CN1904640A - Gain modulation type pulse imaging laser radar system - Google Patents
Gain modulation type pulse imaging laser radar system Download PDFInfo
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- CN1904640A CN1904640A CN 200610010237 CN200610010237A CN1904640A CN 1904640 A CN1904640 A CN 1904640A CN 200610010237 CN200610010237 CN 200610010237 CN 200610010237 A CN200610010237 A CN 200610010237A CN 1904640 A CN1904640 A CN 1904640A
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Abstract
The invention relates to a gain modulation impulse imaging laser radar system. The beam emitting from impulse laser of imaging device would irradiate to target after reforming by optical transmitting antenna. Echo impulse would emit to light input end of intension imagine device of target intension image. Monotone alteration modulation signal output end of high voltage modulator connects to the gain modulation signal control end of imaging device. The exposure control end of control processor connects to switch control end of intension imaging device. The invention could effectively improve acceptance range and imaging quantity and decrease the complex degree of system structure.
Description
Technical field
The present invention relates to the laser radar field, specifically relate to a kind of laser radar system that comes target is become distance images with the intensity integration device.
Background technology
A great problem in the photoelectronic imaging field is exactly how to use the intensity integral form device (as CCD) of technology maturation to come target is become distance images at present.Nineteen ninety, Marion W, Scott in the United States Patent Office (USPO) application name be called the patent of " apart from imaging laser radar system ".This patent is based on traditional position phase method range measurement principle.In patent, propose to adopt first laser instrument and image intensifier are carried out Sine Modulated, the signal of image intensifier output is coupled to by optical fiber utilizes CCD to receive on the CCD, obtain the method for the distance images of target by the distance processor.But because the emitter in this way adopts the continuous wave modulation too, therefore limited the instantaneous power of laser instrument, had a strong impact on the operating distance and the image quality of this device.
Summary of the invention
Thereby the instantaneous power that has limited laser instrument when adopting sine wave modulation to be transmitted in target become distance images in order to solve has a strong impact on the problem of image quality and measurement range, the invention provides a kind of gain modulation type pulse imaging laser radar system.
Described imaging device of the present invention comprises optical transmitting antenna, pulsed laser, processor controls, optical receiver antenna, optical filter, high voltage modulator and intensity imaging instrument, the light beam that pulsed laser is launched shines on the target after the optical transmitting antenna shaping, through the light beam of target reflection through the optical receiver antenna shaping with arrive the light input end of optical filter after converging, incide the light input end of intensity imaging instrument from the light beam of the light output end of optical filter output, the target strength picture that the intensity level of intensity imaging instrument acquisition picture was directly proportional with the two-way time of light pulse, the output terminal of intensity imaging instrument links to each other with an image input end of processor controls, the modulation signal control end of processor controls links to each other with the control end of high voltage modulator, the gain modulation signal controlling end of the monotone variation formula modulation signal output terminal strength of joint imager of high voltage modulator, the light pulse initial time input end of processor controls links to each other the switch control end of the exposure control end strength of joint imager of processor controls with the output terminal of the light of pulsed laser emission synchronizing information.
The present invention adopts high-power pulsed laser to replace traditional continuous wave laser, carries out the pulse radiation pattern; The present invention also adopts monotone variation formula signal to replace sine wave that the intensity imaging instrument is carried out gain control.The present invention has improved operating distance and image quality effectively, has also reduced the complexity of system architecture simultaneously.
Description of drawings
Fig. 1 is a structural representation of the present invention, and Fig. 2 is the structural representation of embodiment two, and Fig. 3 is the sequential chart of embodiment two, waveform A is a transponder pulse, waveform B is a received pulse, and waveform C is the grid gating signal, and waveform D is a microchannel plate modulation gain signal.
Embodiment
Embodiment one: referring to Fig. 1, the gain modulation type pulse imaging laser radar system of this embodiment is by optical transmitting antenna 1, pulsed laser 2, processor controls 3, optical receiver antenna 4, optical filter 5, high voltage modulator 6 and intensity imaging instrument 7 are formed, the light beam that pulsed laser 2 is launched shines on the target after optical transmitting antenna 1 shaping, through the light beam of target reflection through optical receiver antenna 4 shapings with arrive the light input end of optical filter 5 after converging, incide the light input end of intensity imaging instrument 7 from the light beam of the light output end of optical filter 5 output, the intensity level of intensity imaging instrument 7 acquisition pictures and the target strength picture that is directly proportional the two-way time of light pulse, the output terminal of intensity imaging instrument 7 links to each other with an image input end of processor controls 3, the modulation signal control end of processor controls 3 links to each other with the control end of high voltage modulator 6, the gain modulation signal controlling end of the monotone variation formula modulation signal output terminal strength of joint imager 7 of high voltage modulator 6, the light pulse initial time input end of processor controls 3 links to each other the switch control end of the exposure control end strength of joint imager 7 of processor controls 3 with the output terminal of the light of pulsed laser 2 emission synchronizing information.
Described intensity imaging instrument 7 is by photo-electric conversion element 7-1, play the Current Regulation element 7-2 of on-off action, electron multiplication element 7-3, electric light conversion element 7-4, an optical fiber 7-5 and a CCD imager 7-6 form, the light beam that obtains from the light output end of optical filter 5 incides the input end of photo-electric conversion element 7-1, the output terminal of photo-electric conversion element 7-1 connects the input end of Current Regulation element 7-2, the output terminal of Current Regulation element 7-2 connects the input end of electron multiplication element 7-3, the output terminal of electron multiplication element 7-3 connects the input end of electric light conversion element 7-4, after entering optical fiber 7-5, the light beam coupling that obtains from the output terminal of electric light conversion element 7-4 incides on the light-sensitive surface of a CCD imager 7-6, the image information output terminal of the one CCD imager 7-6 connects an image information input end of processor controls 3, the monotone variation formula modulation signal output terminal of high voltage modulator 6 connects the gain modulation signal controlling end of electron multiplication element 7-3, and the exposure control end of processor controls 3 connects the control end of Current Regulation element 7-2.Described Current Regulation element 7-2 control is input to the size of current of electron multiplication element 7-3 and plays on-off action; Described electron multiplication element 7-3 is used for current signal and monotone variation formula modulation signal are carried out multiplicative mixing.
In this embodiment, narrow, the taps width of signal single pulse energy height, pulse width of described pulsed laser 2 outputs, its pulse wavelength is 0.4～2.0 micron, pulse energy is that several millis are burnt burnt to the hundreds of milli, pulse width be several nanoseconds to tens nanoseconds, the pulse live width is 0.1 nanometer to several nanometers; Described processor controls 3 adopts PC or special microprocessor, and it is used for the output and the Flame Image Process of control signal.This embodiment is utilized optical transmitting antenna 1 and optical receiver antenna 4 to make to transmit and receive the visual field and is reached the several years to tens degree.The bandwidth of described optical filter 5 is below several nanometers, and the modulation voltage that described high voltage modulator 6 produces about 1000v is more than the bandwidth 10MHz.
Embodiment two: referring to Fig. 1 and Fig. 2, this embodiment with the difference of embodiment one is: described intensity imaging instrument 7 is selected gate type ICCD imager for use, this gate type ICCD imager comprises by the photocathode 7-1-1 that can be used as photo-electric conversion element 7-1, the grid 7-2-1 that can be used as Current Regulation element 7-2, the voltage adjustable type microchannel plate 7-3-1 that can be used as electron multiplication element 7-3, the image intensifier 7-7 that can be used as the video screen 7-4-1 formation of electric light conversion element 7-4, the light beam that obtains from the light output end of optical filter 5 incides on the photocathode 7-1-1 of gate type ICCD imager, the output terminal of gate type ICCD imager connects an image information input end of processor controls 3, the monotone variation formula modulation signal output terminal of high voltage modulator 6 connects the gain modulation signal controlling end of the voltage adjustable type microchannel plate 7-3-1 of gate type ICCD imager, and the exposure control end of processor controls 3 connects the control end of the grid 7-2-1 of gate type ICCD imager.Image intensifier 7-7, optical fiber 7-5 and a CCD imager 7-6 constitute gate type ICCD imager.Other compositions are identical with embodiment one with annexation.Gate type ICCD imager adopts the DiCam-PRO of Hi-Tech electronics pte ltd.
In this embodiment, high voltage modulator 6 adopts the sawtooth wave modulation signal with monotone variation that microchannel plate 7-3-1 is modulated, shown in the waveform D of Fig. 3.Pulsed laser 2 triggers the gain modulation of microchannel plate 7-3-1 in transponder pulse (waveform A as shown in Figure 3).Owing to adopt the sawtooth wave modulation signal, so echo-pulse (waveform B as shown in Figure 3) arrives pairing gain of the moment and the pulse turnaround time of image intensifier 7-7 and is directly proportional, final on a CCD imager 7-6, obtain the intensity level of picture and be directly proportional the two-way time of pulse, by Flame Image Process, range information can be extracted.As can be seen from Figure 3, gain modulation waveform (being the waveform D of Fig. 3) can be divided into two stages: linear change stage and immobilizing the stage.Be in linear change during the stage in gain, the grid 7-2-1 that processor controls 3 triggers image intensifier 7-7 carries out gating (waveform of gating signal waveform C as shown in Figure 3), wait for and receive the echo light pulse, when the echo light pulse arrives, 7-1-1 is converted into electric signal through photocathode, by the microchannel plate 7-3-1 amplification that gains, be converted into light signal through video screen 7-4-1 again, by optical fiber 7-5 coupling light signal is sent on the light-sensitive surface of a CCD imager 7-6, the one CCD imager 7-6 also passes to processor controls with image, this process is equivalent to system and in the change in gain stage target has been become a frame intensity picture, and this width of cloth image has comprised two kinds of information: (1) causes each point echo strength difference owing to target each point reflectivity is different; (2) because target each point pairing gain difference when apart from difference, causing the each point echo to arrive receiver, the intensity contrast of the present CCD imaging of final body changes to some extent.When gain immobilizes, target is become a frame picture again, and only contain first kind of above-mentioned information in this frame picture, two frames look like to do ratio, have just obtained the distance images of target.This concrete enforcement side utilizes a CCD imager to make it obtain the above-mentioned picture that contains different information respectively in the different moment by the gating of control grid.
Embodiment three: referring to Fig. 1, this embodiment with the difference of embodiment one is: described imaging device also comprises beam splitting chip 8 and the 2nd CCD imager 9, the light beam that obtains from the light output end of optical filter 5 is after beam splitting chip 8 beam splitting, part light beam incides the light input end of intensity imaging instrument 7, another part light beam incides the light input end of the 2nd CCD imager 9, and the output end of image of the 2nd CCD imager 9 links to each other with another image input end of processor controls 3.Other composition is identical with embodiment one with annexation.This embodiment has increased a CCD imager, remove to obtain echo-pulse with it and also do not enter booster image information before, compare with embodiment one, adopt this embodiment can realize obtaining simultaneously the above-mentioned two frame pictures that contain different information.This pair of CCD structure of this embodiment overcome the caused pattern distortion of moving of target or imaging platform, and image quality and performance are more superior than embodiment one, can be widely used in military field.
Claims (4)
1, gain modulation type pulse imaging laser radar system, it is characterized in that described imaging device comprises optical transmitting antenna (1), pulsed laser (2), processor controls (3), optical receiver antenna (4), optical filter (5), high voltage modulator (6) and intensity imaging instrument (7), the light beam that pulsed laser (2) is launched shines on the target after optical transmitting antenna (1) shaping, through the light beam of target reflection through optical receiver antenna (4) shaping with arrive the light input end of optical filter (5) after converging, incide the light input end of intensity imaging instrument (7) from the light beam of the light output end of optical filter (5) output, the target strength picture that the intensity level of intensity imaging instrument (7) acquisition picture was directly proportional with the two-way time of light pulse, the output terminal of intensity imaging instrument (7) links to each other with an image input end of processor controls (3), the modulation signal control end of processor controls (3) links to each other with the control end of high voltage modulator (6), the gain modulation signal controlling end of the monotone variation formula modulation signal output terminal strength of joint imager (7) of high voltage modulator (6), the light pulse initial time input end of processor controls (3) links to each other the switch control end of the exposure control end strength of joint imager (7) of processor controls (3) with the output terminal of the light of pulsed laser (2) emission synchronizing information.
2, gain modulation type pulse imaging laser radar system according to claim 1, it is characterized in that described intensity imaging instrument (7) is by photo-electric conversion element (7-1), play the Current Regulation element (7-2) of on-off action, electron multiplication element (7-3), electric light conversion element (7-4), an optical fiber (7-5) and a CCD imager (7-6) are formed, the light beam that obtains from the light output end of optical filter (5) incides the input end of photo-electric conversion element (7-1), the output terminal of photo-electric conversion element (7-1) connects the input end of Current Regulation element (7-2), the output terminal of Current Regulation element (7-2) connects the input end of electron multiplication element (7-3), the output terminal of electron multiplication element (7-3) connects the input end of electric light conversion element (7-4), after entering optical fiber (7-5), the light beam coupling that obtains from the output terminal of electric light conversion element (7-4) incides on the light-sensitive surface of a CCD imager (7-6), the image information output terminal of the one CCD imager (7-6) connects an image information input end of processor controls (3), the monotone variation formula modulation signal output terminal of high voltage modulator (6) connects the gain modulation signal controlling end of electron multiplication element (7-3), and the exposure control end of processor controls (3) connects the control end of Current Regulation element (7-2).
3, gain modulation type pulse imaging laser radar system according to claim 1 and 2, it is characterized in that described imaging device also comprises beam splitting chip (8) and the 2nd CCD imager (9), the light beam that obtains from the light output end of optical filter (5) is after beam splitting chip (8) beam splitting, part light beam incides the light input end of intensity imaging instrument (7), another part light beam incides the light input end of the 2nd CCD imager (9), and the output end of image of the 2nd CCD imager (9) links to each other with another image input end of processor controls (3).
4, gain modulation type pulse imaging laser radar system according to claim 3, it is characterized in that described intensity imaging instrument (7) selects gate type ICCD imager for use, this gate type ICCD imager comprises by the photocathode that can be used as photo-electric conversion element (7-1) (7-1-1), the grid (7-2-1) that can be used as Current Regulation element (7-2), the voltage adjustable type microchannel plate (7-3-1) that can be used as electron multiplication element (7-3), the image intensifier (7-7) that can be used as video screen (7-4-1) formation of electric light conversion element (7-4), the light beam that obtains from the light output end of optical filter (5) incides on the photocathode (7-1-1) of gate type ICCD imager, the output terminal of gate type ICCD imager connects an image information input end of processor controls (3), the monotone variation formula modulation signal output terminal of high voltage modulator (6) connects the gain modulation signal controlling end of the voltage adjustable type microchannel plate (7-3-1) of gate type ICCD imager, and the exposure control end of processor controls (3) connects the control end of the grid (7-2-1) of gate type ICCD imager.
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Cited By (12)
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| CN101487896B (en) * | 2009-02-23 | 2011-05-18 | 哈尔滨工业大学 | Index gain modulation distance imager |
| CN101487897B (en) * | 2009-02-27 | 2011-08-17 | 哈尔滨工业大学 | ICCD gain sine-wave modulation non-scanning speed imager |
| CN102176024A (en) * | 2011-02-22 | 2011-09-07 | 哈尔滨工业大学 | Multi-pulse gate delay range gating laser imaging radar |
| CN101609153B (en) * | 2009-07-16 | 2011-09-14 | 哈尔滨工业大学 | 3D ultraviolet pulse laser imaging radar capable of realizing single-photon detecting |
| CN103235299A (en) * | 2013-04-19 | 2013-08-07 | 中国科学院上海光学精密机械研究所 | Optical imaging processing system of synthetic-aperture laser imaging radar |
| CN105607073A (en) * | 2015-12-18 | 2016-05-25 | 哈尔滨工业大学 | Photon-counting imaging laser radar for filtering noise in real time by adopting adjacent pixel element threshold value method |
| CN106791497A (en) * | 2016-12-15 | 2017-05-31 | 哈尔滨工业大学 | A kind of puise gain modulation system single pixel 3-D imaging system and method |
| CN106772437A (en) * | 2016-12-12 | 2017-05-31 | 中国科学院合肥物质科学研究院 | The laser radar apparatus of Self Adaptive Control dynamic range |
| CN109932729A (en) * | 2019-04-19 | 2019-06-25 | 北京瑞特森传感科技有限公司 | Face battle array laser radar |
| WO2020164121A1 (en) * | 2019-02-15 | 2020-08-20 | 华为技术有限公司 | Radar, and gain control method |
| CN113156406A (en) * | 2020-01-21 | 2021-07-23 | 苏州一径科技有限公司 | Gray scale calibration method, target detection method, gray scale calibration device, target detection device, processing equipment and storage medium |
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| CN101487896B (en) * | 2009-02-23 | 2011-05-18 | 哈尔滨工业大学 | Index gain modulation distance imager |
| CN101487897B (en) * | 2009-02-27 | 2011-08-17 | 哈尔滨工业大学 | ICCD gain sine-wave modulation non-scanning speed imager |
| CN101609153B (en) * | 2009-07-16 | 2011-09-14 | 哈尔滨工业大学 | 3D ultraviolet pulse laser imaging radar capable of realizing single-photon detecting |
| CN102176024A (en) * | 2011-02-22 | 2011-09-07 | 哈尔滨工业大学 | Multi-pulse gate delay range gating laser imaging radar |
| CN102176024B (en) * | 2011-02-22 | 2012-11-21 | 哈尔滨工业大学 | Multi-pulse gate delay range gating laser imaging radar |
| CN103235299A (en) * | 2013-04-19 | 2013-08-07 | 中国科学院上海光学精密机械研究所 | Optical imaging processing system of synthetic-aperture laser imaging radar |
| CN105607073A (en) * | 2015-12-18 | 2016-05-25 | 哈尔滨工业大学 | Photon-counting imaging laser radar for filtering noise in real time by adopting adjacent pixel element threshold value method |
| CN106772437A (en) * | 2016-12-12 | 2017-05-31 | 中国科学院合肥物质科学研究院 | The laser radar apparatus of Self Adaptive Control dynamic range |
| CN106772437B (en) * | 2016-12-12 | 2020-11-27 | 中国科学院合肥物质科学研究院 | Laser radar device capable of adaptively controlling dynamic range |
| CN106791497A (en) * | 2016-12-15 | 2017-05-31 | 哈尔滨工业大学 | A kind of puise gain modulation system single pixel 3-D imaging system and method |
| CN106791497B (en) * | 2016-12-15 | 2019-08-23 | 哈尔滨工业大学 | A kind of puise gain modulation system single pixel 3-D imaging system and method |
| WO2020164121A1 (en) * | 2019-02-15 | 2020-08-20 | 华为技术有限公司 | Radar, and gain control method |
| CN109932729A (en) * | 2019-04-19 | 2019-06-25 | 北京瑞特森传感科技有限公司 | Face battle array laser radar |
| CN113156406A (en) * | 2020-01-21 | 2021-07-23 | 苏州一径科技有限公司 | Gray scale calibration method, target detection method, gray scale calibration device, target detection device, processing equipment and storage medium |
| CN115877395A (en) * | 2023-02-01 | 2023-03-31 | 深圳煜炜光学科技有限公司 | Laser radar and ranging method thereof |
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