CN207937596U - A kind of face battle array lidar measurement system - Google Patents
A kind of face battle array lidar measurement system Download PDFInfo
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- CN207937596U CN207937596U CN201820281948.2U CN201820281948U CN207937596U CN 207937596 U CN207937596 U CN 207937596U CN 201820281948 U CN201820281948 U CN 201820281948U CN 207937596 U CN207937596 U CN 207937596U
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Abstract
The utility model embodiment discloses a kind of face battle array lidar measurement system.The system includes：Laser light source module, photodetector, transmitting camera lens, receives camera lens, spectroscope, two-dimensional position detector, control module and computing module at two-dimentional scanning mechanism；Control module is connect with laser light source module and two-dimentional scanning mechanism respectively, the scanning angle for controlling laser intensity and two-dimentional scanning mechanism that laser light source module is sent out；Spectroscope, for the laser reflected through two-dimentional scanning mechanism to be divided into two beams, two-dimensional position detector receives the laser beam reflected through the spectroscope and generates the first electric signal, is sent to computing module；Computing module is connected with two-dimensional position detector and photodetector respectively, and the second electric signal for being generated according to the first electric signal and photodetector calculates the target component of testee.The utility model embodiment improves the spatial resolution of planar array scanning laser radar, improves the spatial position precision of measurement.
Description
Technical field
The utility model embodiment is related to laser radar technique more particularly to a kind of face battle array lidar measurement system.
Background technology
Laser radar is by objective emission detectable signal (laser beam), then reflecting the slave target received
Signal (target echo) with transmitting signal be compared, after making proper treatment, so that it may target is obtained for information about, such as target
The radar system of distance, orientation, height, speed, posture feature amount.
In existing lidar measurement system, measuring beam deflection angle mostly uses indirect measure, i.e., by sweeping
The mechanical planar survey for retouching mechanism, is calculated the deflection angle of light beam, and carrying out operation using the deflection angle obtained indirectly obtains mesh
Mark the target component of object.But indirect measure precision or lack of resolution, and it is not easily achieved laser pulse and position
The exact time synchronization of feedback, to bring larger errors in position measurement.
Utility model content
The utility model embodiment provides a kind of face battle array lidar measurement system, and laser beam deflection is directly measured to realize
Angle, to improve the accuracy of target component measurement.
The utility model embodiment provides a kind of face battle array lidar measurement system, which includes：Laser light source mould
Block, two-dimentional scanning mechanism, photodetector, transmitting camera lens and reception camera lens further include：Spectroscope, two-dimensional position detector, control
Molding block and computing module；Wherein,
The control module is connect respectively with the laser light source module and two-dimentional scanning mechanism, for controlling laser light
The scanning angle of laser intensity and two-dimentional scanning mechanism that source module is sent out；
The spectroscope, for the laser reflected through the two-dimentional scanning mechanism to be divided into two beams, wherein the reflected beams
It gets on the two-dimensional position detector, transmitted light beam is irradiated to by the transmitting camera lens on testee；
The two-dimensional position detector receives the laser beam reflected through the spectroscope and generates the first electric signal, will be described
First electric signal is sent to the computing module；
The computing module is connected with the two-dimensional position detector and photodetector respectively, for according to
The second electric signal that first electric signal is generated with the photodetector calculates the target component of the testee.
Optionally, computing module is specifically used for：
The reflection angle of the reflected beams is determined according to first electric signal；
The shooting angle of transmitted light beam is determined according to the reflection angle；
The beam angle being reflected back from the testee is determined according to second electric signal；
Send out the time of laser according to laser light source module, photodetector receive second electric signal time,
The beam angle that the shooting angle of the transmitted light beam and the testee are reflected back determines the target ginseng of the testee
Number.
Optionally, target component includes in the target range of the testee, orientation, height, speed, posture feature amount
It is at least one.
The utility model embodiment in the battle array lidar measurement system of face by increasing spectroscope and two-dimensional position detection
Device directly measures the deflection angle for the laser beam for being irradiated to object under test, and then calculates the target component of object under test, solves
Be calculated by mechanical planar survey to sweep mechanism the deflection angle of light beam indirect measure precision or resolution ratio not
The time synchronization of foot, pulse and position feedback is inaccurate, the problem of so as to cause target component measurement error, improves face battle array and sweeps
The spatial resolution for retouching laser radar improves the spatial position precision of measurement.
Description of the drawings
Fig. 1 is the structural schematic diagram of the face battle array lidar measurement system in the utility model embodiment.
Fig. 2 is photodetector array schematic diagram in the utility model embodiment.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, it illustrates only for ease of description, in attached drawing and the relevant part of the utility model rather than entire infrastructure.
Embodiment
Fig. 1 is the structural schematic diagram for the face battle array lidar measurement system that the utility model embodiment provides, and is suitable for swashing
Situations such as ligh-ranging.As shown in Figure 1, the system specifically includes：
Laser light source module 1, two-dimentional scanning mechanism 2, photodetector 7, transmitting camera lens 5 and reception camera lens 6, spectroscope
3, two-dimensional position detector 4, control module 8 and computing module 9；Wherein,
Control module is connect with laser light source module 1 and two-dimentional scanning mechanism 2 respectively, for controlling laser light source module 1
The scanning angle of the laser intensity and two-dimentional scanning mechanism 2 that send out.
Specifically, during the battle array lidar measurement system work of the face, 2 inclined angle meeting of two-dimentional scanning mechanism
Continuous adjustment shines so that the laser beam that laser light source module 1 is sent out is reflected by two-dimentional scanning mechanism 2 on testee
Different location at, to realize to measure scene two-dimensional scan, obtain the Global Information of testee.Two-dimentional scanning mechanism
2 can be MEMS galvanometer, mechanical galvanometer, rotating prism etc., and scan frequency in each direction up to khz or more,
To realize the high-resolution high frame frequency three-dimensional measurement to measuring scene.
Spectroscope 3, for the laser reflected through two-dimentional scanning mechanism 2 to be divided into two beams, wherein the reflected beams get to two
It ties up on position sensor 4, transmitted light beam (i.e. main energy beam) is irradiated to by emitting camera lens 5 on testee；It can be realized
To being irradiated to the accurate measurement of the shooting angle of light beam on testee.
Two-dimensional position detector 4 (Position Sentitive Detector, PSD), the two dimension for measuring light beam are sat
Cursor position is a kind of device that can detect light-beam position, frequently as the position sensor extensive use combined with light emitting source.Two dimension
When position sensor 4 receives the laser beam reflected through spectroscope, the first electric signal is will produce, is then sent to the first electric signal
Computing module 9.Computing module 9 can calculate the reflection angle of the reflected beams, in turn according to the first received electric signal
Calculate the shooting angle for being irradiated to light beam on testee.Particularly because of PSD and testee, what is received is light source hair
The same laser pulse signal gone out is mode measured directly, so the angle of emergence for being irradiated to light beam on testee
The measurement of degree is more accurate.
In addition, obtaining the position that the reflected beams are irradiated to by two-dimensional position detector 4, accurate measure is irradiated to measured object
The shooting angle of light beam on body, then be not necessarily to two-dimentional scanning mechanism 2 carry out position feedback, in this way can by diversified selection,
Minute surface size is solved, the limiting factors such as sweep speed promote the measurement measurement performance of radar.
Computing module 9 is connected with two-dimensional position detector 4 and photodetector 7 respectively, for according to the first electric signal
The second electric signal generated with photodetector 7 calculates the target component of testee.
Further, target component includes target range, orientation, height, speed, the posture feature amount of the testee
In it is at least one.
Further computing module 9 is specifically used for：The angle of reflection of the reflected beams is determined according to first electric signal
Degree；The shooting angle of transmitted light beam is determined according to the reflection angle；It is determined from the measured object according to second electric signal
The beam angle that body is reflected back；The time of laser is sent out according to laser light source module, photodetector receives second electricity
The beam angle that the time of signal, the shooting angle of the transmitted light beam and the testee are reflected back determines the measured object
The target component of body.
Illustratively, it is assumed that the laser beam sent out by laser light source module 1 is by 2 reflected illumination of two-dimentional scanning mechanism to dividing
The laser beam is divided into two beams by light microscopic 3, spectroscope 3, wherein at a branch of P points got on two-dimensional position detector 4, at P points
An electric signal is will produce, and the electric signal is sent to computing module 9, computing module 9, can be true according to the electric signal received
Determine the two-dimensional coordinate of P points, and then determine the reflection angle for being reflected into the reflected beams on two-dimensional position detector 4, according to reflection
The shooting angle of angle-determining transmitted light beam is irradiated to the shooting angle of light beam on testee.It is irradiated to testee
Laser beam is reflected into through object and receives camera lens 6, is irradiated on the P1 points in photodetector array, as shown in Figure 2.So, exist
It will produce an electric signal at P1 points position, and the electric signal be sent to computing module 9, computing module 9 can be according to the telecommunications
Number determine irradiated object orientation.Further, the time of laser is sent out according to laser light source module 1 and photodetector connects
Receive the time that electric signal is generated by the light beam that testee reflects, you can the distance of testee is calculated, it follows that by
Survey the target component of object.Further, the phase of laser beam can also be determined with the phase difference for receiving light according to emergent light
Delay, to calculate the distance of testee.
The technical solution of the present embodiment, by increasing spectroscope and two-dimensional position spy in the battle array lidar measurement system of face
Device is surveyed, directly measures the deflection angle for the laser beam for being irradiated to object under test, and then calculate the target component of object under test, solution
The indirect measure precision or resolution ratio for the deflection angle that light beam is calculated by the mechanical planar survey to sweep mechanism of having determined
The time synchronization of deficiency, pulse and position feedback is inaccurate, the problem of so as to cause target component measurement error, improves face battle array
The spatial resolution of scanning laser radar improves the spatial position precision of measurement；Two-dimentional scanning mechanism is anti-without turned position
Structure is presented, the complexity of sweep mechanism is simplified, reduces to sweep mechanism performance requirement, extends the type selecting model of sweep mechanism
It encloses.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, can carry out for a person skilled in the art various bright
Aobvious variation is readjusted and is substituted without departing from the scope of protection of the utility model.Therefore, although passing through above example
The utility model is described in further detail, but the utility model is not limited only to above example, is not departing from
Can also include other more equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Right determine.
Claims (3)
1. a kind of face battle array lidar measurement system, including：Laser light source module, two-dimentional scanning mechanism, photodetector, transmitting
Camera lens and reception camera lens, which is characterized in that the system also includes：Spectroscope, two-dimensional position detector, control module and operation
Module；Wherein,
The control module is connect with the laser light source module and two-dimentional scanning mechanism respectively, for controlling laser light source mould
The scanning angle of laser intensity and two-dimentional scanning mechanism that block is sent out；
The spectroscope, for the laser reflected through the two-dimentional scanning mechanism to be divided into two beams, wherein the reflected beams are got to
On the two-dimensional position detector, transmitted light beam is irradiated to by the transmitting camera lens on testee；
The two-dimensional position detector receives the laser beam reflected through the spectroscope and generates the first electric signal, by described first
Electric signal is sent to the computing module；
The computing module is connected with the two-dimensional position detector and photodetector respectively, for according to described first
The second electric signal that electric signal is generated with the photodetector calculates the target component of the testee.
2. system according to claim 1, which is characterized in that the computing module is specifically used for：
The reflection angle of the reflected beams is determined according to first electric signal；
The shooting angle of transmitted light beam is determined according to the reflection angle；
The beam angle being reflected back from the testee is determined according to second electric signal；
The time of laser is sent out according to laser light source module, photodetector receives time, described of second electric signal
The beam angle that the shooting angle of transmitted light beam and the testee are reflected back determines the target component of the testee.
3. system according to claim 1, which is characterized in that the target component include the testee target away from
From, in orientation, height, speed, posture feature amount it is at least one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820281948.2U CN207937596U (en) | 2018-02-28 | 2018-02-28 | A kind of face battle array lidar measurement system |
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| CN201820281948.2U CN207937596U (en) | 2018-02-28 | 2018-02-28 | A kind of face battle array lidar measurement system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226902A (en) * | 2018-02-28 | 2018-06-29 | 北京瑞特森传感科技有限公司 | A kind of face battle array lidar measurement system |
| CN109870699A (en) * | 2019-04-03 | 2019-06-11 | 深圳市镭神智能系统有限公司 | A kind of laser radar |
-
2018
- 2018-02-28 CN CN201820281948.2U patent/CN207937596U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226902A (en) * | 2018-02-28 | 2018-06-29 | 北京瑞特森传感科技有限公司 | A kind of face battle array lidar measurement system |
| CN109870699A (en) * | 2019-04-03 | 2019-06-11 | 深圳市镭神智能系统有限公司 | A kind of laser radar |
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