CN113050117A - Light beam array type scanning method and device - Google Patents
Light beam array type scanning method and device Download PDFInfo
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- CN113050117A CN113050117A CN202110467411.1A CN202110467411A CN113050117A CN 113050117 A CN113050117 A CN 113050117A CN 202110467411 A CN202110467411 A CN 202110467411A CN 113050117 A CN113050117 A CN 113050117A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000003287 optical effect Effects 0.000 claims abstract description 69
- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 55
- 238000012545 processing Methods 0.000 claims abstract description 35
- 230000000149 penetrating effect Effects 0.000 claims abstract description 6
- 238000002834 transmittance Methods 0.000 claims description 8
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a light beam array type scanning method and a device, wherein the scanning method comprises the following steps: controlling a pixel point of the liquid crystal optical unit to transmit light; a beam of light is emitted by the light source emitting unit to irradiate the object to be measured, and a first electric signal is generated to the control processing unit; receiving the light reflected by the irradiated measured object through the liquid crystal optical unit; the light source receiving unit receives the light rays penetrating through the pixel points corresponding to the liquid crystal optical unit and generates a second electric signal to the control processing unit; the control processing unit calculates the distance between the light source receiving unit and the measured object; controlling the liquid crystal optical unit to close the light-transmitting pixel point and enabling the next pixel point to transmit light; and circularly scanning all pixel points on the liquid crystal optical unit back and forth to obtain the three-dimensional information of the measured object in the scanning range. The invention utilizes the characteristic that the liquid crystal can control the light transmission of different pixel points in an array mode, thereby achieving the purpose of optical scanning.
Description
Technical Field
The invention relates to the technical field of optical radars, in particular to a light beam array type scanning method and a light beam array type scanning device.
Background
The optical radar is a common distance measuring sensor, has the characteristics of long detection distance, high resolution, small environmental interference and the like, and is widely applied to the fields of intelligent robots, unmanned aerial vehicles, unmanned driving and the like. The principle of operation of optical radar is to estimate the magnitude of the distance using the time of flight (TOF) taken by the probe beam to and from the optical radar and the target.
The existing optical radar needs to measure three-dimensional information of an object or an environment, mainly adopts a mechanical rotation mode, and directs the propagation scanning of laser beams to different directions.
The scanning scheme of the MEMS micro-vibration mirror is adopted, the laser scanning is controlled by controlling the deflection of the reflecting mirror, the scanning scheme also belongs to a semi-mechanical type, and the scanning scheme also has the problems of lower reliability and limited resolution.
The optical phased array scanning scheme is adopted, the wavelength of light is in the nanometer level, the manufacturing and processing difficulty is large, the technology is not mature, the optical phased array scanning scheme is still in the research stage at present, and the foreseeable defects are high cost and limited resolution.
The optical array type receiving unit belongs to a new research technology, belongs to a semiconductor chip, and has high investment on production equipment, so that the cost is high.
The above disadvantages need to be improved.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a light beam array type scanning method and a light beam array type scanning device.
The technical scheme of the invention is as follows:
in a first aspect, the present invention provides a method for optical beam array scanning, comprising:
step S1: controlling a pixel point of the liquid crystal optical unit to transmit light;
step S2: a beam of light is emitted by the light source emitting unit to irradiate the object to be measured, and a first electric signal is generated to the control processing unit;
step S3: receiving the light reflected by the object to be measured through the liquid crystal optical unit;
step S4: receiving light rays penetrating through pixel points corresponding to the liquid crystal optical unit through a light source receiving unit, and generating a second electric signal to the control processing unit;
step S5: the control processing unit calculates the distance between the light source receiving unit and the object to be measured according to the interval time for receiving the first electric signal and the second electric signal;
step S6: controlling the liquid crystal optical unit to close the light-transmitting pixel point and enabling the next pixel point to transmit light;
step S7: and repeating the steps from S2 to S6, and circularly scanning all pixel points on the liquid crystal optical unit back and forth to obtain the three-dimensional information of the measured object in the scanning range.
According to the present invention configured as described above, in step S2, the control processing unit starts timing after receiving the first electric signal.
Further, in step S5, after receiving the second electrical signal, the control processing unit stops timing to obtain the flight time of the light, and calculates the distance between the light source receiving unit and the object to be measured according to the flight time.
Furthermore, when the object to be measured is scanned, the distance between the light source emitting unit and the light source receiving unit is consistent with the distance between the object to be measured, the light source emitting unit and the light source receiving unit are both located on the same side of the object to be measured, and the control processing unit obtains the distance between the light source receiving unit and the object to be measured by multiplying the flight speed of light by the flight time and dividing by two.
In a second aspect, the present invention provides a light beam array type scanning apparatus, comprising
The light source emission unit is used for emitting a beam of light to irradiate a measured object and generating a first electric signal;
the liquid crystal optical unit comprises a plurality of pixel points which are distributed in an array and have selective light transmittance, and different pixel points are sequentially controlled to transmit light;
the light source receiving unit is used for receiving the light rays penetrating through the pixel points corresponding to the liquid crystal optical unit and generating a second electric signal;
and the control processing unit is respectively connected with the light source transmitting unit, the liquid crystal optical unit and the light source receiving unit, is used for receiving the first electric signal and the second electric signal, and calculates the distance between the light source receiving unit and the object to be measured according to the interval time for receiving the first electric signal and the second electric signal.
According to the invention of the above scheme, the liquid crystal optical unit comprises an optical concave lens, an LCD projection liquid crystal sheet and an optical convex lens which are sequentially arranged in parallel along a reflection light path, wherein the LCD projection liquid crystal sheet comprises a plurality of pixel points which are distributed in an array and have selective light transmission;
and irradiating the light reflected by the measured object onto the light source receiving unit after passing through the optical concave lens, the pixel points corresponding to the projection liquid crystal sheet and the optical convex lens in sequence.
According to the invention of the above aspect, the control processing unit includes
The timing unit is respectively connected with the light source transmitting unit and the light source receiving unit and is used for receiving the first electric signal and the second electric signal and timing the interval time for receiving the first electric signal and the second electric signal to obtain the flight time of light;
and the distance measuring unit is connected with the timing unit and used for calculating the distance between the light source receiving unit and the object to be measured according to the flight time and the flight speed of the light.
Further, the control processing unit further includes an amplifying circuit, and the timing unit is connected to the light source emitting unit and the light source receiving unit through the amplifying circuit, and is configured to amplify the first electrical signal and the second electrical signal.
Further, the timing unit is a TDC time-to-digital converter.
According to the invention of the above scheme, the light source emitting unit comprises a light source emitter and a driving circuit, and the driving circuit is used for driving the light source emitter to emit a beam of light to irradiate the object to be measured.
According to the invention of the above scheme, the light source receiving unit is a photosensitive receiving tube.
The invention according to the scheme has the advantages that:
1. the invention utilizes the characteristic that the liquid crystal can control the light transmission of different pixel points in an array manner, thereby achieving the purpose of optical scanning, measuring the light flight time of different pixel points in a scanning manner, and calculating the flight distance according to the flight speed of light, thereby obtaining the three-dimensional information of the environment or the object in the scanning range;
2. the invention does not use any mechanical parts, so the reliability problem of mechanical scanning does not exist, and simultaneously, the liquid crystal is the existing mature technology, thereby being beneficial to the production and the manufacture and the cost reduction of the liquid crystal.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of the present invention for scanning an object under test;
fig. 3 is a structural frame diagram of the present invention.
In the figure, 1, a light source emitting unit; 2. a liquid crystal optical unit; 21. an optical concave lens; 22. LCD projection liquid crystal sheet; 23. an optical convex lens; 3. a light source receiving unit; 4. a control processing unit; 5. and (5) measuring the object.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in 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.
It is to be understood that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Example one
Referring to fig. 1 and fig. 2, the present embodiment provides a light beam array scanning method, which can be applied to the fields of intelligent robots, unmanned aerial vehicles, unmanned vehicles, and the like, and includes the following steps:
step S1: one pixel point of the liquid crystal optical unit 2 is controlled to be capable of transmitting light, and all the other pixel points are not capable of transmitting light. The liquid crystal optical unit 2 includes a plurality of pixel points with selective light transmittance distributed in an array, and different pixel points can be controlled to transmit light through the array.
Step S2: a beam of light is emitted by the light source emitting unit 1 to irradiate the object to be measured 5, and a first electric signal is generated to the control processing unit 4. In this step, the control processing unit 4 starts timing after receiving the first electric signal.
Step S3: the light reflected back by the object 5 to be measured is received by the liquid crystal optical unit 2.
Step S4: the light source receiving unit 3 receives the light passing through the pixel point corresponding to the liquid crystal optical unit 2, and generates a second electric signal to the control processing unit 4.
Step S5: the control processing unit 4 calculates the distance between the light source receiving unit and the object to be measured according to the interval time of receiving the first electric signal and the second electric signal. In this step, after receiving the second electrical signal, the control processing unit 4 stops timing to obtain the flight time of the light, and calculates the distance between the light source receiving unit 3 and the object to be measured 5 according to the flight time.
Step S6: the liquid crystal optical unit 2 is controlled to close the transparent pixel point and the next pixel point can transmit light.
Step S7: and repeating the steps from S2 to S6, and scanning all the pixel points on the liquid crystal optical unit 2 back and forth circularly to obtain the three-dimensional information of the object 5 to be measured in the scanning range.
Through the steps, the invention utilizes the characteristic that the liquid crystal can control the light transmission of different pixel points in an array manner, thereby achieving the purpose of optical scanning, and measures the light flight time of different pixel points in a scanning manner, and then calculates the flight distance according to the flight speed of light, thereby obtaining the three-dimensional information of the environment or the object in the scanning range; the invention does not use any mechanical parts, so the reliability problem of mechanical scanning does not exist, and simultaneously, the liquid crystal is the existing mature technology, thereby being beneficial to the production and the manufacture and the cost reduction of the liquid crystal.
In the present embodiment, when the object to be measured 5 is scanned, the distances between the light source emitting unit 1 and the light source receiving unit 3 are both the same as the distance between the object to be measured 5, and the light source emitting unit 1 and the light source receiving unit 3 are located on the same side of the object to be measured 5. Therefore, the control processing unit 4 can calculate the distance between the light source receiving unit 3 and the object 5 to be measured by multiplying the flight speed of the light by the flight time and dividing by two.
Moreover, while the operations of the method of the invention are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
Example two
Referring to fig. 2 and 3, the present embodiment provides a light beam array type scanning apparatus, which includes
The light source emitting unit 1 is used for emitting a beam of light to irradiate a measured object 5 and generating a first electric signal;
the liquid crystal optical unit 2 comprises a plurality of pixel points which are distributed in an array and have selective light transmittance, and different pixel points are sequentially controlled to transmit light; preferably, the liquid crystal optical unit 2 sequentially controls different pixel points to transmit light in an array arrangement manner.
The light source receiving unit 3 is used for receiving the light rays penetrating through the pixel points corresponding to the liquid crystal optical unit 2 and generating a second electric signal;
and the control processing unit 4 is connected with the light source emitting unit 1, the liquid crystal optical unit 2 and the light source receiving unit 3 respectively, is used for receiving the first signal and the second signal, and calculates the distance between the light source receiving unit 3 and the object to be measured 5 according to the interval time for receiving the first signal and the second signal.
By the light beam array type scanning device, the light transmittance of different pixel points can be controlled in an array mode by using the liquid crystal, so that the purpose of optical scanning is achieved, the light flight time of the different pixel points is measured in a scanning mode, and the flight distance is calculated according to the flight speed of light, so that the three-dimensional information of the environment or the object in the scanning range is obtained; the invention does not use any mechanical parts, so the reliability problem of mechanical scanning does not exist, and simultaneously, the liquid crystal is the existing mature technology, thereby being beneficial to the production and the manufacture and the cost reduction of the liquid crystal.
In this embodiment, the liquid crystal optical unit 2 includes an optical concave lens 21, an LCD projection liquid crystal panel 22 and an optical convex lens 23, which are sequentially disposed in parallel along the reflective optical path, and the LCD projection liquid crystal panel 22 includes a plurality of pixel points with selective transmittance distributed in an array, and the transmittance of light at different pixel points can be controlled in an array manner. The light reflected by the object 5 to be measured sequentially passes through the concave optical lens 21, the pixel points corresponding to the projection liquid crystal sheet and the convex optical lens 23 and then irradiates the light source receiving unit 3, so that a second electric signal is generated.
In the present embodiment, the control processing unit 4 includes
And the timing unit is respectively connected with the light source transmitting unit 1 and the light source receiving unit 3 and is used for receiving the first electric signal and the second electric signal and timing the interval time for receiving the first electric signal and the second electric signal to obtain the flight time of the light. Specifically, the control processing unit 4 starts timing after receiving the first electric signal generated by the light source emitting unit 1; when the control processing unit 4 receives the second electrical signal generated by the light source receiving unit 3, the control processing unit 4 stops timing, so as to obtain the flight time of the light.
And the distance measuring unit is connected with the timing unit and used for calculating the distance between the light source receiving unit 3 and the object to be measured 5 according to the flight time and the flight speed of the light. In the present embodiment, when the object to be measured 5 is scanned, the distances between the light source emitting unit 1 and the light source receiving unit 3 and the object to be measured 5 are the same, and the light source emitting unit 1 and the light source receiving unit 3 are located on the same side of the object to be measured 5. Therefore, the distance measuring unit can calculate the distance between the light source receiving unit 3 and the object to be measured 5 by multiplying the flight speed of the light by the flight time and dividing by two.
In one embodiment, the light source emitting unit 1 may include a light source emitter and a driving circuit for driving the light source emitter to emit a beam of light to irradiate the object 5 to be measured. The light source emitter may be a laser emitter or other type of light emitter.
The light source receiving unit 3 may be a photosensitive receiving tube. The first electrical signal and the second electrical signal output by the light source emitter and the photosensitive receiving tube are usually weak, so the control processing unit 4 further comprises an amplifying circuit, the timing unit is respectively connected with the light source emitter and the photosensitive receiving tube through the amplifying circuit, and the amplifying circuit is used for amplifying the first electrical signal and the second electrical signal so that the timing unit can process the first electrical signal and the second electrical signal. Preferably, the timing unit is a TDC time-to-digital converter, and converts an interval time between receiving the first electrical signal and the second electrical signal into time data.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
The invention is described above with reference to the accompanying drawings, which are illustrative, and it is obvious that the implementation of the invention is not limited in the above manner, and it is within the scope of the invention to adopt various modifications of the inventive method concept and technical solution, or to apply the inventive concept and technical solution to other fields without modification.
Claims (10)
1. A method of optical beam array scanning, comprising:
step S1: controlling a pixel point of the liquid crystal optical unit to transmit light;
step S2: a beam of light is emitted by the light source emitting unit to irradiate the object to be measured, and a first electric signal is generated to the control processing unit;
step S3: receiving the light reflected by the object to be measured through the liquid crystal optical unit;
step S4: receiving light rays penetrating through pixel points corresponding to the liquid crystal optical unit through a light source receiving unit, and generating a second electric signal to the control processing unit;
step S5: the control processing unit calculates the distance between the light source receiving unit and the object to be measured according to the interval time for receiving the first electric signal and the second electric signal;
step S6: controlling the liquid crystal optical unit to close the light-transmitting pixel point and enabling the next pixel point to transmit light;
step S7: and repeating the steps from S2 to S6, and circularly scanning all pixel points on the liquid crystal optical unit back and forth to obtain the three-dimensional information of the measured object in the scanning range.
2. The optical beam array scanning method of claim 1, wherein in step S2, the control processing unit starts timing after receiving the first electrical signal.
3. The light beam array scanning method according to claim 2, wherein in step S5, the control processing unit stops timing after receiving the second electrical signal, obtains a flight time of the light, and calculates a distance between the light source receiving unit and the object to be measured according to the flight time.
4. The light beam array scanning method according to claim 3, wherein when the object to be measured is scanned, the distances between the light source emitting unit and the light source receiving unit and the object to be measured are the same, the light source emitting unit and the light source receiving unit are both located on the same side of the object to be measured, and the control processing unit obtains the distance between the light source receiving unit and the object to be measured by multiplying the flight speed of the light by the flight time and dividing by two.
5. A light beam array type scanning device is characterized by comprising
The light source emission unit is used for emitting a beam of light to irradiate a measured object and generating a first electric signal;
the liquid crystal optical unit comprises a plurality of pixel points which are distributed in an array and have selective light transmittance, and different pixel points are sequentially controlled to transmit light;
the light source receiving unit is used for receiving the light rays penetrating through the pixel points corresponding to the liquid crystal optical unit and generating a second electric signal;
and the control processing unit is respectively connected with the light source transmitting unit, the liquid crystal optical unit and the light source receiving unit, is used for receiving the first electric signal and the second electric signal, and calculates the distance between the light source receiving unit and the object to be measured according to the interval time for receiving the first electric signal and the second electric signal.
6. The optical beam array type scanning device according to claim 5, wherein the liquid crystal optical unit comprises an optical concave lens, an LCD projection liquid crystal sheet and an optical convex lens, which are arranged in parallel along the reflective optical path in sequence, and the LCD projection liquid crystal sheet comprises a plurality of pixel points with selective light transmittance distributed in an array;
and irradiating the light reflected by the measured object onto the light source receiving unit after passing through the optical concave lens, the pixel points corresponding to the projection liquid crystal sheet and the optical convex lens in sequence.
7. The optical beam array scanning apparatus of claim 5, wherein the control processing unit comprises
The timing unit is respectively connected with the light source transmitting unit and the light source receiving unit and is used for receiving the first electric signal and the second electric signal and timing the interval time for receiving the first electric signal and the second electric signal to obtain the flight time of light;
and the distance measuring unit is connected with the timing unit and used for calculating the distance between the light source receiving unit and the object to be measured according to the flight time and the flight speed of the light.
8. The light beam array type scanning device of claim 7, wherein the control processing unit further comprises an amplifying circuit, and the timing unit is respectively connected to the light source emitting unit and the light source receiving unit through the amplifying circuit, and is configured to amplify the first electrical signal and the second electrical signal.
9. The optical beam array scanning apparatus of claim 7, wherein the timing unit is a TDC time-to-digital converter.
10. The light beam array type scanning device according to claim 5, wherein the light source emitting unit comprises a light source emitter and a driving circuit, the driving circuit is configured to drive the light source emitter to emit a beam of light to irradiate the object to be measured;
the light source receiving unit is a photosensitive receiving tube.
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| CN202110467411.1A CN113050117A (en) | 2021-04-28 | 2021-04-28 | Light beam array type scanning method and device |
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| CN112558038A (en) * | 2019-09-26 | 2021-03-26 | 詹馥微 | Scanning method of laser radar |
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2021
- 2021-04-28 CN CN202110467411.1A patent/CN113050117A/en active Pending
Patent Citations (4)
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| CN204044359U (en) * | 2014-07-11 | 2014-12-24 | 武汉万集信息技术有限公司 | A kind of two-dimensional scan formula laser ranging system |
| CN107271984A (en) * | 2017-06-16 | 2017-10-20 | 陈明 | A kind of scan method of all-solid state laser radar |
| CN112558038A (en) * | 2019-09-26 | 2021-03-26 | 詹馥微 | Scanning method of laser radar |
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