CN115267822B - 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
- Publication number
- CN115267822B CN115267822B CN202210908410.0A CN202210908410A CN115267822B CN 115267822 B CN115267822 B CN 115267822B CN 202210908410 A CN202210908410 A CN 202210908410A CN 115267822 B CN115267822 B CN 115267822B
- Authority
- CN
- China
- Prior art keywords
- module
- laser
- single photon
- time
- optical fiber
- 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
- 238000003384 imaging method Methods 0.000 title claims abstract description 37
- 239000013307 optical fiber Substances 0.000 claims abstract description 54
- 238000012545 processing Methods 0.000 claims abstract description 20
- 230000036962 time dependent Effects 0.000 claims abstract description 20
- 238000007493 shaping process Methods 0.000 claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 18
- 238000001228 spectrum Methods 0.000 claims description 15
- 239000000835 fiber Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000002310 reflectometry Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 238000000098 azimuthal photoelectron diffraction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002070 nanowire Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- 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
-
- 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
-
- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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 high-uniformity scanning type single-photon laser three-dimensional radar imaging system and an imaging method, which are used for solving the problem that the photon counting imaging effect of an optical fiber coupling type SPAD detector is affected after the light signal coupling efficiency is improved by combining a multimode optical fiber in the conventional single-photon laser three-dimensional imaging radar system. The device comprises a laser, a beam shaping module, a beam scanning module, a receiving telescope, an optical fiber coupler, a homogenizing optical fiber, a single photon photoelectric detector, a time-dependent single photon counting module and a data processing module; the light pulse light path emitted by the laser is sequentially provided with a light beam shaping module and a light beam scanning module; 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-related single photon counting module; the time-dependent 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 furthest detection distance is continuously increased. Among the numerous single photon detection devices, single Photon Avalanche Diodes (SPADs), also known as cap mode avalanche diodes (Gm-APDs), have evolved well as a semiconductor optoelectronic device with superior performance. Compared with photomultiplier tubes (PMT) and Superconducting Nanowire Single Photon Detectors (SNSPD) which also have single photon detection capability, severe working conditions such as high-voltage power supply or extremely low temperature are not needed, and the advantages of low power consumption and small size are very favorable for the development trend of miniaturization of a laser radar system.
At present, a photon counting laser imaging radar system mostly adopts a unit SPAD detector, and a two-dimensional scanning mode is combined to acquire a three-dimensional image of a target to be detected. However, in order to maintain better performance in terms of time resolution and dark counts, the conventional SPAD detector generally designs the diameter of the photosensitive area below 200 μm and even smaller, but increases the complexity of spatial light reception and focusing, so that the optical fiber is coupled into a common scheme for a single photon optical receiving system, especially in order to improve the optical signal coupling efficiency, and a multimode optical fiber is generally selected. However, the imaging effect of the SPAD detector is seriously affected by the non-uniformity and interference speckle of the optical field transmitted by the common multimode optical fiber, and the speckle and the ring phenomenon are frequently generated.
Disclosure of Invention
The invention aims to solve the technical problem that the non-uniformity and interference speckles of the light field transmitted by the existing multimode optical fiber seriously affect the photon counting imaging effect based on an optical fiber coupling type SPAD detector, and provides a high-uniformity scanning type single photon laser three-dimensional radar imaging system and an imaging method.
In order to achieve the above purpose, the invention adopts the following technical scheme:
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 homogenizing optical fiber, a single photon photoelectric detector, a time-dependent single photon counting module and a data processing module;
the light pulse light path emitted by the laser is sequentially provided with a light beam shaping module and a light beam scanning module; the object to be detected is positioned on the emergent light path of the light beam scanning module;
The receiving telescope receives the echo reflected by the object to be detected, and the echo sequentially passes through the optical fiber coupler and the homogenizing optical fiber to reach the single photon photoelectric detector;
The single photon photoelectric detector is electrically connected with one input end of the time-related single photon counting module, and the other input end of the time-related 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 light signals of different space positions on the surface of a target to be detected, and the echo light signals are incident into the single photon photoelectric detector through the optical fiber coupler and the homogenizing optical fiber with high-consistency transmission efficiency;
the time-dependent 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 performing data processing according to the photon counting histogram acquired by the time-related single photon counting module, so as to acquire the strength and the distance image of the target to be detected.
Further, the optical fiber receiving device also comprises a spectrum filter arranged between the receiving telescope and the optical fiber coupler and used for filtering ambient light noise.
Further, the single photon photodetector is a single photon avalanche diode;
The timing precision of the time-dependent single photon counting module is better than 20ps.
Further, the beam shaping module comprises two plano-convex lenses for compressing the divergence angle of the emitted beam; the distance between the two plano-convex lenses is the sum of the focal lengths of the two plano-convex lenses.
Further, the light beam scanning module comprises a two-dimensional vibrating mirror and a grid type scanning control module, and the grid type scanning control module controls the rotation angle of the two-dimensional vibrating mirror to realize point-to-point scanning of the irradiation light beam to the target area to be detected.
Further, the receiving telescope comprises a single-lens and a single lens which are sequentially arranged along an echo light path, the single-lens collects echo light signals of a target to be detected, the echo light signals are converged through the single lens, and then background noise is filtered through the spectrum filter and then is incident to the optical fiber coupler;
The optical fiber coupler is a fixed focus aspheric optical fiber coupler of an FC/PC joint;
The spectrum filter is a spectrum filter with the bandwidth smaller than 1 nm.
Further, 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.
The 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 of:
step 1, a laser emits light pulses and outputs emission electric pulse signals, and after the light pulses are shaped by a beam shaping module, the light pulses are irradiated to any space position on the surface of a target to be detected by controlling a beam scanning module;
Step 2, a time-dependent single photon counting module receives a transmitted electric pulse signal which is output by a laser and is synchronous with the time of the optical pulse, and timing is started;
Step 3, receiving an echo light signal of a target to be detected, which is collected by a telescope, filtering background noise by a spectrum filter, and then enabling the echo light signal to reach a single photon photoelectric detector by an optical fiber coupler and a homogenizing optical fiber, wherein the single photon photoelectric detector responds to generate primary photon counting, and the single photon photoelectric detector outputs a detection electric pulse signal;
The time-related single photon counting module receives the detection electric pulse signal output by the single photon photoelectric detector and finishes timing;
step 4, calculating the flight time of the light pulse by a time-dependent single photon counting module;
Step 5, keeping the scanning position of the light beam scanning module unchanged, enabling the laser to emit multiple light pulses to the same spatial position of the surface of the object to be detected, and repeating the steps 1-4 to obtain multiple light pulse flight times;
step 6, the time-related single photon counting module counts the flight time-photon counting distribution of the multi-time light pulse detection, draws a photon counting distribution histogram, and transmits photon counting distribution histogram data to the data processing module;
Step 7, the data processing module extracts the intensity information of the echo light pulse according to the peak amplitude of the photon counting histogram, and corresponds to the reflectivity information of the target to be detected; extracting flight time information of echo light pulses 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, traversing the spatial positions of the surface of the target to be detected, and obtaining the intensity and distance information of the different spatial positions of the surface of the target to be detected, thereby realizing three-dimensional imaging of the target to be detected.
Further, in step 4, the flight time is the difference between the time of the detection electric pulse output by the single photon photoelectric detector and the time of the electric pulse synchronously output by the laser.
Further, in step 8, the method of traversing the surface of the object to be detected is, but not limited to, a grid method.
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 homogenizing optical fiber is introduced into the receiving optical path, so that echo optical signals of different angles in the receiving view field can be incident into the single-photon detector with high-uniformity transmission efficiency, the high-uniformity scanning type single-photon laser three-dimensional imaging radar system has the advantage of high imaging uniformity, and a clearer target strength image and a clearer distance image to be detected can be obtained.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a high uniformity scanning type single photon laser three-dimensional imaging radar system according to the present invention;
Reference numerals:
The device comprises a 1-laser, a 2-beam shaping module, a 3-beam scanning module, a 4-receiving telescope, a 5-spectrum filter, a 6-fiber coupler, a 7-homogenizing fiber, an 8-single photon photoelectric detector, a 9-time related single photon counting module and a 10-data processing module.
Detailed Description
In order to make the objects, advantages and features of the present invention more apparent, the following describes in further detail a high uniformity scanning type single photon laser three dimensional radar imaging system and 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 merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, the high-uniformity scanning type single-photon laser three-dimensional radar imaging system provided in this embodiment includes a high-repetition frequency narrow pulse width laser 1, a beam shaping module 2, a beam scanning module 3, a receiving telescope 4, a spectrum 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.
The 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 irradiated to the target to be detected after the beam divergence angle is regulated by the beam shaping module 2 and the beam direction is regulated by the beam scanning module 3. At the same time, the laser 1 outputs an electrical pulse synchronized with the optical pulse, which is input as a timing start signal to the time-dependent single photon counting module 9.
The optical path of the echo light signal of the target to be detected is sequentially provided with 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; the optical signal of the target echo to be detected, which is collected by the receiving telescope 4, enters the homogenizing optical fiber 7 through the optical fiber coupler 6 after passing through the spectral filter 5, the optical signal output by 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-related single photon counting module 9 as a timing end signal.
After multiple laser pulse detection, the data processing module 10 processes the data output by the time-related single photon counting module 9, and finally obtains the intensity and distance image 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 which is more than or equal to 10kHz, outputs laser with the line width less than or equal to 0.2nm and the laser pulse width less than or equal to 2ns, and is used for transmitting 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 placement distance between the plano-convex lenses is the sum of focal lengths. The light beam scanning module 3 consists of a two-dimensional galvanometer and a grid scanning control module, and controls the rotation angle of the two-dimensional galvanometer to realize the point-by-point scanning of the irradiation light beam to the target area to be detected.
The receiving telescope 4 is composed of a single anti-lens and a single lens, and is used for collecting the echo light signals of the object to be detected. The spectrum filter 5 is a spectrum filter with the bandwidth smaller 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 connector, and is used for coupling the optical signals collected by the receiving telescope 4 to a homogenizing optical fiber 7 at the rear end. The homogenizing optical fiber 7 has a special optical fiber of rectangular core capable of receiving echo optical signals of different angles within the field of view with high transmission efficiency of uniformity. The single photon photodetector 8 is a single photon avalanche diode detector, is a high performance geiger mode single photon detector with a photosurface smaller than 200 μm, and is used for detecting echo optical signals of single photon magnitude. The time-dependent single photon counting module 9 has two channels with timing precision superior to 20ps, one for synchronous electric pulse time recording of emitted light pulse and the other for detection electric pulse time recording of single photon detector output.
The data processing module 10 has photon counting intensity image and distance image reconstruction functions, and extracts the intensity information of echo light pulses according to the peak amplitude of the photon counting histogram of each scanning space point to obtain an intensity image 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 graph to be detected by combining the 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 of:
step 1, shaping the light pulse emitted by a laser 1 to reach a certain spatial position on the surface of a target to be detected;
Step 2, the laser 1 transmits an optical pulse and simultaneously transmits an electric pulse signal which is synchronous with the optical pulse time to a starting timing channel of the time-related single photon counting module 9;
Step 3, the light pulse with low energy to photon level returned from the target to be detected passes through the receiving telescope 4, the optical fiber coupler 6 and the homogenizing optical fiber 7 and then reaches the single photon detector to be responded by the light pulse to generate primary photon counting, and the detector outputs an electric pulse signal to the ending timing channel of the time-related single photon counting module;
step 4, the time-dependent single photon counting module 9 makes a difference between the timing time of the ending channel and the timing time of the starting channel to obtain an optical pulse flight time value;
Step 5, in order to restrain noise so that the flight time measurement value is more accurate, repeating the steps 1-4, and transmitting multiple light pulses to the same space position on the surface of the target to be detected to obtain multiple light pulse flight time values;
Step 6, the time-dependent single photon counting module 9 counts the flight time measured for many times to obtain a flight time-photon counting distribution histogram, namely a photon counting histogram for short, and transmits photon counting histogram data to the data processing module 10;
Step 7, the data processing module 10 extracts the intensity information of the echo light pulse according to the peak amplitude of the photon counting histogram, corresponds to the reflectivity information of the target to be detected, extracts the flight time information of the echo light pulse according to the peak position of the photon counting histogram, and corresponds to the distance information of the target to be detected;
And 8, repeating the steps 1-7, wherein the light beam scanning module 3 controls the laser pulse to be emitted to different spatial positions of the surface of the target to be detected, and traversing the surface of the target to be detected in a grid mode but not limited to the grid mode so as to acquire the intensity and distance information of the different spatial positions of the surface of the target to be detected, thereby realizing three-dimensional imaging of the target to be detected.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. The high-uniformity scanning type single photon laser three-dimensional radar imaging system is characterized in that: the device comprises a laser (1), a beam shaping module (2), a beam scanning module (3), a receiving telescope (4), a spectrum filter (5), 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 beam shaping module (2) and a beam scanning module (3) are sequentially arranged on an optical pulse optical path emitted by the laser (1); the beam shaping module (2) comprises two plano-convex lenses for compressing the divergence angle of the emitted beam; the distance between the two plano-convex lenses is the sum of the focal lengths of the two plano-convex lenses; 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 to the target area to be detected; the object to be detected is positioned on the emergent light path of the light beam scanning module (3);
The receiving telescope (4) comprises a single-lens and a single lens which are sequentially arranged along an echo light path, the single-lens collects echo light signals of a target to be detected, the echo light signals are converged through the single lens, background noise is filtered through the spectrum filter (5), and then the background noise is incident to the optical fiber coupler (6); the spectrum filter (5) is a spectrum filter with the bandwidth smaller than 1 nm; the optical fiber coupler (6) is a fixed focus aspheric optical fiber coupler of an FC/PC joint; the receiving telescope (4) receives the echo reflected by the object to be detected, and the echo sequentially passes through the spectrum filter (5), the optical fiber coupler (6) and the homogenizing optical fiber (7) to reach the single photon photoelectric detector (8);
The single photon photoelectric detector (8) is a single photon avalanche diode detector with a photosensitive surface smaller than 200 mu m, and is electrically connected with one input end of the time-related single photon counting module (9), and the other input end of the time-related single photon counting module (9) is electrically connected with the laser (1); the output end of the time-dependent 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; the receiving telescope (4) is used for collecting echo light signals of different spatial positions on the surface of a target to be detected, and the echo light signals of 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-dependent 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 detection;
The data processing module (10) is used for performing data processing according to the photon counting histogram acquired by the time-related single photon counting module (9), so as to acquire the intensity and the distance image of the object to be detected.
2. The high uniformity scanning single photon laser three dimensional radar imaging system of claim 1, wherein:
the timing precision of the time-dependent single photon counting module (9) is better than 20 ps.
3. The high uniformity scanning single photon laser three dimensional radar imaging system according to claim 1 or 2, 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 10 kHz, the line width of the output laser is less than or equal to 0.2 nm, and the pulse width of the laser is less than or equal to 2 ns.
4. A high-uniformity scanning type single-photon laser three-dimensional radar imaging method based on the high-uniformity scanning type single-photon laser three-dimensional radar imaging system as claimed in any one of claims 1 to 3, which is characterized by comprising the following steps:
Step 1, a laser (1) emits light pulses and outputs emission electric pulse signals, and after the light pulses are shaped by a beam shaping module (2), the light pulses are irradiated to any space position on the surface of a target to be detected by controlling a beam scanning module (3);
step 2, a time-dependent single photon counting module (9) receives an emission electric pulse signal which is output by the laser (1) and is synchronous with the time of the optical pulse, and timing is started;
Step 3, receiving an echo light signal of a target to be detected, which is collected by a telescope (4), and reaching a single photon photoelectric detector (8) through an optical fiber coupler (6) and a homogenizing optical fiber (7), generating primary photon counting, and outputting a detection electric pulse signal;
The time-related single photon counting module (9) receives a detection electric pulse signal output by the single photon photoelectric detector (8) and finishes timing;
Step 4, calculating the flight time of the light pulse by a time-dependent single photon counting module (9);
Step 5, keeping the scanning position of the light beam scanning module (3) unchanged, enabling the laser (1) to emit light pulses for a plurality of times to the same spatial position of the surface of the object to be detected, and repeating the steps 1-4 to obtain a plurality of light pulse flight times;
Step 6, a time-dependent single photon counting module (9) counts the flight time-photon counting distribution of the multi-time light pulse detection, draws a photon counting distribution histogram and transmits photon counting distribution histogram data to a data processing module (10);
Step 7, the data processing module (10) extracts the intensity information of the echo light pulse according to the peak amplitude of the photon counting histogram, and corresponds to the reflectivity information of the target to be detected; extracting flight time information of echo light pulses 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, and obtaining the intensity and distance information of the different spatial positions of the surface of the target to be detected, thereby realizing the three-dimensional imaging of the target to be detected.
5. The high uniformity scanning type single photon laser three dimensional radar imaging method according to claim 4, wherein:
In the step 4, the flight time is the difference between the detection electric pulse time outputted by the single photon photoelectric detector (8) and the electric pulse time outputted by the laser (1) synchronously.
6. The high uniformity scanning type single photon laser three dimensional radar imaging method according to claim 4, wherein:
in step 8, the method of traversing the surface of the object to be detected is a grid method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210908410.0A CN115267822B (en) | 2022-07-29 | 2022-07-29 | High-uniformity scanning type single-photon laser three-dimensional radar imaging system and imaging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210908410.0A CN115267822B (en) | 2022-07-29 | 2022-07-29 | High-uniformity scanning type single-photon laser three-dimensional radar imaging system and imaging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115267822A CN115267822A (en) | 2022-11-01 |
| CN115267822B true CN115267822B (en) | 2024-08-30 |
Family
ID=83770282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210908410.0A Active CN115267822B (en) | 2022-07-29 | 2022-07-29 | High-uniformity scanning type single-photon laser three-dimensional radar imaging system and imaging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115267822B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116125436B (en) * | 2023-04-17 | 2023-07-04 | 北京航空航天大学 | Integrated coaxial transceiver for single-photon radar and single-photon radar |
| CN116577803B (en) * | 2023-05-12 | 2024-04-05 | 山西大学 | Single photon-level vibration and three-dimensional imaging composite system |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526612A (en) * | 2016-12-15 | 2017-03-22 | 哈尔滨工业大学 | Scanning photon counting non-visual-field three-dimensional imaging device and method |
| US11442150B2 (en) * | 2019-02-13 | 2022-09-13 | Luminar, Llc | Lidar system with spatial light modulator |
| CN109901160B (en) * | 2019-02-22 | 2022-12-16 | 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） | Three-dimensional laser imaging radar and three-dimensional depth image reconstruction method thereof |
| US11172810B2 (en) * | 2019-06-20 | 2021-11-16 | Cilag Gmbh International | Speckle removal in a pulsed laser mapping imaging system |
| 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 |
| CN110850436B (en) * | 2019-11-28 | 2023-03-31 | 中国科学院合肥物质科学研究院 | Device and method for measuring spectrum of airborne hyperspectral imaging laser radar in real time |
| CN110794387B (en) * | 2019-11-28 | 2022-02-08 | 中国科学院合肥物质科学研究院 | Radiation calibration method of airborne hyperspectral imaging laser radar system |
| CN112130163B (en) * | 2020-11-26 | 2021-02-05 | 南京天朗防务科技有限公司 | Laser ranging system and method based on single photon detection |
| CN112698348A (en) * | 2020-12-07 | 2021-04-23 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Single-photon three-dimensional scanning imaging system |
-
2022
- 2022-07-29 CN CN202210908410.0A patent/CN115267822B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| 基于单光子探测的关联成像技术研究;杨莹;《中国优秀硕士学位论文全文数据库信息科技辑》;20200315(第03期);第I135-151页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115267822A (en) | 2022-11-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115267822B (en) | High-uniformity scanning type single-photon laser three-dimensional radar imaging system and imaging method | |
| CN110488247B (en) | Two-dimensional MEMS scanning galvanometer laser radar system | |
| US8159680B2 (en) | Single-transducer, three-dimensional laser imaging system and method | |
| US10739444B2 (en) | LIDAR signal acquisition | |
| CN110187357B (en) | Laser active imaging system for three-dimensional image reconstruction | |
| CN107422336B (en) | Variable-resolution non-scanning streak tube laser imaging system with large field of view and large depth of field | |
| WO2019231496A1 (en) | Light detection system having multiple lens-receiver units | |
| CN111025321B (en) | Variable-focus depth measuring device and measuring method | |
| CN207833020U (en) | A kind of laser radar scanning imaging system | |
| CN106772426B (en) | System for realizing remote laser high-sensitivity single photon imaging | |
| CN107356914B (en) | Calibration system for satellite-borne laser radar detector | |
| KR101145132B1 (en) | The three-dimensional imaging pulsed laser radar system using geiger-mode avalanche photo-diode focal plane array and auto-focusing method for the same | |
| CN111965659B (en) | Distance measurement system, method and computer readable storage medium | |
| CN115856933A (en) | High-flux photon counting laser radar imaging device and method | |
| US20190094531A1 (en) | Focal region optical elements for high-performance optical scanners | |
| CN214669607U (en) | Photon counting laser radar imaging system based on MCP-PMT | |
| CN114442109A (en) | Large dynamic range mixed solid state laser radar system based on transceiving array module | |
| CN111965838B (en) | Parameter selection method of multimode fiber laser speckle suppression scheme based on vibration mode | |
| CN112462387A (en) | Bionic compound eye type laser radar system and method | |
| CN111308498A (en) | Three-dimensional imaging laser radar device | |
| CN110333500B (en) | Multi-beam laser radar | |
| CN116359944A (en) | Surface scanning flight time three-dimensional imaging system and method based on stripe camera | |
| CN114859378A (en) | Multi-element parallel scanning photon counting laser radar | |
| CN110346779B (en) | Measuring method for time channel multiplexing of multi-beam laser radar | |
| CN210347920U (en) | Laser receiving device and laser radar system |
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 |