CN207833020U - A kind of laser radar scanning imaging system - Google Patents
A kind of laser radar scanning imaging system Download PDFInfo
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- CN207833020U CN207833020U CN201721844050.3U CN201721844050U CN207833020U CN 207833020 U CN207833020 U CN 207833020U CN 201721844050 U CN201721844050 U CN 201721844050U CN 207833020 U CN207833020 U CN 207833020U
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- laser radar
- imaging system
- speculum
- scanning imaging
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Abstract
The utility model provides a kind of laser radar scanning imaging system, including, transmitting module, receiving module, data acquisition module, main control module, data transmission module, the transmitting module includes laser, speculum, receiving module includes receiving optical lens and focal plane array detector, the speculum to adjust angle in two orthogonal dimensions.The method of the utility model has the advantages that sweep type laser radar and floodlighting type laser radar, under paraxonic system, transmitting optics is not necessarily to undertake the function of reflection light-receiving, therefore small size can be used, light-weighted galvanometer is scanned, due to being split to visual field using the detector cells of array arrangement on focal plane, the corresponding field angle of each detector cells is small, to effectively reduce bias light interference, lightweight, high frame per second, remote imaging radar system may be implemented using this method.
Description
Technical field
The present invention relates to a kind of laser radar scanning imaging systems.
Background technology
Laser radar is a kind of spatial information active probe means, and basic functional principle is similar with conventional radar：Laser
Then radar collects the optical signal being reflected to detection objective emission laser by receiver, emit signal by measurement
The advantages that two-way time determines the distance of target, the high coherence that has due to laser, directionality, monochromaticjty, laser radar
System can realize remote, high-precision distance measurement function.The laser radar of single-point ranging is visited by scanning or complex array
The form of survey expands to two dimension, can build the laser radar with imaging capability, so as to obtain more rich region distance letter
Breath, imaging laser radar is in many occasions such as automatic Pilot, 3 d modeling of building, mapping, spacecrafts rendezvous at present
It is applied
The technical solution that imaging laser radar uses is generally divided into sweep type or Flash types, the former is using two dimension pendulum mirror pair
The field range of single-point or multiple spot laser ranging system is expanded, due to conventionally employed mechanical pendulum mirror weight, volume and drive
Dynamic power is larger, it is difficult to build lightweight, high frame per second imaging laser radar, and after the transmitting of Flash type laser radars expands
Laser illuminates entire visual field simultaneously, and disposably receives all return lights and synchronous extraction two-dimensional distance using focus planar detector
Information can reach higher frame per second, but the program is square in magnanimity channel data readout process and high-power floodlighting etc. at present
The technical maturity in face is not high, is difficult to be applied in a short time.
The MEMS (Micro-Electro-Mechanical System, hereinafter referred to as MEMS) of rising in recent years
Laser radar has prodigious potentiality on structure lightweight imaging laser radar.Such laser radar is mainly characterized by using
The micro- galvanometers of MEMS replace mechanical mirror as sweep mechanism, all have great advantage in volume, power consumption and integration, and MEMS is micro- shakes
The hunting frequency of mirror is higher, also there is outstanding performance in frame per second.But since the minute surface size of the micro- galvanometers of MEMS is only number milli
Rice, it is limited as bore when receiving optical module, seriously limit detection range.To avoid the disadvantage, paraxial optics are generally used
The micro- galvanometer of system, i.e. MEMS is only used as transmitting laser scanning applications, and visual field energy larger by bore for the micro- galvanometers of opposite MEMS
The optical lens of covering transmitting laser scanning angle is received back the glistening light of waves.But this method introduces new problem：Due to needing to cover
The field of view of receiver angle of whole visual fields, receiving optics is big, and the bias light light intensity received is caused to greatly enhance, serious to drop
Low signal-to-noise ratio is effective detectable signal, raising transmitting laser power, compression field angle can only be taken or shorten detection range etc.
Remedial measure, to limit the performance indicator and application range of MEMS type laser radar.
Therefore need to design a kind of completely new device and method to solve the deficiencies in the prior art.
Invention content
The purpose of the present invention is to provide a kind of laser radar scanning imaging system, with overcome it is existing in the prior art not
Foot.
For achieving the above object, the present invention provides a kind of laser radar scanning imaging system, including, transmitting module,
Receiving module, data acquisition module, main control module, data transmission module, the transmitting module include laser, speculum, are connect
It includes receiving optical lens and focal plane array detector to receive module, the speculum can in two orthogonal dimensions adjustment angle
Degree.
As a further improvement on the present invention, the transmitting module further includes trigger circuit, beam collimator.
As a further improvement on the present invention, the data acquisition module includes Signal-regulated kinase and analog-to-digital conversion electricity
Road.
As a further improvement on the present invention, the main control module includes providing trigger signal, right for transmitting module
The speculum of adjustable angle carries out driving and feedback angle acquisition, carries out ranging information extraction to the output signal of sampling module
Logical device.
As a further improvement on the present invention, the focal plane array detector is the two-dimensional array placed on focal plane
The probe unit of arrangement.
The method of the present invention has the advantages that sweep type laser radar and floodlighting type laser radar, in paraxonic system
Under, transmitting optics be not necessarily to undertake reflection light-receiving function, therefore small size can be used, light-weighted galvanometer is scanned, by
Visual field is split in the detector cells using array arrangement on focal plane, the corresponding field angle of each detector cells
It is small, to effectively reduce bias light interference, lightweight, high frame per second, remote imaging radar may be implemented using this method
System.
Compared with prior art, the beneficial effects of the invention are as follows：
1, high frame per second, lightweight：Using the transmitting-receiving optics of paraxonic, the small-bore scanning reflection mirror of lightweight can be used, such as
MEMS galvanometers reach frame per second more higher than tradition machinery galvanometer, also allow for realizing laser radar miniaturization；
2, low bias light interference：Using focus planar detector unit as photoelectric detector, each detector cells pair
The field angle answered is small, effectively reduces bias light interference, improves signal-to-noise ratio；
3, simple production process is easy：Receiving device uses focus planar detector, it is only necessary to which field of view of receiver includes that transmitting is swept
Retouch range, without receiving and dispatching optical axis accuracy registration, while reducing producting process difficulty, improve equipment reliability and
Mass production ability.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in invention, for those of ordinary skill in the art, without creative efforts,
Other drawings may also be obtained based on these drawings.
Fig. 1 is laser radar scanning imaging system schematic diagram of the present invention.
Specific implementation mode
The present invention is described in detail for each embodiment shown in below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to function, method made by these embodiments,
Or the equivalent transformation in structure or replacement, all belong to the scope of protection of the present invention within.
Present embodiments provide for a kind of laser radar scanning imaging system (ginseng Fig. 1), including, transmitting module (is not schemed
Show), receiving module (not shown), data acquisition module (not shown), main control module 1, data transmission module, the data transmission
Module is not shown to the signal transmission between modules.The transmitting module includes laser 2, speculum 3, receives mould
Block includes receiving optical lens 4 and focal plane array detector 5, the speculum 3 can automatically adjust in two orthogonal dimensions
Save angle.
The transmitting module further includes trigger circuit (not shown), beam collimator (not shown), and trigger circuit is by master control
Module 1 controls, and emits laser to trigger laser, beam collimator is set between laser 2 and speculum 3, can make
It obtains the laser that laser 2 emits more accurately to be incident on speculum 3, and improves the angular resolution of laser radar.
The data acquisition module includes Signal-regulated kinase 6 and analog-to-digital conversion circuit 7.The main control module 1 include be transmitting
Module offer trigger signal carries out the adjustable speculum of angle 3 driving and feedback angle acquisition, to the defeated of data acquisition module
Go out the logical device that signal carries out ranging information extraction.The focal plane array detector 5 is the two dimension placed on focal plane
The probe unit 51 of array arrangement.
Probe unit specifically, present embodiment additionally provides a kind of measurement method of laser radar scanning imaging system,
It is as follows,
A, main control module generates trigger signal to transmitting module, drives the latter to emit laser, Laser emission light beam is incident on
The speculum of adjustable angle, and it is reflected into the corresponding target point surface of current angular by the latter；
B, it is received optical lens by the light of target point reflection to receive, and converges in the photoelectricity of two dimension arrangement on focal plane
A certain probe unit in detection array；Probe unit；
C, it determines to receive according to the angle between speculum, reception optical lens, focal plane array detector, distance and position
To the probe unit position of reflected light；
D, the photosignal exported to the probe unit for receiving reflected light is acquired processing, when obtaining reception optical signal
Between information, according to the light velocity and transmitting light with receive light differential time of flight obtain single-point distance measurement result；
E, multiple mesh can be obtained in the detector cells output signal that reflected light is received by adjusting mirror angle and acquisition
The ranging information of punctuate.
As shown in the laser route in Fig. 1, laser 2 emits optical signal after receiving main control module trigger signal, passes through
The speculum of adjustable angle is reflected into certain point in target area, and the received optical lens of target reflecting light focuses on focal plane array
Some probe unit in row detector, and it is transferred to signal processing module after signal acquisition module acquires, according to master control mould
The activation bit and speculum of block and position, the angular relationship of focal plane array detector, it is corresponding to can be obtained current target point
Detector cells, the signal for extracting respective channel obtain single-point ranging information, change the angle of speculum, and multiple spot can be obtained even
The detection information of two-dimensional array.
It can be pulse time-of-flight method or phase method that the principle of ranging use is carried out in the present invention.Focal plane arrays (FPA) detects
The mode that device data are read can be one-to-one reading, or determine that read-out channel backgating is read according to scanning angle.Detection is single
Member can be silicon photo multiplier device (Silicon PhotoMultiplier, hereinafter referred to as SiPM), avalanche diode
(Avalanche Photodiode, hereinafter referred to as APD), photomultiplier (Photomultiplier Tube, hereinafter referred to as
PMT), charge coupled cell (Charge-coupled Device, hereinafter referred to as CCD), photodiode etc. have opto-electronic conversion
One kind in the detector of ability.
In addition, the mode that the present invention carries out multiple spot acquisition of information can be single-point one-dimensional scanning, single-point two-dimensional scan, multiple spot
Push away sweep, sweeping or according to actual demand choose scanning range in arbitrary point.
The method of the present invention has the advantages that sweep type laser radar and floodlighting type laser radar, in paraxonic system
Under, transmitting optics be not necessarily to undertake reflection light-receiving function, therefore small size can be used, light-weighted galvanometer is scanned, by
Visual field is split in the detector cells using array arrangement on focal plane, the corresponding field angle of each detector cells
It is small, to effectively reduce bias light interference, lightweight, high frame per second, remote imaging radar may be implemented using this method
System.
Compared with prior art, the beneficial effects of the invention are as follows：
1, high frame per second, lightweight：Using the transmitting-receiving optics of paraxonic, the small-bore scanning reflection mirror of lightweight can be used, such as
MEMS galvanometers reach frame per second more higher than tradition machinery galvanometer, also allow for realizing laser radar miniaturization：
2, low bias light interference：Using focus planar detector unit as photoelectric detector, each detector cells pair
The field angle answered is small, effectively reduces bias light interference, improves signal-to-noise ratio；
3, simple production process is easy：Receiving device uses focus planar detector, it is only necessary to which field of view of receiver includes that transmitting is swept
Retouch range, without receiving and dispatching optical axis accuracy registration, while reducing producting process difficulty, improve equipment reliability and
Mass production ability.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of laser radar scanning imaging system, it is characterised in that：Including transmitting module, receiving module, data acquisition module
Block, main control module, data transmission module, the transmitting module include laser, speculum, and receiving module includes receiving optical frames
Head and focal plane array detector, the speculum can adjust angle in two orthogonal dimensions.
2. laser radar scanning imaging system according to claim 1, it is characterised in that：The transmitting module further includes touching
Power Generation Road, beam collimator.
3. laser radar scanning imaging system according to claim 1, it is characterised in that：The data acquisition module includes
Signal-regulated kinase and analog-to-digital conversion circuit.
4. laser radar scanning imaging system according to claim 1, it is characterised in that：The main control module include to
For transmitting module provide trigger signal, to the adjustable speculum of angle carry out driving and feedback angle acquisition, to sampling module
Output signal carries out the logical device of ranging information extraction.
5. laser radar scanning imaging system according to claim 1, it is characterised in that：The focal plane array detector
For the probe unit for the two-dimensional array arrangement placed on focal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844050.3U CN207833020U (en) | 2017-12-26 | 2017-12-26 | A kind of laser radar scanning imaging system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844050.3U CN207833020U (en) | 2017-12-26 | 2017-12-26 | A kind of laser radar scanning imaging system |
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| CN207833020U true CN207833020U (en) | 2018-09-07 |
Family
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| CN201721844050.3U Expired - Fee Related CN207833020U (en) | 2017-12-26 | 2017-12-26 | A kind of laser radar scanning imaging system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940988A (en) * | 2019-11-01 | 2020-03-31 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| CN111796417A (en) * | 2019-04-05 | 2020-10-20 | 英飞凌科技股份有限公司 | Synchronization of micro-electromechanical system (MEMS) mirrors |
| CN112162258A (en) * | 2020-09-29 | 2021-01-01 | 中国船舶重工集团公司第七二四研究所 | Portable multi-elevation detection radar optical device and self-adaptive scanning method thereof |
| WO2021196193A1 (en) * | 2020-04-03 | 2021-10-07 | 深圳市速腾聚创科技有限公司 | Lidar and self-driving device |
-
2017
- 2017-12-26 CN CN201721844050.3U patent/CN207833020U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111796417A (en) * | 2019-04-05 | 2020-10-20 | 英飞凌科技股份有限公司 | Synchronization of micro-electromechanical system (MEMS) mirrors |
| US11307403B2 (en) | 2019-04-05 | 2022-04-19 | Infineon Technologies Ag | Synchronization of microelectromechanical system (MEMS) mirrors |
| CN110940988A (en) * | 2019-11-01 | 2020-03-31 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| CN110940988B (en) * | 2019-11-01 | 2021-10-26 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| WO2021196193A1 (en) * | 2020-04-03 | 2021-10-07 | 深圳市速腾聚创科技有限公司 | Lidar and self-driving device |
| CN112162258A (en) * | 2020-09-29 | 2021-01-01 | 中国船舶重工集团公司第七二四研究所 | Portable multi-elevation detection radar optical device and self-adaptive scanning method thereof |
| CN112162258B (en) * | 2020-09-29 | 2024-01-12 | 中国船舶集团有限公司第七二四研究所 | Portable multi-elevation detection radar optical device and self-adaptive scanning method thereof |
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Granted publication date: 20180907 Termination date: 20211226 |