CN209086436U - A kind of planar array scanning formula laser far-distance three-dimension measuring system - Google Patents
A kind of planar array scanning formula laser far-distance three-dimension measuring system Download PDFInfo
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Abstract
The utility model is settled sth. according to policy or law a kind of planar array scanning formula laser far-distance three-dimension measuring system, transmitting terminal and receiving end including terminal connection, it is characterized in that the transmitting terminal includes that the single-mode laser being linked in sequence, liquid crystal astigmatism plate, the first half-wave plate, the first expand unit, cross-polarization structure light generation module, third reflecting mirror, the second expand unit, the first wedge, the second wedge and scanning monitor, scanning monitor are connect with terminal；The receiving end includes unit of looking in the distance, the second half-wave plate and the BS Amici prism being linked in sequence, and further includes the 2nd PBS polarization splitting prism connecting with BS Amici prism second connection end and third quarter wave plate, the 3rd PBS polarization splitting prism and the 5th reflecting mirror with the sequential connection of the Amici prism third connecting pin BS.This system imaging precision with higher, dynamic investigative range, strong real-time are able to achieve high-precision, remote, high-resolution three-dimensional imaging.
Description
Technical field
The utility model is to be related to unmanned air vehicle technique, and the specifically three-dimensional perception of unmanned plane, mapping restores real-time scene
3 dimension imaging technology, especially a kind of planar array scanning formula laser far-distance three-dimension measuring system.
Background technique
Laser radar possesses the features such as high detection accuracy, quickly real-time speed of detection, stronger anti-interference ability,
Receive the concern in automatic Pilot field, survey field researcher.Face array three-dimensional imaging laser radar is in terms of practical application
Compare it is diversified, in terms of space exploration, Sandia National Laboratory by no-raster imaging surface battle array laser radar be applied to space flight
The quick detection of the damage of the thermal insulation layer of device；In terms of Military Application, main application is navigated just like the near-earth of aircraft, and target goes puppet
Dress is detectd not, and objective locking etc., in civil field, in recent years, with the emergence of artificial intelligence, unmanned technology is increasingly
Maturation, eyes one of of the laser radar as Unmanned Systems swash applied to the mainly linear array on automatic driving car at present
Optical radar, imaging precision are to be improved；In culture and arts field, novel planar array scanning formula laser far-distance three-dimension measuring system pair
It is extremely helpful in the television program designing for constructing the true three peacekeepings later period；It can use novel face battle array in terms of art work historical relic's protection
Scanning type laser remote three-dimensional measuring system carries out noncontacting measurement and obtains the shape accurate dimension of historical relic.Face battle array it is three-dimensional at
As technology has huge application potential and practical value in various fields.
One of prior art: referring to " Chenfei Jin, Yuan Zhao, et al.Scannerless gain-
modulated three-dimensional laser imaging radar.Proceedings of SPIE, 2011,
8159:R1-R6 ", Harbin Institute of Technology have developed the three-dimensional staring imaging laser radar of gain modulation type, use ranging essence
Index-constant gain the modulation pattern unrelated with detection range is spent, the building at the 1km that adjusts the distance is detected, range accuracy
For 5m.This three-dimensional imaging laser radar based on gain modulation, range accuracy are excited the system of light pulse and gate width
About, the ICCD imaging process used in needs to introduce relay optical system, fiber coupling system etc., reduces system capacity use
Efficiency limits lateral resolution.
The two of the prior art: referring to " Zhang Yong, Cao Xibin, Wu Long etc., the experiment of partial array block scan laser imaging system are ground
Study carefully, Chinese laser, 2013,40 (8): the linear array APD detector that 1-7 " Tsinghua University Zheng Rui child etc. has developed 1 × 16 carries out target
One-dimensional Non-scanning mode Range finding experiments devise the parallel pre-amplification circuit of multichannel, using burst length flight method to the distant place 16m
Step carries out one-dimensional distance imaging, the experimental results showed that its distance resolution has reached 10cm or so.
The three of the prior art: referring to the Shanghai " http://www.hesaitech.com/ " and match science and technology, in April, 2017 is just
Formula issues the mechanical laser radar of 40 lines towards automatic Pilot, detection range (0.3m-200m), measurement accuracy ± 5cm
(0.3m-0.5m), ± 2cm (0.5m-200m), 360 ° of horizontal field of view angle, -16.7 ° -7 ° of vertical field of view angle, measurement frequency
720kHz, scan frequency 10Hz, 20Hz are based on flight time measurement method (TOF), the measurement accuracy measurement fine relative to face type
It is inadequate for demand.
The four of the prior art: referring to the poly- wound of " http://www.robosense.cn/ " Shenzhen's Sagitar, Sagitar gathers wound
32 line HAD laser radars, measurement distance (0.2m-200m), measurement accuracy ± 2cm, 360 ° of horizontal field of view angle, 30 ° of vertical angle measurement,
It is per second to go out to count 640,000, it is based on flight time measurement method (TOF), the measurement accuracy measurement demand fine relative to face type is not
Meet.
Above-mentioned laser radar cost of manufacture is high, and versatility is not strong, and the laser radar in automatic Pilot field needs 360
The measurement of full field of degree, needs and its complicated sweep mechanism, and cost is also very high, and above-mentioned laser radar is all made of the TOF time and flies
Method, the three-dimensional information that the point cloud data that this imaging mode obtains is constituted can only obtain the general profile of object, and precision is still
It can not meet the demand of current social, therefore a kind of development of planar array scanning formula laser far-distance three-dimension measuring system, become people
There is an urgent need to.
Utility model content
The purpose of this utility model is in view of the deficiencies of the prior art, and to provide a kind of planar array scanning formula laser far-distance three
Tie up measuring system.This system imaging precision with higher, dynamic investigative range, strong real-time are able to achieve high-precision, remote
Distance, high-resolution three-dimensional imaging.
Realizing the technical solution of the utility model aim is:
A kind of planar array scanning formula laser far-distance three-dimension measuring system, transmitting terminal and reception including terminal connection
End, is unlike the prior art, and the transmitting terminal includes the single-mode laser being linked in sequence, liquid crystal astigmatism plate, the first half-wave
Piece, the first expand unit, cross-polarization structure light generation module, third reflecting mirror, the second expand unit, the first wedge, second
Wedge and scanning monitor, scanning monitor are connect with terminal；The receiving end include be linked in sequence unit of looking in the distance,
Second half-wave plate and BS Amici prism further include the 2nd PBS polarization splitting prism connecting with BS Amici prism second connection end
With the third quarter wave plate, the 3rd PBS polarization splitting prism and the 5th reflection being linked in sequence with the Amici prism third connecting pin BS
Mirror, wherein the second connection end of the 2nd PBS polarization splitting prism external first CCD camera, the 2nd PBS polarization splitting prism
Third connecting pin the 4th reflecting mirror of sequential connection and the second CCD camera, the second connection end of the 3rd PBS polarization splitting prism are external
Third CCD camera, external 4th CCD camera of the 5th reflecting mirror of the third connecting pin connection of the 3rd PBS polarization splitting prism, the
One CCD camera, the second CCD camera, third CCD camera and the 4th CCD camera are connect with terminal.
In the transmitting terminal cross-polarization structure light generation module include the first PBS polarization splitting prism and with the first PBS
Polarization splitting prism second connection end be linked in sequence the first quarter wave plate, the first reflecting mirror and with the first PBS polarization spectro rib
The second quarter wave plate, the second reflecting mirror of mirror third connecting pin sequential connection, wherein inside the first PBS polarization splitting prism
Plated film and the light of the first expand unit outgoing are in 45 ° of placements, the first quarter wave plate, the first reflecting mirror and the first PBS polarization spectro
Coated reflection light inside prism is disposed vertically；In second quarter wave plate, the second reflecting mirror and the first PBS polarization splitting prism
The plated film transmitted ray in portion is disposed vertically, the cross-polarization structure light incident surface and that cross-polarization structure light generation module generates
Three reflecting mirrors are in 45 degree of angles, to guarantee that third reflecting mirror emergent ray impinges perpendicularly on the second expand unit.
The laser that the plane of incidence Yu single-mode laser of liquid crystal astigmatism plate generate in the transmitting terminal is in an angle of 90 degrees, the liquid crystal
The exit facet of astigmatism plate light is parallel to the plane of light incidence of the first half-wave plate.
The plane of light incidence of the first expand unit is parallel to the light-emitting face of the first half-wave plate in the transmitting terminal, and first expands
The beam projecting face of Shu Danyuan is parallel with the light incident surface of cross-polarization structure light generation module, and laser is hung down by the first expand unit
It is directly incident in orthogonal M-D (modifier-head) construction light generation module.
First wedge and the second wedge opposition placement group wedge in pairs in the transmitting terminal, the first wedge and the second wedge
Optical axis and the optical axis of the second expand unit keep contour placement, and the scanning monitor connecting with double wedges is swept for control radar
Retouch range.
The plane of light incidence of the second half-wave plate is parallel to the light-emitting face for unit of looking in the distance in the receiving end, unit of looking in the distance
Emergent ray is vertical with the plane of light incidence of the second half-wave plate, the beam projecting face of the second half-wave plate and the plating of BS Amici prism
Film is in 45 degree of angles.
The plane of light incidence of the light reflecting surface of BS Amici prism and third quarter wave plate is in 45 degree of angles in the receiving end,
The reflected light of BS Amici prism is normally incident in third quarter wave plate.
The setting state consistency of the setting state of 2nd PBS polarization splitting prism and BS Amici prism in the receiving end,
The first CCD camera of transmitted ray vertical incidence of 2nd PBS polarization splitting prism, the light of the 2nd PBS polarization splitting prism are saturating
The plane of light incidence of face and the first CCD camera is penetrated in 45 degree of angles, the light reflecting surface and the 4th of the 2nd PBS polarization splitting prism
Mirror parallel, wherein the reflection light of the 2nd PBS polarization splitting prism is incident in therewith in the 4th reflection of 45 degree of angle settings
Mirror, the 2nd CCD camera of reflection light vertical incidence of the 4th reflecting mirror, light reflecting surface and the 2nd CCD phase of the 4th reflecting mirror
The plane of light incidence of machine is in 45 degree of angles.
The exit facet of the plated film of the 3rd PBS polarization splitting prism and third quarter wave plate is in 45 degree of angles in the receiving end, the
The plated films of three PBS polarization splitting prisms and the plane of incidence of third CCD camera are in 45 degree of angles, the 3rd PBS polarization splitting prism it is saturating
Penetrate face and the 5th mirror parallel.
The 4th CCD camera of reflection light vertical incidence of 5th reflecting mirror, the light of the 5th reflecting mirror in the receiving end
Reflecting surface and the plane of light incidence of the 4th CCD camera are in 45 degree of angles.
In the technical program, linearly polarized laser that Laser emission end is issued by single-mode laser by astigmatism, 45 ° partially
After polarization state rotation, expanded by the first expand unit, laser be sent into the first PBS polarization splitting prism, by the first quarter wave plate and
The direction of vibration of laser is changed 45 ° by the second quarter wave plate respectively, then is reflected back first by the first reflecting mirror and the second reflecting mirror
PBS polarization splitting prism closes beam, forms the orthogonal laser beam in polarization direction, and orthogonal laser beam is reflected through third reflecting mirror to be injected
Second expand unit expands, the orthogonal laser beam after expanding, by the first wedge and the second wedge change beam projecting angle to
Up to the purpose of scanning, the orthogonal laser for scanning state is projected on object under test, reflected orthogonal from object in receiving end
Polarization laser signal is received by unit of looking in the distance, and via four-step phase-shifting unpacking technology, restores the tri-dimensional facial type of object.
In the technical program, the linearly polarized laser that Laser emission end is issued by single-mode laser, after expanding amplification,
Cross-polarization module generates cross-polarization structure light, then is expanded by secondary, shooting angle is adjusted via double wedges, after target modulation
Cross-polarization structured light return, by laser pick-off end optical device to crossed polarized light carry out polyphase decomposition, CCD at
It is captured as unit, four CCD capture four part phase-shift structure light, by solving the signal of laser echo, by four steps
Phase shift algorithm carries out three-dimensional reconstruction to target scene.
The distance of target side can measure past between the time and laser pick-off end of Laser emission end transmitting laser pulse
Time t acquisition is returned,In formula, L is that target arrives the distance between laser radar, and c is the aerial propagation speed of light
Phase is decomposed using optical device in degree, receiving end, and four CCD can collect the three-dimensional scenic of large area at the same moment,
The imaging size of four CCD is MxM pixel, and the quantity that can obtain acquisition three dimensional field sight spot cloud is calculated according to optical device,
Single-mode laser constantly emits laser, Laser emission end by signal scanning monitor driving, in the front of laser radar
360 degree of cross-polarization structure light scan of transmitting, can obtain immediately ahead of scene data, can by rotating device,
Rotate laser radar, so that it may obtain the objective scene within the scope of 360 degree, the linear polarization that single-mode laser issues
Laser pulse frequency in a short time can cover 360 degree of three-dimensional scenics, Laser emission end up to tens kHz to 100kHz
Using the sample frequency of high-velocity scanning mechanism cooperation area array CCD, the image of high frame can be obtained in a short time for Three-dimensional Gravity
It builds.
Single-mode laser in the technical program is infrared light supply, using the infrared single-mode laser of linear polarization, the wave band
Laser can work under dark fieid conditions, using the peak power of single-mode laser, pulse width, pulse frequency, duty ratio
It is dynamically adjustable.
In the technical program, PBS polarization spectroscope use Broad-Band Prismatic Polarizing Beam Splitter, applicable wavelengths 900-1300nm it
Between, Tp rate > 90%, Rs rate > 99.5% carries out phase deflection, reflecting mirror, wavelength is in 1000-14000nm using quarter wave plate
Between, material is K9 glass, the depth of parallelism<3 ', average reflectance>99.5%.
Guarantee the uniformity of laser, the beam expanding lens of two groups of expand units, wave in the technical program using liquid crystal astigmatism plate
It grows between 900-1100nm, expands than 2x-6x, 1/5 λ of wavefront error, 4 degree of the wedge angle of double wedges, the scanning of double wedges makes
The areas imaging for obtaining laser radar greatly increases, and by adjusting the angle of wedge, can obtain the three-dimensional information of front scene.
Laser pick-off end in the technical program, using looking in the distance, unit is received, the second half-wave plate of receiving end, the 3rd 1/4 wave
Piece, the first PBS polarization splitting prism one of the 2nd PBS polarization splitting prism and the 3rd PBS polarization splitting prism and transmitting terminal
It causes, by looking in the distance, unit receives the polarization structure light modulated by object, and obtaining phase difference via the demodulation by optical device is pi/2
Four-step phase-shifting bar graph.
Four above-mentioned CCD use four infrared cameras, and size MxM pixel is imaged in single camera, in higher sample rate
In the case where, meet information needed for obtaining four-step phase-shifting in real time.
This system imaging precision with higher, dynamic investigative range, strong real-time, are able to achieve high-precision, long distance
From, high-resolution three-dimensional imaging.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment；
Fig. 2 is the structural schematic diagram of double wedges in embodiment；
Fig. 3 is the scanning schematic diagram of double wedges in embodiment；
Fig. 4 is that schematic diagram is realized in polarization splitting prism PBS beam splitting in embodiment.
In figure, 1. single-mode laser, 2. liquid crystal astigmatism plate, 3. first 4. first expand unit of half-wave plate, 5. cross-polarization
8. first reflecting mirror of structure light generation module 6. 7. first quarter wave plate of the oneth PBS polarization splitting prism, 9. second quarter wave plate
10. second reflecting mirror of reflecting mirror, 11. third reflecting mirror, 12. second expand unit, 13. first wedge, 14. second wedge
The 2nd PBS polarization splitting prism of 17. second half-wave plate 18.BS Amici prism 19. of unit 15. scanning monitor 16. is looked in the distance
20. the oneth CCD of the 3rd the 5th reflecting mirror 24. of PBS polarization splitting prism 23 of 21. third quarter wave plate 22. of the 4th reflecting mirror
The 4th CCD camera of 25. second the 3rd CCD camera 27. of CCD camera 26. of camera.
Specific embodiment
With reference to the accompanying drawings and examples, the content of the present invention is further elaborated, but is not practical new to this
The restriction of type.
Embodiment:
Referring to Fig.1, a kind of planar array scanning formula laser far-distance three-dimension measuring system, the transmitting including terminal connection
End and receiving end, the transmitting terminal include the single-mode laser 1 being linked in sequence, liquid crystal astigmatism plate 2, the expansion of the first half-wave plate 3, first
Shu Danyuan 4, cross-polarization structure light generation module 5, third reflecting mirror 11, the second expand unit 12, the first wedge 13, the second light
Wedge 14 and scanning monitor 15, scanning monitor 15 are connect with terminal；The receiving end includes looking in the distance for sequential connection
Unit 16, the second half-wave plate 17 and BS Amici prism 18 further include second connect with 18 second connection end of BS Amici prism
PBS polarization splitting prism 19 and the third quarter wave plate 21 being linked in sequence with 18 third connecting pin of BS Amici prism, the 3rd PBS are inclined
Shake Amici prism 22 and the 5th reflecting mirror 23, wherein external first CCD of the second connection end of the 2nd PBS polarization splitting prism 19
Camera 24, third connecting pin the 4th reflecting mirror 20 of sequential connection of the 2nd PBS polarization splitting prism 19 and the second CCD camera 25,
The external third CCD camera 26 of the second connection end of 3rd PBS polarization splitting prism 22, the of the 3rd PBS polarization splitting prism 22
External 4th CCD camera 27 of the 5th reflecting mirror 23 of three connecting pins connection, the first CCD camera 24, the second CCD camera 25, third
CCD camera 26 and the 4th CCD camera 27 are connect with terminal.
Cross-polarization structure light generation module 5 includes the first PBS polarization splitting prism 6 and with first in the transmitting terminal
6 second connection end of PBS polarization splitting prism be linked in sequence the first quarter wave plate 7, the first reflecting mirror 8 and with the first PBS polarization point
The second quarter wave plate 9, the second reflecting mirror 10 of 6 third connecting pin of light prism sequential connection, wherein the first PBS polarization splitting prism
The light of plated film and the outgoing of the first expand unit 4 inside 6 is in 45 ° of placements, the first quarter wave plate 7, the first reflecting mirror 8 and first
Coated reflection light inside PBS polarization splitting prism 6 is disposed vertically；Second quarter wave plate 9, the second reflecting mirror 10 and the first PBS
Plated film transmitted ray inside polarization splitting prism 6 is disposed vertically, the cross-polarization that cross-polarization structure light generation module 5 generates
Structure angle of light and third reflecting mirror 11 are in 45 degree of angles, to guarantee that 11 emergent ray of third reflecting mirror impinges perpendicularly on the second expansion
Shu Danyuan 12.
The laser that the plane of incidence Yu single-mode laser 1 of liquid crystal astigmatism plate 2 generates in the transmitting terminal is in an angle of 90 degrees, the liquid
The exit facet of brilliant 2 light of astigmatism plate is parallel to the plane of light incidence of the first half-wave plate 3.
The plane of light incidence of the first expand unit 4 is parallel to the light-emitting face of the first half-wave plate 3 in the transmitting terminal, and first
The beam projecting face of expand unit 4 is parallel with the light incident surface of cross-polarization structure light generation module 5, and laser expands list by first
First 4 vertical incidence are into orthogonal M-D (modifier-head) construction light generation module 5.
The first wedge 13 and the second wedge 14 oppose placement group wedge in pairs in the transmitting terminal, the first wedge 13 and the
The high settings such as the optical axis of two wedges 14 and the holding of the optical axis of the second expand unit 12, as shown in Fig. 2, the scanning being connect with double wedges
Controller 15 is used for the scanning range of control radar.
The plane of light incidence of the second half-wave plate 17 is parallel to the light-emitting face for unit 16 of looking in the distance, list of looking in the distance in the receiving end
The emergent ray of member 16 is vertical with the plane of light incidence of the second half-wave plate 17, and the beam projecting face of the second half-wave plate 17 and BS are divided
The plated film of prism 18 is in 45 degree of angles.
The plane of light incidence of the light reflecting surface of BS Amici prism 18 and third quarter wave plate 21 is in 45 in the receiving end
Angle is spent, the reflected light of BS Amici prism 18 is normally incident in third quarter wave plate 21.
The setting state one of the setting state of 2nd PBS polarization splitting prism 19 and BS Amici prism 18 in the receiving end
It causes, the first CCD camera of transmitted ray vertical incidence 24 of the 2nd PBS polarization splitting prism 19, the 2nd PBS polarization splitting prism
19 light transmission plane and the plane of light incidence of the first CCD camera 24 are in 45 degree of angles, the 2nd PBS polarization splitting prism 19
Light reflecting surface is parallel with the 4th reflecting mirror 20, wherein the reflection light of the 2nd PBS polarization splitting prism 19 is incident in is in therewith
4th reflecting mirror 20 of 45 degree of angles setting, the second CCD camera of reflection light vertical incidence 25 of the 4th reflecting mirror 20, the 4th reflection
The plane of light incidence of the light reflecting surface of mirror 20 and the second CCD camera 25 is in 45 degree of angles.
The exit facet of the plated film of the 3rd PBS polarization splitting prism 22 and third quarter wave plate 21 is in 45 degree in the receiving end
Angle, the plated film of the 3rd PBS polarization splitting prism 22 and the plane of incidence of third CCD camera 26 are in 45 degree of angles, the 3rd PBS polarization spectro
The transmission plane of prism 22 is parallel with the 5th reflecting mirror 23.
The 4th CCD camera 27 of reflection light vertical incidence of 5th reflecting mirror 23, the 5th reflecting mirror 23 in the receiving end
Light reflecting surface and the 4th CCD camera 27 plane of light incidence be in 45 degree of angles.
In this example, the linearly polarized laser that Laser emission end is issued by single-mode laser 1 is revolved by astigmatism, 45 ° of polarization states
It after turning, is expanded by the first expand unit 4, laser is sent into the first PBS polarization splitting prism 6, by the first quarter wave plate 7 and the
The direction of vibration of laser is changed 45 ° by two quarter wave plates 9 respectively, then is reflected back first by the first reflecting mirror 8 and the second reflecting mirror 10
PBS polarization splitting prism 6 closes beam, forms the orthogonal laser beam in polarization direction, and orthogonal laser beam is reflected through third reflecting mirror 11
It injects the second expand unit 12 to expand, the orthogonal laser beam after expanding, light is changed by the first wedge 13 and the second wedge 14
Shooting angle reaches the purpose of scanning, and the orthogonal laser for scanning state projects on object under test, in receiving end, reflects from object
Cross-polarization laser signal back is received by unit 16 of looking in the distance, and via four-step phase-shifting unpacking technology, restores the three-dimensional of object
Face type.
In this example, the linearly polarized laser that Laser emission end is issued by single-mode laser, after expanding amplification, orthogonal inclined
Module of shaking generates cross-polarization structure light, then is expanded by secondary, adjusts shooting angle via double wedges, orthogonal after target modulation
Polarization structure light emitting is returned, and carries out polyphase decomposition, CCD imaging unit to crossed polarized light by the optical device at laser pick-off end
It is captured, four CCD capture four part phase-shift structure light, by solving the signal of laser echo, are calculated by four-step phase-shifting
Method carries out three-dimensional reconstruction to target scene.
The distance of target side can measure past between the time and laser pick-off end of Laser emission end transmitting laser pulse
Time t acquisition is returned,In formula, L is that target arrives the distance between laser radar, and c is the aerial propagation speed of light
Phase is decomposed using optical device in degree, receiving end, and four CCD can collect the three-dimensional scenic of large area at the same moment,
Four CCD sizes are MxM pixel, and the quantity that can obtain acquisition three dimensional field sight spot cloud, single-mode laser are calculated according to optical device
Device constantly emits laser, and Laser emission end is emitted 360 degree in the front of laser radar by the driving of signal scanning monitor
Cross-polarization structure light scan, can obtain front scene data, laser radar can be made by rotating device
It rotates, so that it may obtain the objective scene within the scope of 360 degree, the linearly polarized laser pulse frequency that single-mode laser issues
Rate in a short time can cover 360 degree of three-dimensional scenics, Laser emission end is swept using high speed up to tens kHz to 100kHz
The sample frequency for retouching mechanism cooperation area array CCD can obtain the image of high frame for three-dimensional reconstruction in a short time.
Single-mode laser 1 in this example is infrared light supply, using the infrared single-mode laser of linear polarization, the laser of the wave band
Can work under dark fieid conditions, using the peak power of single-mode laser, pulse width, pulse frequency, duty ratio dynamic can
It adjusts.
In this example, PBS polarization spectroscope uses Broad-Band Prismatic Polarizing Beam Splitter, and applicable wavelengths are between 900-1300nm, Tp rate
> 90%, Rs rate > 99.5% carry out phase deflection, reflecting mirror, wavelength is between 1000-14000nm, material using quarter wave plate
Material is K9 glass, the depth of parallelism<3 ', average reflectance>99.5%.
Guarantee the uniformity of laser, the beam expanding lens of two groups of expand units in this example using liquid crystal astigmatism plate, wavelength exists
Between 900-1100nm, expand than 2x-6x, 1/5 λ of wavefront error, 4 degree of the wedge angle of double wedges, the scanning of double wedges is so that swash
The areas imaging of optical radar greatly increases, and by adjusting the angle of wedge, can obtain the three-dimensional information of front scene, double light
It is as shown in Figure 3 that wedge scans schematic diagram.
Laser pick-off end in this example, using looking in the distance, unit 16 is received, the second half-wave plate 17 of receiving end, third quarter wave plate
21, the first PBS polarization splitting prism 6 of the 2nd PBS polarization splitting prism 19 and the 3rd PBS polarization splitting prism 22 and transmitting terminal
Unanimously, the polarization structure light modulated by object is received by unit 16 of looking in the distance, obtains phase difference via by the demodulation of optical device
For the four-step phase-shifting bar graph of pi/2.
Four CCD in this example use four infrared cameras, and size MxM pixel is imaged in single camera, in high-speed sampling speed
In the case where rate, meet information needed for obtaining four-step phase-shifting in real time.
The polarization laser that single-mode laser 1 in this example emits, after by liquid crystal astigmatism plate 2, so that hot spot is equal
Even property is guaranteed, polarization splitting prism PBS, have to light beam splitting and close beam function (by percent 50 half anti-half
Permeable membrane), after beam splitting and closing beam, tool is just generated there are two the light beam of polarization state, the two polarization states are mutually orthogonal, PBS
Beam splitting realizes shown in Fig. 4 that closing beam is it against state, is disposed vertically the first reflecting mirror 8, S state polarised light in P state polarization light-emitting face
Exit facet is disposed vertically the second reflecting mirror 10, and two beam reflected lights close beam in PBS and just obtained the conjunction beam for having there are two polarization state
Laser.
Receiving end optical principle is as follows:
Receiving end restores the tri-dimensional facial type of object using four width bar graphs, and theoretical formula can be derived from by Jones matrix,
By two beam cross-polarization laser after receiving unit 16 of looking in the distance, Jones matrix can be respectively by the B of formula (1)VAnd BHTable
Show:
BV、BHFor the Jones matrix expression formula of orthogonal polarized light beam,For the phase difference of two beam laser, the half-wave of receiving end
Piece fast axis direction is placed on the position with x-axis at π/8, and after half-wave plate, the Jones matrix of light beam is formula (2):
By the reflection Jones matrix after BS Amici prism and Jones matrix is transmitted respectively by the G of formula (3)BRAnd GBTTable
Show:
Rs, ts are amplitude reflectance and amplitude transmission coefficient of the spectroscope BS to s light, and rp, tp are spectroscope BS to p
The amplitude reflectance and amplitude transmission coefficient of light, and the reflection of PBS and transmission Jones matrix are the G of formula (4)PBrAnd GPBtTable
Show:
And the fast axis direction and x-axis of quarter wave plate be at 45 degree, Jones matrix is formula (5):
Thus it obtains light beam and passes through half-wave plate, BS and PBS, after being irradiated in the first CCD camera 24, a combination thereof Jones matrix
For formula (6):
And obtaining two beam laser in the first CCD camera 24 is respectively formula (7), formula (8):
Being irradiated in the 4th CCD camera 27 of the second CCD camera 25- can derive according to reason, thus obtain four CCD cameras
On light intensity be respectively formula (9)-formula (12)
According to four width bar graphs of acquisition, phase is extracted by four-stepped switching policy, and obtain using phase unwrapping algorithm
Final continuous phase can obtain the spatial information in target imaging face after calibrating parameters.
Claims (10)
1. a kind of planar array scanning formula laser far-distance three-dimension measuring system, transmitting terminal and reception including terminal connection
End, which is characterized in that the transmitting terminal includes the single-mode laser being linked in sequence, liquid crystal astigmatism plate, the first half-wave plate, the first expansion
Shu Danyuan, cross-polarization structure light generation module, third reflecting mirror, the second expand unit, the first wedge, the second wedge and scanning
Controller, scanning monitor are connect with terminal；The receiving end includes the unit of looking in the distance being linked in sequence, the second half-wave plate
With BS Amici prism, further includes the 2nd PBS polarization splitting prism connecting with BS Amici prism second connection end and be divided with BS
Third quarter wave plate, the 3rd PBS polarization splitting prism and the 5th reflecting mirror that prism third connecting pin is linked in sequence, wherein second
External first CCD camera of the second connection end of PBS polarization splitting prism, the third connecting pin of the 2nd PBS polarization splitting prism are suitable
Sequence the 4th reflecting mirror of connection and the second CCD camera, the external third CCD camera of the second connection end of the 3rd PBS polarization splitting prism,
External 4th CCD camera of the 5th reflecting mirror of the third connecting pin connection of 3rd PBS polarization splitting prism, the first CCD camera, the
Two CCD cameras, third CCD camera and the 4th CCD camera are connect with terminal.
2. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the transmitting
In end cross-polarization structure light generation module include the first PBS polarization splitting prism and with the first PBS polarization splitting prism second
Connecting pin be linked in sequence the first quarter wave plate, the first reflecting mirror and with the first PBS polarization splitting prism third connecting pin sequence connect
The second quarter wave plate, the second reflecting mirror connect, wherein plated film and the first expand unit 4 inside the first PBS polarization splitting prism
The light of outgoing is placed in 45 °, the coated reflection inside the first quarter wave plate, the first reflecting mirror and the first PBS polarization splitting prism
Light is disposed vertically；Plated film transmitted ray inside second quarter wave plate, the second reflecting mirror and the first PBS polarization splitting prism hangs down
Straight to place, the cross-polarization structure light-emitting face and third reflecting mirror that cross-polarization structure light generation module generates are in 45 degree of angles,
To guarantee that third reflecting mirror emergent ray impinges perpendicularly on the second expand unit.
3. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the transmitting
The laser that the plane of incidence Yu single-mode laser of liquid crystal astigmatism plate generate in end is in an angle of 90 degrees, the outgoing of the liquid crystal astigmatism plate light
Face is parallel to the plane of light incidence of the first half-wave plate.
4. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the transmitting
The plane of light incidence of the first expand unit is parallel to the light-emitting face of the first half-wave plate, the beam projecting of the first expand unit in end
Face is parallel with the light incident surface of cross-polarization structure light generation module, and laser is by the first expand unit vertical incidence to orthogonal polarization
In structure light generation module.
5. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the transmitting
The optical axis and second of first wedge and the second wedge opposition placement group wedge in pairs in end, the first wedge and the second wedge expands list
The optical axis of member keeps contour placement.
6. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the reception
The plane of light incidence of the second half-wave plate is parallel to the light-emitting face for unit of looking in the distance in end, the emergent ray for unit of looking in the distance and the second half
The plane of light incidence of wave plate is vertical, and the beam projecting face of the second half-wave plate and the inside plated film of BS Amici prism are in 45 degree of angles.
7. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the reception
The plane of light incidence of the light reflecting surface of BS Amici prism and third quarter wave plate is in 45 degree of angles, the reflection of BS Amici prism in end
Light is normally incident in third quarter wave plate.
8. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the reception
The setting state consistency of the setting state of 2nd PBS polarization splitting prism and BS Amici prism in end, the 2nd PBS polarization spectro rib
The first CCD camera of transmitted ray vertical incidence of mirror, the light transmission plane and the first CCD camera of the 2nd PBS polarization splitting prism
Plane of light incidence be in 45 degree angles, the light reflecting surface of the 2nd PBS polarization splitting prism and the 4th mirror parallel, wherein
The reflection light of 2nd PBS polarization splitting prism is incident in the 4th reflecting mirror being arranged therewith in 45 degree of angles, the 4th reflecting mirror
The second CCD camera of reflection light vertical incidence, the plane of light incidence of the light reflecting surface and the second CCD camera of the 4th reflecting mirror are in
45 degree of angles.
9. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that the reception
The exit facet of the inside plated film of the 3rd PBS polarization splitting prism and third quarter wave plate is in 45 degree of angles, the 3rd PBS polarization point in end
The inside plated film of light prism and the plane of incidence of third CCD camera are in 45 degree of angles, the transmission plane of the 3rd PBS polarization splitting prism and the
Five mirror parallels.
10. planar array scanning formula laser far-distance three-dimension measuring system according to claim 1, which is characterized in that described to connect
The 4th CCD camera of reflection light vertical incidence of 5th reflecting mirror in receiving end, the light reflecting surface and the 4th CCD of the 5th reflecting mirror
The plane of light incidence of camera is in 45 degree of angles.
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| CN114323313A (en) * | 2021-12-24 | 2022-04-12 | 北京深测科技有限公司 | Imaging method and system based on ICCD camera |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114323313A (en) * | 2021-12-24 | 2022-04-12 | 北京深测科技有限公司 | Imaging method and system based on ICCD camera |
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