CN117452433A - 360-degree three-dimensional imaging device and method based on single-point single photon detector - Google Patents
360-degree three-dimensional imaging device and method based on single-point single photon detector Download PDFInfo
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Abstract
The invention relates to a 360-degree three-dimensional imaging device and method based on a single-point single-photon detector, wherein the device comprises a picosecond laser, a beam splitter, a space light delay device, a polarization beam splitting cube, a two-dimensional scanning galvanometer, a condenser and a single-photon avalanche detector which are sequentially arranged along an optical path; the device also comprises a photodiode connected with the beam splitter, a power divider electrically connected with the photodiode, a time delay device electrically connected with the power divider, and a time-dependent single photon counter electrically connected with the time delay device; the fast time gate controller is electrically connected with the time delay device and is electrically connected with the time-related single photon counter; also comprises an industrial personal computer. Compared with the prior art, the invention realizes 360-degree three-dimensional imaging of the remote target based on the single photon point detector; has high depth resolution, long acting distance, large field of view and better transverse resolution.
Description
Technical Field
The invention relates to the technical field of three-dimensional imaging, in particular to a 360-degree three-dimensional imaging device and method based on a single-point single photon detector.
Background
Three-dimensional imaging techniques are capable of acquiring scene/object plane two-dimensional as well as depth dimension information, and have important applications in many fields including autopilot, machine vision, consumer electronics, and the like. Different from the traditional two-dimensional imaging technology (adopting a mobile phone camera, a camera, an area array sensor and the like), only the two-dimensional plane information of a scene can be acquired, but the depth/distance information can not be acquired, and the three-dimensional imaging can be widely applied in more fields due to the richer depth/distance information content. The three-dimensional imaging can enable the positioning in the medical imaging to be more accurate, and the tissue observation details are richer and more stereoscopic; the three-dimensional imaging can help the automatic driving technology to realize more accurate scene positioning and target recognition, so as to achieve more accurate instruction issuing; the three-dimensional imaging can assist remote sensing imaging to collect target depth information so as to more accurately position the target distance and accurately judge the remote condition. The current three-dimensional imaging technology mainly comprises three-dimensional optical imaging technologies such as structured light three-dimensional imaging, double (multi) visual imaging, laser radar, single-pixel imaging, single-photon imaging, holographic imaging, light field imaging, computed tomography, optical coherence tomography imaging and the like, and the imaging is expanded from a two-dimensional plane to a space three-dimensional plane. Three-dimensional imaging technologies such as computed tomography, optical coherence tomography and the like commonly used in biomedicine can realize real three-dimensional imaging of a target by utilizing semitransparent characteristics of an imaging target. In addition, three-dimensional imaging realized by the other optical three-dimensional imaging technologies listed above is built in the sight, and only one depth point information exists in the same direction. If more information on the target is required, or if 360 degree imaging of the scene is achieved, more detection units (e.g. multiple lidars, depth cameras) need to be arranged.
When the space of the scene is restricted, the distance is far, or the number of arranged detection units is limited, 360-degree three-dimensional imaging of the scene cannot be realized even by adopting the method. For example, remote three-dimensional imaging has important applications in security, machine vision, autopilot, medical imaging, and the like. Therefore, the 360-degree three-dimensional imaging technology based on a single detection unit has a great application prospect.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a 360-degree three-dimensional imaging device and method based on a single-point single-photon detector, which realize 360-degree three-dimensional imaging of a remote target based on the single-photon point detector; has high depth resolution, long acting distance, large field of view and better transverse resolution.
The basic conception principle of the invention is as follows:
the basic principle of the current three-dimensional imaging technology, especially the remote three-dimensional imaging technology, is that for a point on an angle or plane projection space in a straight line view field, at most, only target information of one albedo (or transmittance) point can be acquired. For a particular object in a scene, if it is desired to have a 360 degree three-dimensional image of it, then it is necessary to arrange a plurality of detection units at least in an array. When the target is in a long distance or the scene space is limited or the number of detection units is limited, the existing three-dimensional imaging technology cannot acquire 360-degree three-dimensional scene data of the specific target.
The three-dimensional imaging acquisition of a scene is divided into linear field-of-view three-dimensional imaging and non-linear field-of-view three-dimensional imaging in the field of view. The current in-view linear field three-dimensional imaging technology comprises a plurality of imaging technologies listed above, and the in-view non-linear field three-dimensional imaging technology can adopt a non-view imaging technology. The non-visual field imaging is realized by passing the virtual point light source and the detection point through the relay surface in the linear visual field and passing through various ingenious calculations.
Considering a 360-degree three-dimensional imaging scene with a large field angle, a long distance and a limited number of detection unit arrangement units, and considering the high-precision imaging capability of a laser radar with a large field of view and a long distance, in particular the high-sensitivity detection capability of a Single Photon Avalanche Detector (SPAD) in non-field imaging. Finally, consider the significant ability of the fast time gate controller to avoid strong signal point interference. The scheme determines the most suitable basic method and device.
The aim of the invention can be achieved by the following technical scheme:
the invention provides a 360-degree three-dimensional imaging device based on a single-point single-photon detector, which comprises a picosecond laser, a beam splitter, a space light delay device, a polarization beam splitting cube, a two-dimensional scanning galvanometer, a condenser and a single-photon avalanche detector which are sequentially arranged along an optical path;
the imaging scene is arranged in a large-angle space covered by the two-dimensional scanning galvanometer;
the device also comprises a photodiode connected with the beam splitter, a power divider electrically connected with the photodiode, a time delay device electrically connected with the power divider, and a time-dependent single photon counter electrically connected with the time delay device;
the fast time gate controller is electrically connected with the time delay device and is electrically connected with the time-related single photon counter;
the system comprises a picosecond laser, a time delay device, a two-dimensional scanning galvanometer, a rapid time gate controller and an industrial personal computer which is electrically connected with the time-related single photon counter, wherein the industrial personal computer is used for respectively regulating and controlling the light emitting power of the picosecond laser, the delay length of the time delay device, the gate width of the rapid time gate controller and the deflection angle of the two-dimensional scanning galvanometer.
Further, the industrial personal computer is used for controlling parameter setting of the fast time gate controller;
and the signal output by the fast time gate controller is abutted to a time-dependent single photon counter to be used as a signal input.
Further, after the picosecond laser emitted by the picosecond laser reaches the beam splitter, one part of the picosecond laser is used as an optical trigger signal to the photodiode and is used as the input of the time delay device, so that the gating starting point of the rapid time gate controller is controlled, and the other part of the picosecond laser is used as an optical pulse signal to reach the power divider;
the power divider divides an optical trigger signal into two parts, one part is used as a synchronous signal to be output to a time-related single photon counter, the other part is used as a space optical delay device, the time delay length of the time optical delay device is controlled, so that a return photon signal which is propped against a single photon avalanche detector after passing through the whole imaging scene is positioned at a corresponding time position of the time-related single photon counter, an optical pulse signal reaches a two-dimensional scanning galvanometer after passing through a polarization beam splitting cube, and the two-dimensional scanning galvanometer directs the optical pulse signal to different space points in the imaging scene.
Further, after the light pulse signal passes through an imaging scene, the single photon avalanche detector obtains reflected light of the imaging scene, and the reflected light reaches the single photon avalanche detector after passing through a two-dimensional scanning galvanometer, a polarization beam splitting cube and laser, and photons in a time gate range are detected and output to a time-dependent single photon counter;
after the single-point exposure time is finished, acquiring the angle of the two-dimensional scanning galvanometer asThe output of the time-dependent single photon counter is；
When the two-dimensional scanning galvanometer completes the whole space scanning, three-dimensional point cloud data of a scanning scene can be obtained according to the corresponding scanning angle position and photon signal intensity position by the following formula：
，
Where r represents the distance between the center point of the two-dimensional scanning galvanometer and the scanning point in the linear field of view, i.e. the distance between the coordinate zero point and the scanning point,andthe sub-table shows the scan angles in both horizontal and vertical directions.
Further, for the scene information data which cannot be directly acquired through scanning, the method is realized through a non-visual field imaging mode, and specifically comprises the following steps:
selecting a relay surface for acquiring a non-visual field imaging scene;
analyzing three-dimensional point cloud data obtained by direct scanning, and selecting a relay surface formed in the three-dimensional point cloud data;
taking the time corresponding to the r value of the corresponding point of the relay as the input of a time delay device, starting non-visual field imaging scanning on the points, and obtaining corresponding scanning data after the non-visual field imaging scanning is completed；
The data of the non-visual field imaging scanning is envelope, so that the start of the data corresponding to all scanning points is the position of a signal peak value obtained when the current scanning point is directly scanned in two dimensions, namely, the position of a relay wall surface, and a non-visual field imaging algorithm is utilized to reconstruct a three-dimensional image of a non-visual field scene;
let the non-visual field imaging scan data after envelope solution beWhereinTo relay the point cloud coordinates of the laser irradiation points on the wall surface,the point cloud coordinates of the laser receiving points of the relay wall face are confocal with the point cloud coordinates;
finally, the three-dimensional point cloud data of the straight line view field obtained by direct scanningWith three-dimensional point cloud data via non-field of view imagingAnd fusing to obtain 360-degree three-dimensional data of the target in the scene.
Further, a reconstructed point cloud of a non-field of view imaging sceneDataCan be obtained from the following formula:
wherein the method comprises the steps ofIn front of the phase field wave corresponding to the virtual light source point on the relay wall,to filter the backprojection operator.
The second aspect of the invention provides a 360-degree three-dimensional imaging method based on a single-point single photon detector, which comprises the following steps:
s1: constructing the 360-degree three-dimensional imaging device based on the single-point single photon detector;
s2: setting the power of the picosecond laser, the scanning angle range of the two-dimensional scanning galvanometer, the number of scanning points, the time delay of a time delay device, the gate width of a rapid time gate controller and the time resolution of a time-dependent single photon counter by using the industrial personal computer;
s3: starting a laser radar scanning process, obtaining scene information which can be directly seen in a straight line view field, enabling the picosecond laser to emit light, starting scanning by a two-dimensional scanning galvanometer, acquiring photon information under a corresponding scanning angle by a time-dependent single photon counter, and obtaining three-dimensional point cloud data of the scene information in the straight line view field angle according to the scanning angle and photon flight time information;
s4: starting a non-visual field scanning process, and acquiring scene information in a non-visual field imaging view field;
s5: solving a time envelope, and enabling the position of the beginning of the data of the non-visual field data to correspond to the position of the relay wall surface;
s6: reconstructing non-visual field signals of all the walls, and reconstructing three-dimensional scene data of the non-visual field of the scene based on a non-visual field imaging algorithm;
s7: and synthesizing 360-degree three-dimensional imaging data, and synthesizing the linear view field point cloud data and the non-view field point cloud data obtained in the S3 and the S6 to obtain 360-degree three-dimensional imaging point cloud data of the target in the scene.
Further, in S3, the x, y, z acquisition process of the three-dimensional point cloud data is as follows:
，
where r represents the distance between the center point of the two-dimensional scanning galvanometer and the scanning point in the linear field of view, i.e. the distance between the coordinate zero point and the scanning point,andthe sub-table shows the scan angles in both horizontal and vertical directions.
Further, S4 specifically includes:
taking the time delay corresponding to the r value of the corresponding middle wall surface obtained in the step S3 as the delay time of the time delay device, and enabling the time gating starting point of the rapid time gate controller to correspond to the relay wall surface so that after time delay is acted, the obtained non-vision dataCan avoid the interference of the signal of the relay wall surface, whereinTo relay the point cloud coordinates of the laser irradiation points on the wall surface,and the point cloud coordinates of the laser receiving points of the relay wall face are confocal with the point cloud coordinates.
By using the 360-degree three-dimensional imaging device, the non-visual field imaging scene which cannot be obtained under the original linear visual angle is realized through the wall surfaces randomly distributed in the scene under the linear visual angle, and the linear visual angle scene and the non-visual field imaging scene are synthesized, so that 360-degree imaging of objects in the original scene can be realized.
Compared with the prior art, the invention has the following technical advantages;
1) According to the technical scheme, the 360-degree three-dimensional imaging device and the method based on the single-point single photon detector are constructed, 360-degree three-dimensional imaging of a scene is realized under a long-distance and large field angle, the scene space is limited or the number of arranged detection units is limited, and high-precision depth data of a target and scene three-dimensional data with better transverse resolution can be acquired in the extremely large direction.
2) Compared with the existing method for acquiring the three-dimensional data of the target by arranging the multi-array detection units, the method has the characteristics of simple structure and less required detection units. According to the scheme, only one point detector is needed to achieve 360-degree three-dimensional data acquisition of a scene.
3) Compared with the traditional laser radar, the scheme has the capability of acquiring the non-visual field information of the target at a long distance; compared with the traditional computed tomography, the method has the advantages of long acting distance and less detection units.
Drawings
Fig. 1 is a schematic structural diagram of a 360-degree three-dimensional imaging device based on a single-point single photon detector in the present technical solution;
FIG. 2 is a schematic flow chart of a 360-degree three-dimensional imaging method based on a single-point single photon detector in the technical scheme;
fig. 3 is a two-dimensional diagram of a three-dimensional point cloud of data collected by a linear view field in the technical scheme, wherein a wall surface at the edge of the linear view field is used as a relay wall surface for non-view field imaging;
fig. 4 is a three-dimensional point cloud image of a non-visual field imaging scene corresponding to each of three relay wall surfaces in a non-visual field imaging view field in the technical scheme;
fig. 5 is a 360-degree three-dimensional point cloud data diagram of a scene corresponding to a linear view field and a non-view field imaging view field in the technical scheme.
In the figure: 1-picosecond laser, 2-beam splitter, 3-space light delayer, 4-polarization beam splitting cube, 5-two-dimensional scanning galvanometer, 6-condenser, 7-single photon avalanche detector, 8-photodiode, 9-power divider, 10-time delayer, 11-fast time gate controller, 12-time related single photon counter, 13-industrial personal computer, 14-imaging scene.
Detailed Description
The invention relates to a 360-degree three-dimensional imaging device and a method based on a single-point single photon detector, wherein the 360-degree three-dimensional imaging device based on the single-point single photon detector comprises a picosecond laser, a beam splitter, a space light delay device, a polarization beam splitting cube, a two-dimensional scanning galvanometer, a condenser, a single photon avalanche detector, a fast time gate controller, a photodiode connected with the beam splitter, a power divider connected with the photodiode, a time delay device connected with the power divider, a fast time gate controller connected with the time delay device, a time-dependent single photon counter electrically connected with the fast time gate controller, and an industrial personal computer electrically connected with the picosecond laser, the power divider, the time delay device, the two-dimensional scanning galvanometer, the time-dependent single photon counter and the fast time gate controller respectively. Compared with the prior art, the invention realizes the long-distance 360-degree three-dimensional imaging of the scene target, has simple system structure, large imaging view field, three-dimensional imaging of the target in the view field and high depth resolution.
The invention will now be described in detail with reference to the drawings and specific examples. Features such as a part model, a material name, a connection structure, a control method, an algorithm and the like which are not explicitly described in the technical scheme are all regarded as common technical features disclosed in the prior art.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of a 360-degree three-dimensional imaging device based on a single-point single photon detector according to the present invention. The first aspect of the invention provides a 360-degree three-dimensional imaging device based on a single-point single-photon detector, which comprises a picosecond laser 1, a beam splitter 2, a space light delay device 3, a polarization beam splitting cube 4, a two-dimensional scanning galvanometer 5, a condenser lens 6 and a single-photon avalanche detector 7 which are sequentially arranged along an optical path.
The imaging scene 13 is placed in a large angular space covered by the two-dimensional scanning galvanometer 5.
Also included are a photodiode 8 connected to the beam splitter 2, a power divider 9 electrically connected to the photodiode 8, a time delay 10 electrically connected to the power divider 9, and a time dependent single photon counter 12 electrically connected to the time delay 10.
Also included is a fast time gate controller 11 electrically connected to the time delay 10, the fast time gate controller 11 being electrically connected to a time dependent single photon counter 12.
The system further comprises an industrial personal computer 13 which is respectively and electrically connected with the picosecond laser 1, the time delay 10, the two-dimensional scanning galvanometer 5, the rapid time gate controller 11 and the time-related single photon counter 12, wherein the industrial personal computer 13 is used for respectively regulating and controlling the light emitting power of the picosecond laser 1, the delay length of the time delay 10, the gate width of the rapid time gate controller 11 and the deflection angle of the two-dimensional scanning galvanometer 5.
The industrial personal computer 13 is used for controlling parameter setting of the rapid time gate controller 11; the signal output by the fast time gate controller 11 is input to a time dependent single photon counter 12.
FIG. 2 is a flow chart of a 360 degree three-dimensional imaging method based on a single point single photon detector. The specific flow is as follows:
first, a suitable optical path is constructed such that: the gating trigger signal output to the single photon avalanche detector on the fast time gate controller and the photon currently received by the single photon avalanche detector come from the same light pulse output by the picosecond laser, so that the time jitter of the detection system is reduced to the maximum extent. The scanning range of the two-dimensional scanning galvanometer 5 is set so that an imaging scene can be covered, and the gate width of the rapid time gate controller is set to be proper so that a linear view field and a non-view field imaging view field can be covered.
And setting picosecond laser power parameters, exposure time parameters and starting linear field scanning. After the picosecond laser light with the pulse width of 10 picoseconds, which is emitted by the picosecond laser 1, reaches the beam splitter 2, a part of the picosecond laser light is used as an optical trigger signal to the photodiode 8 and is used as an input of the time delay 10, so that the gating starting point of the fast time gate controller 11 is controlled. The other part is used as an optical pulse signal to reach the power divider 9, and the power divider divides the optical trigger signal into two parts. A part is output as a synchronization signal to the time-dependent single photon counter 12. The other part is output to the time delay 10 so that the whole imaging scene 14 is followed by the single photon avalanche detector 7 and so that the photon signal returned through the imaging scene 14 is at the corresponding time position of the time dependent single photon counter 12. After passing through the polarization beam splitting cube 4, the optical pulse signals reach the two-dimensional scanning galvanometer 5, and the two-dimensional scanning galvanometer 5 directs the optical pulse signals to different spatial points in the imaging scene 14.
The light pulse signal passes through the imaging scene 14, and the obtained reflected light or the reflected light passes through the two-dimensional scanning galvanometer 5, the polarization beam splitting cube and the laser to reach the single photon avalanche detector 7. Photons within the time gate range are detected and output to a time dependent single photon counter. After the single-point exposure time is completed, the angle of the two-dimensional scanning galvanometer 5 is set asThe output of the time-dependent single photon counter 12 is. When the two-dimensional scanning galvanometer 5 completes the whole space scanning, three-dimensional point cloud data of the scanning scene can be obtained according to the corresponding scanning angle position and photon signal intensity position by the following formula：
，
Where r is the distance of the scanning point from the center position of the two-dimensional scanning galvanometer, which can be determined by the time difference between the peak value of the scanning point and the signal peak value of the two-dimensional scanning galvanometer.
For the scene information data which cannot be directly acquired by scanning, the method is realized by a non-visual field imaging mode. When a wall surface exists in a scene, the wall surface can be used as a relay wall surface in non-visual field imaging and used for acquiring the non-visual field imaging scene. And analyzing the three-dimensional point cloud data obtained by direct scanning, and selecting a relay wall surface. The time corresponding to r for these points is taken as input to the time delay 10 and the non-field of view imaging scan is started for these points. It should be noted that the power of the picosecond laser may be set as needed before the non-field of view scan to improve the signal to noise ratio of the non-field of view signal. After the non-visual field imaging scanning is completed, obtaining corresponding scanning data. Fig. 3 is a two-dimensional view of a three-dimensional point cloud of linear field of view acquisition data, wherein the wall surface at the edge of the linear field of view serves as a relay wall surface for non-field of view imaging.
And (3) envelope the data of the non-visual field imaging scanning, so that the start of the data corresponding to all scanning points is the signal peak value obtained when the point is directly scanned in two dimensions, namely the relay wall surface. Thus, a three-dimensional image of the non-visual field scene is obtained and then reconstructed by using a non-visual field imaging algorithm, wherein the non-visual field imaging algorithm based on a vector field is selected as an example, and corresponding non-visual field three-dimensional scene point cloud data is reconstructed. Fig. 4 is a three-dimensional point cloud image of a non-view imaging scene corresponding to each of three relay wall surfaces in a non-view imaging field of view.
Let the non-visual field imaging scan data after envelope solution beWhereinTo relay the point cloud coordinates of the laser irradiation points on the wall surface,and the point cloud coordinates of the laser receiving points of the relay wall face are confocal with the point cloud coordinates. Reconstructed point cloud data for a non-field of view imaging sceneCan be obtained from the following formulas
Wherein the method comprises the steps ofIn front of the phase field wave corresponding to the virtual light source point on the relay wall,to filter the backprojection operator.
Finally, the three-dimensional point cloud data of the straight line view field obtained by direct scanningWith three-dimensional point cloud data via non-field of view imagingAnd fusing to obtain 360-degree three-dimensional data of the target in the scene. Fig. 5 is a 360-degree three-dimensional point cloud data map of a scene fusion together corresponding to a straight line field of view and a non-field of view imaging field of view.
The device can utilize the wall surfaces randomly distributed in the scene under the linear view angle to realize the non-visual field imaging scene which cannot be obtained under the original linear view angle, and can realize 360-degree imaging of objects in the original scene after the linear view angle scene and the non-visual field imaging scene are synthesized. The method achieves 360-degree three-dimensional imaging with a single point detector and has high distance resolution in depth.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.
Claims (10)
1. The 360-degree three-dimensional imaging device based on the single-point single photon detector is characterized by comprising a picosecond laser (1), a beam splitter (2), a space light delayer (3), a polarization beam splitting cube (4), a two-dimensional scanning galvanometer (5), a condenser (6) and a single photon avalanche detector (7) which are sequentially arranged along a light path;
an imaging scene (14) is arranged in a large-angle space covered by the two-dimensional scanning galvanometer (5);
the device also comprises a photodiode (8) connected with the beam splitter (2), a power divider (9) electrically connected with the photodiode (8), a time delay device (10) electrically connected with the power divider (9), and a time-dependent single photon counter (12) electrically connected with the time delay device (10);
the fast time gate controller (11) is electrically connected with the time delay device (10), and the fast time gate controller (11) is electrically connected with the time-related single photon counter (12);
the system further comprises an industrial personal computer (13) which is electrically connected with the picosecond laser (1), the time delay device (10), the two-dimensional scanning galvanometer (5), the rapid time gate controller (11) and the time-related single photon counter (12) respectively, wherein the industrial personal computer (13) is used for regulating and controlling the light emitting power of the picosecond laser (1), the delay length of the time delay device (10) and the gate width of the rapid time gate controller (11) respectively and the deflection angle of the two-dimensional scanning galvanometer (5).
2. A 360 degree three dimensional imaging device based on single point single photon detectors according to claim 1, wherein the industrial personal computer (13) is adapted to control the parameter settings of the fast time gate controller (11);
the signal output by the fast time gate controller (11) is abutted to a time-dependent single photon counter (12) as a signal input.
3. A 360-degree three-dimensional imaging device based on a single-point single-photon detector according to claim 1, wherein after the picosecond laser light emitted by the picosecond laser (1) reaches the beam splitter (2), a part of the picosecond laser light is used as an optical trigger signal to the photodiode (8) and is used as an input of the time delay (10), so as to control a gating starting point of the fast time gate controller (11), and the other part of the picosecond laser light is used as an optical pulse signal to reach the power divider (9);
the power divider (9) divides an optical trigger signal into two parts, one part is used as a synchronous signal to be output to the time-related single photon counter (12), the other part is output to the space optical delay device (3), the return photon signal which is propped against the single photon avalanche detector (7) after passing through the whole imaging scene (14) is positioned at the corresponding time position of the time-related single photon counter (12), the optical pulse signal reaches the two-dimensional scanning galvanometer (5) after passing through the polarization beam splitting cube (4), and the two-dimensional scanning galvanometer (5) directs the optical pulse signal to different space points in the imaging scene (14).
4. A 360 degree three dimensional imaging device based on single point single photon detector according to claim 3, wherein after the light pulse signal passes through the imaging scene (14), the single photon avalanche detector (7) obtains the reflected light of the imaging scene (14) to pass through the two dimensional scanning vibrating mirror (5), then pass through the polarization beam splitting cube and the laser to reach the single photon avalanche detector (7), the photons in the time gate range are detected and output to the time related single photon counter (12);
after the single-point exposure time is finished, acquiring the angle of the two-dimensional scanning galvanometer asThe output of the time-dependent single photon counter (12) is +.>；
When the two-dimensional scanning galvanometer completes the whole space scanning, three-dimensional point cloud data of a scanning scene can be obtained according to the corresponding scanning angle position and photon signal intensity position by the following formula：
，
Wherein r represents the distance between the center point of the two-dimensional scanning galvanometer (5) and the scanning point in the linear view field, namely the distance between the coordinate zero point and the scanning point by taking the center of the two-dimensional scanning galvanometer (5) as the coordinate zero point,and->The sub-table shows the scan angles in both horizontal and vertical directions.
5. The 360-degree three-dimensional imaging device based on a single-point single-photon detector according to claim 4, wherein for the scene information data which cannot be directly obtained by scanning, the device is realized by a non-field-of-view imaging mode, and specifically comprises:
selecting a relay surface for acquiring a non-visual field imaging scene;
analyzing three-dimensional point cloud data obtained by direct scanning, and selecting a relay surface formed in the three-dimensional point cloud data;
taking the time corresponding to the r value of the corresponding point of the relay as the input of a time delay device (10), starting non-visual field imaging scanning on the points, and obtaining corresponding scanning data after the non-visual field imaging scanning is completed；
The data of the non-visual field imaging scanning is envelope, so that the start of the data corresponding to all scanning points is the position of a signal peak value obtained when the current scanning point is directly scanned in two dimensions, namely, the position of a relay wall surface, and a non-visual field imaging algorithm is utilized to reconstruct a three-dimensional image of a non-visual field scene;
let the non-visual field imaging scan data after envelope solution beWherein->For relaying the point cloud coordinates of the laser irradiation point on the wall surface, < > the>The point cloud coordinates of the laser receiving points of the relay wall face are confocal with the point cloud coordinates;
finally, the three-dimensional point cloud data of the straight line view field obtained by direct scanningThree-dimensional point cloud data +.>And fusing to obtain 360-degree three-dimensional data of the target in the scene.
6. The 360 degree three dimensional imaging apparatus based on single point single photon detector of claim 5, wherein reconstructed point cloud data of a non-field of view imaging sceneCan be obtained from the following formula:
,
,
wherein the method comprises the steps ofBefore the phase field wave corresponding to the virtual light source point on the relay wall surface,/for the virtual light source point>To filter the backprojection operator.
7. The 360-degree three-dimensional imaging method based on the single-point single photon detector is characterized by comprising the following steps of:
s1: constructing the 360-degree three-dimensional imaging device based on the single-point single-photon detector according to any one of claims 1 to 6;
s2: setting the power of the picosecond laser (1), the scanning angle range and the scanning point number of the two-dimensional scanning galvanometer (5), the time delay of the time delay device (10), the gate width of the rapid time gate controller (11) and the time resolution of the time-related single photon counter (12) by utilizing the industrial personal computer (13);
s3: starting a laser radar scanning process, obtaining scene information which can be directly seen in a straight line view field, enabling the picosecond laser (1) to emit light, enabling the two-dimensional scanning galvanometer (5) to start scanning, acquiring photon information under a corresponding scanning angle by a time-dependent single photon counter (12), and obtaining three-dimensional point cloud data of the scene information in the straight line view field angle according to the scanning angle and photon flight time information;
s4: starting a non-visual field scanning process, and acquiring scene information in a non-visual field imaging view field;
s5: solving a time envelope, and enabling the position of the beginning of the data of the non-visual field data to correspond to the position of the relay wall surface;
s6: reconstructing non-visual field signals of all the walls, and reconstructing three-dimensional scene data of the non-visual field of the scene based on a non-visual field imaging algorithm;
s7: and synthesizing 360-degree three-dimensional imaging data, and synthesizing the linear view field point cloud data and the non-view field point cloud data obtained in the S3 and the S6 to obtain 360-degree three-dimensional imaging point cloud data of the target in the scene.
8. The 360-degree three-dimensional imaging method based on the single-point single-photon detector as claimed in claim 7, wherein in S3, the x, y and z acquisition process of the three-dimensional point cloud data is as follows:
，
wherein r represents the distance between the center point of the two-dimensional scanning galvanometer (5) and the scanning point in the linear field of view, namely the distance between the coordinate zero point and the scanning point,and->The sub-table shows the scan angles in both horizontal and vertical directions.
9. The 360-degree three-dimensional imaging method based on a single-point single-photon detector of claim 7, wherein S4 specifically comprises:
taking the time delay corresponding to the r value of the corresponding middle wall surface obtained in the step S3 as the delay time of the time delay device (10), and enabling the time gating starting point of the rapid time gate controller (11) to correspond to the relay wall surface so as to enable the obtained non-visual field data to be obtained after the time delay effectInterference of relayed wall signals can be avoided, wherein +.>For relaying the point cloud coordinates of the laser irradiation point on the wall surface, < > the>To be in line with itAnd confocal relay wall laser receiving point cloud coordinates.
10. The 360-degree three-dimensional imaging method based on the single-point single-photon detector according to claim 7, wherein the 360-degree three-dimensional imaging device is used for realizing a non-visual field imaging scene which cannot be obtained under an original linear visual angle through wall surfaces randomly distributed in the scene under the linear visual angle, and the 360-degree imaging of objects in the original scene can be realized by combining the linear visual angle scene with the non-visual field imaging scene.
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