cloud information of a target to be detected at each position; projecting point cloud information of an object to be detected at any position from a point cloud two-dimensional space to a polar coordinate parameter space, wherein data points on a straight line in the point cloud two-dimensional space data are converged to one point in the polar coordinate parameter space; searching peak points in a polar coordinate parameter space, and acquiring the polar coordinate parameter of the position with the most convergence points, wherein the polar coordinate parameter is the polar coordinate parameter in the polar coordinate parameter space after the point cloud information of the object to be detected at any position is projected; obtaining speed information and distance information of the object to be detected at any position according to polar coordinate parameters of the point cloud information of the object to be detected at any position in a polar coordinate parameter space; and reconstructing a dynamic three-dimensional image of the object to be detected according to the speed information and the distance information of the object to be detected at each position.
It can be understood that, according to the point cloud data of the object to be detected at the points (1, 1) - (n, n) obtained by the all-solid-state optical phased array all-path scanning, the reconstruction method of the dynamic object three-dimensional image is to extract the corresponding object velocity v from the different point cloud information f (i, j) by adopting a dynamic object velocity correction method, assuming that the point cloud information at the point (i, j) is f (i, j) (i, j=1, 2, …, n) i,j And target distance R i,j The method comprises the steps of carrying out a first treatment on the surface of the Combining the optical phased array two-dimensional scanning distribution information with the speed information and the distance information of the object to be detected, and obtaining the dynamic three-dimensional image of the object.
The dynamic target speed correction method is a mapping relation from a point cloud data space to a parameter space, and target echo data in detected point cloud data can be aggregated in the parameter space to form a parameter peak point corresponding to a target motion track, so that parameters of the point cloud motion track are obtained. The method is essentially to cluster point clouds with a certain relation in an original point cloud space, and find parameter space accumulated corresponding points which can relate some point clouds in a certain analysis form. The method comprises the following specific steps:
and acquiring point cloud information f (i, j) of the target to be detected at different positions, setting distance gating according to the characteristics of the target, and filtering out point cloud backscattering noise. The conversion of the point cloud information from the point cloud two-dimensional space to the polar coordinate parameter space is completed through the formula (1), the point cloud two-dimensional space data is projected to the polar coordinate (rho, theta) parameter space, wherein the data points on the straight line in the point cloud two-dimensional space data are converged to one point in the polar coordinate parameter space, and the method can be seen in fig. 4.
ρ＝xcosθ+ysinθ； (1)
Wherein x is the echo time in the point cloud space coordinate, and y is the measurement times in the point cloud space coordinate.
After the parameter space conversion is completed, the data points on the straight lines in the two-dimensional space data of the point cloud are converged to one point in the polar coordinate parameter space, and the peak point search is carried out in the polar coordinate parameter space to obtain the polar coordinate (rho) of the position with the maximum converged point number max ,θ max )。
By converging point number maximum position polar coordinates (ρ max ,θ max ) A function of the target motion trail in the two-dimensional space of the point cloud can be obtained, such as a formula (2), wherein the target speed v i,j Target distance R i,j As shown in the formulas (3) and (4), wherein c is the speed of light, when v i,j When the target flies away from the system in a negative value, the target flies against the system in a positive value.
Wherein (ρ) max ,θ max ) The polar coordinate parameter of the position with the maximum number of convergence points is y, which is the motion track function of the target to be detected, v i,j For the speed information of the object to be detected at any one position, R i,j And c is the light velocity, and (i, j) is the coordinate information of any position in the point cloud data space.
According to formulas (2), (3) and (4), the speed information and the distance information of the object to be detected at each different position can be obtained, and finally, the three-dimensional image of the dynamic object is reconstructed according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the speed information and the distance information of the object to be detected.
The device and the method for three-dimensional imaging of the dynamic target provided by the embodiment of the invention realize light beam scanning and receiving and transmitting by utilizing the all-solid-state optical phased array, have no mechanical scanning component, have high precision and light weight, and can meet the three-dimensional imaging requirements of the high-precision and dynamic target; the target motion trail is extracted by utilizing target motion parameter matching, so that the method has strong anti-interference performance and high robustness, and still has excellent performance in a strong noise environment in daytime.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to include such modifications and variations as well.
Claims (10)
1. The dynamic target three-dimensional imaging device is characterized by comprising a laser emission system, a light beam scanning system, an echo detection system and a data processing system;
the laser emission system is used for generating a laser beam and transmitting the laser beam to the beam scanning system;
the beam scanning system is used for emitting the laser beam to a detection target area and receiving a scattered echo signal of a target to be detected; the system is also used for carrying out dynamic beam scanning on the scattered echo signals of the target to be detected by utilizing the all-solid-state optical phased array to acquire the point cloud information of the target to be detected at different positions;
the echo detection system is used for collecting point cloud information of the target to be detected at different positions and transmitting the point cloud information to the data processing system;
the data processing system is used for projecting the point cloud information of the object to be detected at different positions from the point cloud two-dimensional space to the polar coordinate parameter space according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions, and obtaining the speed information and the distance information of the object to be detected at any position according to the polar coordinate parameter of the point cloud information of the object to be detected at any position in the polar coordinate parameter space; reconstructing a dynamic three-dimensional image of the object to be detected according to the speed information and the distance information of the object to be detected at each position,
the echo detection system comprises a light beam coupling device, a single photon detector and a TCSPC device;
the beam coupling device is used for collecting scattered echo signal energy of a target to be detected and coupling the scattered echo signal energy to the single photon detector;
the single photon detector is used for receiving scattered echo energy of a target to be detected and outputting pulses to the TCSPC device;
the TCSPC device is used for receiving the pulse output by the single photon detector and recording the PIN detection synchronizing signal time difference.
2. The dynamic target three-dimensional imaging device of claim 1, wherein the laser emission system comprises a laser driver, a laser, a beam modulation assembly, a PIN detector, a signal modulation assembly, and an a/D conversion assembly;
the laser is used for generating a pulse laser beam with specific frequency and specific energy according to the driving of the laser driver and entering the beam modulation component;
the beam modulation component is used for carrying out light splitting treatment on the laser beam, so that main energy of the laser beam is transmitted to the beam scanning system, and little energy is transmitted to the PIN detector;
the PIN detector is used for completing optical synchronization according to the minimum energy and outputting a synchronization signal to the signal modulation component;
the signal modulation component is used for carrying out noise suppression and signal amplification on the synchronous signals output by the PIN detector;
the A/D conversion component is used for converting the conditioned analog signals into digital signals and transmitting the digital signals to the data processing system.
3. The dynamic target three-dimensional imaging device of claim 2, wherein the beam scanning system comprises a set of telescopes, an all-solid-state optical phased array, and a drive circuit;
the telescope group is used for emitting laser beams to a detection target area and receiving scattered echo signals of a target to be detected;
the all-solid-state optical phased array is used for carrying out dynamic beam scanning on the emergent beam and the scattered echo signal of the target to be detected according to the driving signal of the driving circuit, obtaining point cloud information of the target to be detected at different positions and transmitting the point cloud information to the echo detection system.
4. The dynamic target three-dimensional imaging device of claim 1, wherein the data processing system comprises an FPGA and a hard disk;
and the FPGA is used for detecting the time difference of the synchronizing signal according to the synchronizing signal output by the A/D conversion component and the PIN output by the TCSPC device and completing the time sequence control and synchronization of the laser, the all-solid-state optical phased array and the TCSPC device.
5. The dynamic target three-dimensional imaging device of claim 1, wherein the beam scanning system comprises a set of telescopes, an all-solid-state optical phased array, and a drive circuit;
the telescope group is used for emitting laser beams to a detection target area and receiving scattered echo signals of a target to be detected;
the all-solid-state optical phased array is used for carrying out dynamic beam scanning on the emergent beam and the scattered echo signal of the target to be detected according to the driving signal of the driving circuit, obtaining point cloud information of the target to be detected at different positions and transmitting the point cloud information to the echo detection system.
6. A method for three-dimensional imaging of a dynamic target, comprising:
setting system parameters of the dynamic target three-dimensional imaging device according to any one of claims 1 to 5;
after the system parameters are set, carrying out dynamic beam scanning on the emission beam emitted to the detection target area and the scattered echo signal of the target to be detected through an all-solid-state optical phased array to obtain point cloud information of the target to be detected at different positions;
and reconstructing a dynamic three-dimensional image of the target to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the target to be detected at different positions.
7. The method of three-dimensional imaging of a dynamic target according to claim 6, wherein the setting system parameters of the three-dimensional imaging device of the dynamic target comprises:
the repetition frequency of laser emitted by the laser is set to be lHz, the minimum time resolution of the TCSPC device is set to be deltat, the time of single collection is set to be T, and the total collection time is set to be N.
8. The method according to claim 6 or 7, wherein reconstructing the dynamic three-dimensional image of the object to be detected according to the two-dimensional scanning distribution information of the all-solid-state optical phased array and the point cloud information of the object to be detected at different positions comprises:
acquiring point cloud information of a target to be detected at each position;
projecting point cloud information of an object to be detected at any position from a point cloud two-dimensional space to a polar coordinate parameter space, wherein data points on a straight line in the point cloud two-dimensional space data are converged to one point in the polar coordinate parameter space;
searching peak points in a polar coordinate parameter space to obtain polar coordinate parameters of the position with the most convergence points, wherein the polar coordinate parameters are the polar coordinate parameters in the polar coordinate parameter space after the point cloud information of the object to be detected is projected at any position;
obtaining speed information and distance information of the object to be detected at any position according to polar coordinate parameters of the point cloud information of the object to be detected at any position in a polar coordinate parameter space;
and reconstructing a dynamic three-dimensional image of the object to be detected according to the speed information and the distance information of the object to be detected at each position.
9. The method of three-dimensional imaging of a dynamic target according to claim 8, wherein the point cloud information of the target to be detected at any one position is projected from the point cloud two-dimensional space to the polar coordinate parameter space by the following formula: ρ=xcos θ+ysin θ,
wherein x is the echo time in the point cloud space coordinate, and y is the measurement times in the point cloud space coordinate.
10. The method of claim 9, wherein obtaining the speed information and the distance information of the object to be detected at any position according to the polar coordinate parameters of the point cloud information of the object to be detected at any position in the polar coordinate parameter space comprises:
wherein (ρ) max ,θ max ) For the polar coordinate parameter of the most point of the convergence, y max V is the motion track function of the target to be detected i,j For the speed information of the object to be detected at any one position, R i,j For the distance information of the object to be detected at any one position, c is the light speed, (i, j) is the coordinate information of any one position in the point cloud data space, and Δt is the minimum time resolution of the TCSPC device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011553610.6A CN112748443B (en) | 2020-12-24 | 2020-12-24 | Dynamic target three-dimensional imaging device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011553610.6A CN112748443B (en) | 2020-12-24 | 2020-12-24 | Dynamic target three-dimensional imaging device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112748443A CN112748443A (en) | 2021-05-04 |
| CN112748443B true CN112748443B (en) | 2023-05-09 |
Family
ID=75645850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011553610.6A Active CN112748443B (en) | 2020-12-24 | 2020-12-24 | Dynamic target three-dimensional imaging device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112748443B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534099B (en) * | 2021-07-13 | 2024-04-09 | 西安电子科技大学 | OPA scanning dynamic imaging method and imaging system |
| CN114690169B (en) * | 2022-03-09 | 2024-05-24 | 中国科学院国家空间科学中心 | Device and method for detecting space target by utilizing active electron beam |
| CN116418967B (en) * | 2023-04-13 | 2023-10-13 | 青岛图海纬度科技有限公司 | Color restoration method and device for laser scanning of underwater dynamic environment |
| CN117169915B (en) * | 2023-09-05 | 2024-02-23 | 山西大学 | Long-distance real-time tracking single photon feature recognition and imaging system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104484882A (en) * | 2014-12-24 | 2015-04-01 | 哈尔滨工业大学 | City region power line detection method based on airborne LiDAR (light detection and ranging) data |
| CN107589428A (en) * | 2017-11-03 | 2018-01-16 | 长春理工大学 | Composite mode laser infrared radar imaging system based on multiaspect battle array APD array |
| CN110579775A (en) * | 2019-10-10 | 2019-12-17 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | Ultra-long-range single-photon three-dimensional laser radar scanning imaging system |
| CN111580070A (en) * | 2020-05-28 | 2020-08-25 | 香港中文大学（深圳） | Optical phased array laser radar |
| CN111896973A (en) * | 2020-07-16 | 2020-11-06 | 武汉大学 | Ultra-long-distance target three-dimensional motion trajectory prediction method based on active and passive fusion |
-
2020
- 2020-12-24 CN CN202011553610.6A patent/CN112748443B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104484882A (en) * | 2014-12-24 | 2015-04-01 | 哈尔滨工业大学 | City region power line detection method based on airborne LiDAR (light detection and ranging) data |
| CN107589428A (en) * | 2017-11-03 | 2018-01-16 | 长春理工大学 | Composite mode laser infrared radar imaging system based on multiaspect battle array APD array |
| CN110579775A (en) * | 2019-10-10 | 2019-12-17 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | Ultra-long-range single-photon three-dimensional laser radar scanning imaging system |
| CN111580070A (en) * | 2020-05-28 | 2020-08-25 | 香港中文大学（深圳） | Optical phased array laser radar |
| CN111896973A (en) * | 2020-07-16 | 2020-11-06 | 武汉大学 | Ultra-long-distance target three-dimensional motion trajectory prediction method based on active and passive fusion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112748443A (en) | 2021-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112748443B (en) | Dynamic target three-dimensional imaging device and method | |
| CN107703517B (en) | Airborne multi-beam optical phased array laser three-dimensional imaging radar system | |
| CN107589428B (en) | Multi-area array APD array-based composite mode laser radar imaging system | |
| CN109164430B (en) | System and method for detecting position and posture of target by using laser echo and light spot | |
| CN114545428B (en) | Single-pixel-single-photon detector-based tracking range laser radar device and method | |
| US11435446B2 (en) | LIDAR signal acquisition | |
| CN103901435B (en) | A kind of full optical fiber optical optical road Full wave shape laser radar system | |
| CN103499818B (en) | A kind of infrared and laser compound detection system | |
| CN205175364U (en) | A laser profile scanning device for data acquisition | |
| CN109375237A (en) | A kind of all solid state face array three-dimensional imaging laser radar system | |
| CN107219533A (en) | Laser radar point cloud and image co-registration formula detection system | |
| CN110579775A (en) | Ultra-long-range single-photon three-dimensional laser radar scanning imaging system | |
| CN105785343A (en) | Spacial multi-beam laser emitter, multichannel receiving apparatus and detection apparatus | |
| CN107238842B (en) | Area array target searching, scanning and imaging device and method | |
| KR20200103832A (en) | LIDAR-based distance measurement using hierarchical power control | |
| CN203909297U (en) | Laser range finder based on high-speed single-photon detection | |
| CN105044731A (en) | Laser three-dimensional imaging system and imaging method | |
| CN109683174A (en) | Laser radar scanning system and method, vehicle | |
| CN104931974A (en) | Light source modulation and demodulation-based ICMOS high-speed 3D imaging laser radar | |
| CN105738972A (en) | Underwater detection system and underwater detection method | |
| CN110553599A (en) | high-resolution high-speed laser three-dimensional imaging system | |
| CN101806899A (en) | Striped tube UV laser imaging radar system for carrying out four-dimensional imaging on terrain and imaging method thereof | |
| CN105403169A (en) | Laser contour scanning device for data acquisition and data acquisition method | |
| CN203535224U (en) | Infrared and laser composite detection system | |
| CN107942341A (en) | A kind of Imaging Detection System and method for being used to cover target |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |