CN115267822A - High-uniformity scanning type single photon laser three-dimensional radar imaging system and imaging method - Google Patents
High-uniformity scanning type single photon laser three-dimensional radar imaging system and imaging method Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
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Abstract
The invention provides a high-uniformity scanning type single-photon laser three-dimensional radar imaging system and an imaging method, aiming at solving the problem that the photon counting imaging effect based on an optical fiber coupling type SPAD detector is influenced after the photosensitive area diameter of the conventional single-photon laser three-dimensional imaging radar system is smaller and the optical signal coupling efficiency is improved by combining multimode optical fibers. The device comprises a laser, a beam shaping module, a beam scanning module, a receiving telescope, an optical fiber coupler, a homogenized optical fiber, a single photon photoelectric detector, a time-dependent single photon counting module and a data processing module; a light beam shaping module and a light beam scanning module are sequentially arranged on a light pulse light path emitted by the laser; a receiving telescope, an optical fiber coupler, a homogenizing optical fiber and a single photon photoelectric detector are sequentially arranged on an echo light path reflected by a target to be detected; the single photon photoelectric detector is connected with the time-dependent single photon counting module; and the time-related single photon counting module is connected with the data processing module.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a high-uniformity scanning type single-photon laser three-dimensional radar imaging system and an imaging method.
Background
With the increasing maturity of single photon detection devices, the detection sensitivity of the laser radar is greatly improved, and the farthest detection distance is continuously increased. Among a plurality of single photon detection devices, a Single Photon Avalanche Diode (SPAD) also called a Geiger-mode avalanche diode (Gm-APD) is developed more mature and has more excellent performance as a semiconductor photoelectric device. Compared with a Photomultiplier (PMT) and a Superconducting Nanowire Single Photon Detector (SNSPD) which have the same single photon detection capability, the high-voltage power supply or extremely low-temperature severe working conditions are not needed, and the advantages of low power consumption and small size are very beneficial to the development trend of laser radar system miniaturization.
At present, most photon counting laser imaging radar systems adopt a unit SPAD detector, and a two-dimensional scanning mode is combined to obtain a three-dimensional image of a target to be detected. However, in order to maintain better performance in terms of time resolution, dark count and the like, the diameter of the photosensitive region of the existing SPAD detector is usually designed to be less than 200 μm, or even smaller, but the diameter increases the complexity of spatial light receiving and focusing, so that optical fiber coupling is a common scheme for single photon optical receiving systems, and especially, multimode optical fiber is usually selected to improve optical signal coupling efficiency. However, the imaging effect of the SPAD detector is seriously affected by the nonuniformity of the optical field transmitted by the common multimode fiber and interference speckles, and the phenomena of speckles and belt loops are commonly generated.
Disclosure of Invention
The invention aims to solve the technical problem that the photon counting imaging effect of an optical fiber coupling SPAD (spatial aperture detector) is seriously influenced by the nonuniformity and interference speckles of an optical field transmitted by the conventional multimode optical fiber, and provides a high-uniformity scanning type single photon laser three-dimensional radar imaging system and an imaging method.
In order to achieve the purpose, the invention adopts the technical scheme that:
a high-uniformity scanning type single photon laser three-dimensional radar imaging system is characterized in that: the device comprises a laser, a beam shaping module, a beam scanning module, a receiving telescope, an optical fiber coupler, a homogenized optical fiber, a single photon photoelectric detector, a time-dependent single photon counting module and a data processing module;
a light beam shaping module and a light beam scanning module are sequentially arranged on a light pulse light path emitted by the laser; the target to be detected is positioned on an emergent light path of the light beam scanning module;
the receiving telescope receives echoes reflected by a target to be detected, and the echoes sequentially pass through the optical fiber coupler and the homogenizing optical fiber and reach the single-photon photoelectric detector;
the single-photon photoelectric detector is electrically connected with one input end of the time-dependent single-photon counting module, and the other input end of the time-dependent single-photon counting module is electrically connected with the laser; the output end of the time-dependent single photon counting module is electrically connected with the data processing module;
the homogenizing optical fiber is a special optical fiber with a rectangular fiber core and comprises a square fiber core and a rectangular fiber core; the receiving telescope is used for collecting echo optical signals of different spatial positions of the surface of a target to be detected and enabling the echo optical signals to enter the single-photon photoelectric detector with high-consistency transmission efficiency through the optical fiber coupler and the homogenized optical fiber;
the time correlation single photon counting module is used for marking the light pulse emission time and the light pulse arrival time, calculating the light pulse flight time, counting and drawing a flight time photon counting distribution histogram of multiple light pulse detection;
the data processing module is used for processing data according to the photon counting histogram acquired by the time-dependent single photon counting module, and further acquiring the intensity and distance image of the target to be detected.
Further, the optical fiber noise reduction device also comprises a spectral filter plate arranged between the receiving telescope and the optical fiber coupler and used for filtering the ambient light noise.
Furthermore, the single photon photoelectric detector is a single photon avalanche diode;
the timing precision of the time correlation single photon counting module is better than 20ps.
Further, the beam shaping module comprises two plano-convex lenses for compressing the emitted beam divergence angle; the distance between the two plano-convex lenses is the sum of the focal lengths of the two plano-convex lenses.
Furthermore, the light beam scanning module comprises a two-dimensional galvanometer and a grid type scanning control module, and the grid type scanning control module controls the rotation angle of the two-dimensional galvanometer so as to realize point-by-point scanning of the irradiation light beam on the target area to be detected.
Furthermore, the receiving telescope comprises a single reflection lens and a single lens which are sequentially arranged along an echo light path, and the single reflection lens collects echo light signals of a target to be detected, converges the echo light signals through the single lens, filters background noise through a spectral filter and then transmits the echo light signals to the optical fiber coupler;
the optical fiber coupler is a fixed-focus aspheric optical fiber coupler of an FC/PC joint;
the spectral filter is a spectral filter with the bandwidth less than 1 nm.
Furthermore, the laser is a high repetition frequency narrow pulse width laser, and works in a high repetition frequency mode of more than or equal to 10kHz, the line width of the output laser is less than or equal to 0.2nm, and the pulse width of the laser is less than or equal to 2ns.
A high-uniformity scanning type single-photon laser three-dimensional radar imaging method is based on the high-uniformity scanning type single-photon laser three-dimensional radar imaging system and is characterized by comprising the following steps:
the time correlation single photon counting module receives a detection electric pulse signal output by the single photon photoelectric detector and finishes timing;
and 8, repeating the steps 1 to 7, controlling laser pulses to be emitted to different spatial positions of the surface of the target to be detected through the light beam scanning module, traversing the spatial positions of the surface of the target to be detected, acquiring the intensity and distance information of the different spatial positions of the surface of the target to be detected, and realizing three-dimensional imaging of the target to be detected.
Further, in step 4, the flight time is a difference between a detection electric pulse time output by the single-photon photoelectric detector and an electric pulse time output by the laser synchronously.
Further, in step 8, the traversing manner of the target surface to be detected is, but not limited to, a grid manner.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the high-uniformity scanning type single-photon laser three-dimensional imaging radar system and the imaging method, the homogenization optical fiber is introduced into the receiving optical path, so that the echo optical signals of different angles in a receiving field can be incident into the single-photon detector with high-consistency transmission efficiency, the high-uniformity scanning type single-photon laser three-dimensional imaging radar system has the advantage of high imaging uniformity, and is beneficial to obtaining a clearer target intensity map and a clearer distance map to be detected.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a high uniformity scanning type single photon laser three-dimensional imaging radar system of the present invention;
reference numerals:
the system comprises a 1-laser, a 2-beam shaping module, a 3-beam scanning module, a 4-receiving telescope, a 5-spectral filter, a 6-optical fiber coupler, a 7-homogenizing optical fiber, an 8-single photon photoelectric detector, a 9-time correlation single photon counting module and a 10-data processing module.
Detailed Description
To make the objects, advantages and features of the present invention clearer, the following describes in detail a scanning type single photon laser three-dimensional radar imaging system with high uniformity and an imaging method according to the present invention with reference to the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, the scanning type single photon laser three-dimensional radar imaging system with high uniformity provided by this embodiment includes a laser 1 with high repetition frequency and narrow pulse width, a beam shaping module 2, a beam scanning module 3, a receiving telescope 4, a spectral filter 5, an optical fiber coupler 6, a homogenizing optical fiber 7, a single photon photodetector 8, a time-dependent single photon counting module 9, and a data processing module 10.
A light pulse light path emitted by the laser 1 is sequentially provided with a light beam shaping module 2 and a light beam scanning module 3; the light pulse emitted by the laser 1 is adjusted in the divergence angle of the light beam by the light beam shaping module 2, and then is irradiated to the target to be detected after the direction of the light beam is adjusted by the light beam scanning module 3. Meanwhile, the laser 1 outputs an electric pulse synchronized with the optical pulse, and the synchronized electric pulse is input to the time-dependent single photon counting module 9 as a timing start signal.
A receiving telescope 4, a spectral filter 5, an optical fiber coupler 6, a homogenizing optical fiber 7 and a single photon photoelectric detector 8 are sequentially arranged on an optical path of an echo optical signal of a target to be detected; the optical signal of the target echo to be detected collected by the receiving telescope 4 passes through the spectral filter 5 and then enters the homogenizing optical fiber 7 through the optical fiber coupler 6, the optical signal output from the homogenizing optical fiber 7 is incident to the single-photon photoelectric detector 8, and the detection electric pulse output by the single-photon photoelectric detector 8 is input to the time-dependent single-photon counting module 9 as a timing end signal.
After multiple laser pulse detections, the data processing module 10 processes the data output by the time-dependent single photon counting module 9, and finally obtains the intensity and distance images of the target to be detected.
The laser 1 is a high repetition frequency narrow pulse width laser, works in a high repetition frequency mode of more than or equal to 10kHz, outputs laser beams with the line width of less than or equal to 0.2nm and the laser pulse width of less than or equal to 2ns, and is used for emitting laser beams with high repetition frequency, narrow spectrum line width and narrow pulse width to a target to be detected.
The beam shaping module 2 is composed of two plano-convex lenses for compressing the divergence angle of the emitted beam, and the two are placed at a distance equal to the sum of the focal lengths. The light beam scanning module 3 is composed of a two-dimensional galvanometer and a grid type scanning control module, and controls the rotation angle of the two-dimensional galvanometer to realize point-by-point scanning of the irradiation light beam on the target area to be detected.
The receiving telescope 4 consists of a single reflection lens and a single lens and is used for collecting echo light signals of a target to be detected. The spectral filter 5 is a spectral filter with a bandwidth less than 1nm and is used for filtering ambient light noise. The optical fiber coupler 6 is a fixed-focus aspheric optical fiber coupler of an FC/PC joint and is used for coupling the optical signals collected by the receiving telescope 4 to a homogenization optical fiber 7 at the rear end. The homogenizing fiber 7 has a special fiber with a rectangular core, which can receive echo optical signals of different angles in a field with high uniform transmission efficiency. The single-photon photoelectric detector 8 is a single-photon avalanche diode detector, is a high-performance Geiger-mode single-photon detector with a photosensitive surface smaller than 200 μm, and is used for detecting an echo optical signal of a single-photon magnitude. The time correlation single photon counting module 9 has two channels with timing precision superior to 20ps, wherein one channel is used for transmitting synchronous electric pulse time record of the optical pulse, and the other channel is used for detecting electric pulse time record output by the single photon detector.
The data processing module 10 has a function of reconstructing a photon counting intensity image and a distance image, and extracts intensity information of the echo light pulse according to the peak amplitude of the photon counting histogram of each scanning space point to obtain an intensity map of a target to be detected; and extracting the flight time information of the echo light pulse according to the peak position of the photon counting histogram of each scanning space point, and obtaining a target distance map to be detected by combining a light velocity constant.
Based on the high-uniformity scanning type single photon laser three-dimensional radar imaging system, the method is characterized by comprising the following steps:
and 8, repeating the steps 1 to 7, controlling the laser pulse to be emitted to different spatial positions of the surface of the target to be detected by the light beam scanning module 3, traversing the surface of the target to be detected in a grid mode, but not limited to the mode, so as to obtain the intensity and distance information of the different spatial positions of the surface of the target to be detected, and realizing three-dimensional imaging of the target to be detected.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. High homogeneity scanning formula single photon laser three-dimensional radar imaging system which characterized in that: the device comprises a laser (1), a beam shaping module (2), a beam scanning module (3), a receiving telescope (4), an optical fiber coupler (6), a homogenizing optical fiber (7), a single photon photoelectric detector (8), a time-dependent single photon counting module (9) and a data processing module (10);
a light beam shaping module (2) and a light beam scanning module (3) are sequentially arranged on a light pulse path emitted by the laser (1); the target to be detected is positioned on the emergent light path of the light beam scanning module (3);
the receiving telescope (4) receives echoes reflected by a target to be detected and then reaches the single photon photoelectric detector (8) through the optical fiber coupler (6) and the homogenizing optical fiber (7);
the single-photon photoelectric detector (8) is electrically connected with one input end of the time-dependent single-photon counting module (9), and the other input end of the time-dependent single-photon counting module (9) is electrically connected with the laser (1); the output end of the time correlation single photon counting module (9) is electrically connected with the data processing module (10);
the homogenizing optical fiber (7) is a special optical fiber with a rectangular fiber core, and comprises a square fiber core and a rectangular fiber core; the receiving telescope (4) is used for collecting echo optical signals of different spatial positions of the surface of a target to be detected, and the echo optical signals of the different spatial positions are incident into the single photon photoelectric detector (8) through the optical fiber coupler (6) and the homogenizing optical fiber (7) with high-consistency transmission efficiency;
the time correlation single photon counting module (9) is used for marking the light pulse emission time and the light pulse arrival time, calculating the light pulse flight time, counting and drawing a flight time photon counting distribution histogram of multiple light pulse detections;
the data processing module (10) is used for processing data according to the photon counting histogram acquired by the time-dependent single photon counting module (9), and further acquiring the intensity and distance image of the target to be detected.
2. The high uniformity scanning type single photon laser three dimensional radar imaging system according to claim 1, wherein:
the optical fiber noise filter also comprises a spectral filter (5) arranged between the optical fiber coupler (6) and the receiving telescope (4) and used for filtering ambient light noise.
3. The high uniformity scanning type single photon laser three dimensional radar imaging system according to claim 2, wherein:
the single photon photoelectric detector (8) is a single photon avalanche diode;
the timing precision of the time correlation single photon counting module (9) is better than 20ps.
4. The high uniformity scanning type single photon laser three dimensional radar imaging system according to claim 3, wherein:
the beam shaping module (2) comprises two plano-convex lenses and is used for compressing a divergence angle of a transmitting beam; the distance between the two plano-convex lenses is the sum of the focal lengths of the two plano-convex lenses.
5. The high uniformity scanning type single photon laser three dimensional radar imaging system according to claim 4, wherein:
the light beam scanning module (3) comprises a two-dimensional galvanometer and a grid type scanning control module, and the grid type scanning control module controls the rotation angle of the two-dimensional galvanometer to realize point-by-point scanning of the irradiation light beam on the target area to be detected.
6. The high uniformity scanning type single photon laser three dimensional radar imaging system according to claim 5, wherein:
the receiving telescope (4) comprises a single reflection lens and a single lens which are sequentially arranged along an echo light path, wherein the single reflection lens collects echo light signals of a target to be detected, the echo light signals are converged by the single lens, and then the echo light signals are incident to the optical fiber coupler (6) after background noise is filtered by the spectral filter (5);
the optical fiber coupler (6) is a fixed-focus aspheric optical fiber coupler of an FC/PC joint;
the spectral filter (5) is a spectral filter with the bandwidth smaller than 1 nm.
7. The high uniformity scanning type single photon laser three dimensional radar imaging system according to any one of claims 1-6, wherein:
the laser (1) is a high repetition frequency narrow pulse width laser, and works in a high repetition frequency mode of more than or equal to 10kHz, the line width of output laser is less than or equal to 0.2nm, and the pulse width of laser is less than or equal to 2ns.
8. A high-uniformity scanning type single-photon laser three-dimensional radar imaging method is based on the high-uniformity scanning type single-photon laser three-dimensional radar imaging system of any one of claims 1 to 7, and is characterized by comprising the following steps:
step 1, a laser (1) emits light pulses and outputs emitted electric pulse signals at the same time, and the light pulses are shaped by a light beam shaping module (2) and then irradiated to any spatial position of the surface of a target to be detected by controlling a light beam scanning module (3);
step 2, a time-dependent single photon counting module (9) receives an emitted electric pulse signal which is output by the laser (1) and is synchronous with the time of the optical pulse, and starts timing;
step 3, receiving the echo optical signals of the target to be detected collected by the telescope (4), reaching a single photon photoelectric detector (8) through an optical fiber coupler (6) and a homogenizing optical fiber (7), generating photon counting for one time, and outputting a detection electric pulse signal;
the time correlation single photon counting module (9) receives the detection electric pulse signal output by the single photon photoelectric detector (8) and finishes timing;
step 4, a time correlation single photon counting module (9) calculates the flight time of the light pulse;
step 5, keeping the scanning position of the light beam scanning module (3) unchanged, enabling the laser (1) to emit multiple light pulses to the same spatial position of the surface of the target to be detected, and repeating the step 1 to the step 4 to obtain the flight time of the multiple light pulses;
step 6, the time correlation single photon counting module (9) counts the flight time-photon counting distribution of multiple light pulse detection, draws a photon counting distribution histogram and transmits the photon counting distribution histogram data to the data processing module (10);
step 7, the data processing module (10) extracts intensity information of the echo light pulse according to the peak amplitude of the photon counting histogram and corresponds to reflectivity information of a target to be detected; extracting the flight time information of the echo light pulse according to the peak position of the photon counting histogram, and corresponding to the distance information of the target to be detected;
and 8, repeating the steps 1-7, controlling the laser pulse to be emitted to different spatial positions of the surface of the target to be detected through the light beam scanning module (3), traversing the spatial positions of the surface of the target to be detected, acquiring the intensity and distance information of the different spatial positions of the surface of the target to be detected, and realizing three-dimensional imaging of the target to be detected.
9. The high uniformity scanning type single photon laser three dimensional radar imaging method according to claim 8, wherein:
in the step 4, the flight time is the difference between the detection electric pulse time output by the single-photon photoelectric detector (8) and the electric pulse time synchronously output by the laser (1).
10. The high uniformity scanning type single photon laser three dimensional radar imaging method according to claim 8, wherein:
in step 8, the traversing mode of the target surface to be detected is a grid mode.
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| CN116577803A (en) * | 2023-05-12 | 2023-08-11 | 山西大学 | Single photon-level vibration and three-dimensional imaging composite system |
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