CN213934212U - Three-dimensional target imaging laser radar device - Google Patents
Three-dimensional target imaging laser radar device Download PDFInfo
- Publication number
- CN213934212U CN213934212U CN202022127778.2U CN202022127778U CN213934212U CN 213934212 U CN213934212 U CN 213934212U CN 202022127778 U CN202022127778 U CN 202022127778U CN 213934212 U CN213934212 U CN 213934212U
- Authority
- CN
- China
- Prior art keywords
- laser
- lens group
- reflector
- rotating mirror
- receiving lens
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model discloses a three-dimensional target imaging laser radar device, which comprises a laser array, a reflector A, a reflector B, a rotating mirror rotating shaft, a receiving lens group, an area array detector, a target surface of the area array detector and a control and data processing system; the reflector B is fixed at the center of the receiving mirror surface of the receiving lens group; laser beams emitted by the laser array are coaxial, and the laser beams are parallel to the optical axis of the receiving lens group after passing through the reflector A and the reflector B; the target surface of the area array detector is positioned on the focal surface of the receiving lens group, and the center of the target surface of the area array detector is positioned on the focal point of the receiving lens group; the rotating mirror rotating shaft is vertical to the optical axis of the receiving lens group, and is positioned in the center of the rotating mirror and can rotate along with the rotating mirror rotating shaft; the laser array, the area array detector and the rotating mirror rotating shaft are electrically connected with the control and data processing system through cables. The invention can realize real-time target detection of the peripheral space region.
Description
Technical Field
The utility model belongs to the laser radar device, especially a three-dimensional target formation of image laser radar device.
Background
Large optical systems are generally composed of a plurality of subsystems, and in order to improve the overall performance index of the optical system, precise coupling of the subsystems, including pupil and optical axis coupling, needs to be realized. Currently, in the coupling process of different optical systems, an operator generally judges whether pupils are completely coupled by naked eyes by means of a white board, and then finds whether optical axes are coupled along the trend of the optical path of the system.
In order to ensure the safety of personnel and equipment, in the coupling process of different optical equipment, the butt joint of pupils and optical axes is generally realized by using weak light, sometimes the light source is very weak, or the ambient light caused by the working environment is strong, the light source used for system butt joint is completely submerged in the ambient light and is difficult to distinguish, and sometimes human eyes cannot directly see the light source, so that great inconvenience is brought to operators in the pupil butt joint process of each optical system, and the accurate pupil butt joint of each system is not facilitated.
Sometimes, the field of view of the optical system is small, and the field of view which can be found by the detector is only milliradian, so that during the butt joint of the optical axes of different optical systems, the optical axis needs to be roughly aligned to the field of view which is found by the detector.
In conclusion, the sensitivity and operability in the detection process of pupils and optical axes of low-light, near-infrared and far-infrared wave bands are improved, and the method has important significance for practical engineering application.
Disclosure of Invention
The utility model aims to provide a: in view of the above problems, a three-dimensional target imaging lidar device is provided, which can realize real-time target detection in a peripheral space region.
The utility model adopts the technical scheme as follows:
the utility model provides a pair of three-dimensional target formation of image laser radar device, include: the system comprises a laser array, a reflector A, a reflector B, a rotating mirror rotating shaft, a receiving lens group, an area array detector, a target surface of the area array detector and a control and data processing system; the reflector B is fixed at the center of the receiving mirror surface of the receiving lens group; the laser array emits laser beams which are coaxial and are parallel to the optical axis of the receiving lens group after passing through the reflector A and the reflector B; the target surface of the area array detector is positioned on the focal surface of the receiving lens group, and the center of the target surface of the area array detector is positioned on the focal point of the receiving lens group; the rotating mirror rotating shaft is vertical to the optical axis of the receiving lens group, and is positioned at the center of the rotating mirror and can rotate along with the rotating mirror rotating shaft; the laser array, the area array detector and the rotating mirror rotating shaft are electrically connected with the control and data processing system through cables.
Furthermore, the rotating mirror is a prism with N surfaces, N is not less than 3 and is an integer.
Furthermore, the laser array comprises M lasers with parallel optical axes fixed in a fixing device, wherein M is more than or equal to 2 and is an integer.
Further, each laser is a pulse system laser, and the wavelength and the repetition frequency of each laser are the same.
Further, the rotating mirror is an MEMS vibrating mirror.
Furthermore, the three-dimensional target imaging laser radar device also comprises a box body and a supporting device; the laser array, the reflector A, the reflector B, the rotating mirror rotating shaft, the receiving lens group, the area array detector, the target surface of the area array detector and the control and data processing system are all located on the box body and the supporting device.
Furthermore, the box body and the supporting device are arranged on a moving platform which can move along the x axis, the y axis and the z axis.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
the utility model realizes the automatic separation of the near infrared laser and the visible light through the trap reflection plane mirror in the light path design of the near infrared laser and the visible light in the receiving mirror, thereby enabling a set of receiving mirror to be shared when the measurement of the space coordinate information of the ground object target and the acquisition of the image data of the ground object target are carried out; in other words, the integration of the one-dimensional laser radar and the digital camera is realized through the notch reflection plane mirror.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a three-dimensional target imaging lidar apparatus according to some embodiments of the present invention.
Fig. 2 is a schematic diagram of a laser array according to some embodiments of the present invention.
Fig. 3 is a schematic diagram of a three-dimensional target imaging lidar apparatus according to some embodiments of the present invention for target detection.
Reference numerals: 1-laser array, 2-reflector A, 3-reflector B, 4-rotating mirror, 5-rotating shaft, 6-receiving lens group, 7-area array detector, 8-target surface, 9-control and data processing system, 10-box and supporting device, 11-fixing device, 12-laser A, 13-laser B, 14-laser C, 15-laser D, 16-detecting target.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
The features and properties of the present invention are described in further detail below with reference to examples.
Example 1
As shown in fig. 1, the present embodiment provides a three-dimensional target imaging lidar apparatus, including: the system comprises a laser array 1, a reflector A2, a reflector B3, a rotating mirror 4, a rotating mirror rotating shaft 5, a receiving lens group 6, an area array detector 7, a target surface 8 of the area array detector 7 and a control and data processing system 9; the reflecting mirror B3 is fixed at the center of the receiving mirror surface of the receiving lens group 6; the laser array 1 emits a laser beam which is coaxial and is parallel to the optical axis of the receiving lens group 6 after passing through a reflecting mirror A2 and a reflecting mirror B3; the target surface 8 of the area array detector 7 is positioned on the focal surface of the receiving lens group 6, and the center of the target surface 8 of the area array detector 7 is positioned on the focal point of the receiving lens group 6; the rotating mirror rotating shaft 5 is vertical to the optical axis of the receiving lens group 6, meanwhile, the rotating mirror rotating shaft 5 is positioned at the center of the rotating mirror 4, and the rotating mirror 4 can rotate along with the rotating mirror rotating shaft 5; the laser array 1, the area array detector 7 and the rotating mirror rotating shaft 5 are electrically connected with a control and data processing system 9 through cables.
Example 2
The rotating mirror 4 is a prism with N surfaces, N is not less than 3 and is an integer.
Fig. 1 shows a prism with 4 facets, and the 4 facets are optical surfaces with high reflectivity for the laser light.
Example 3
The laser array 1 comprises M lasers with parallel optical axes fixed in a fixing device 11, wherein M is more than or equal to 2 and is an integer.
Fig. 2 shows a laser array 1 with 4 lasers; the device consists of a fixing device 11, a laser A12, a laser B13, a laser C14 and a laser D15; the laser A12, the laser B13, the laser C14 and the laser D15 are fixed on the fixing device 11, and the optical axes of the laser A12, the laser B13, the laser C14 and the laser D15 are parallel.
It should be noted that all the laser axes are coincident and have the same divergence angle, and the overlapping partial range of the divergence angles of the lasers is coincident with the field range of the area array detector 7 through the mirror A2 and the mirror B3
Example 4
In example 2, each laser was a pulse system laser, and the wavelength and the repetition frequency of each laser were the same. Each laser may be individually controlled by the control and data processing system 9.
Example 5
The turning mirror 4 may also be a MEMS galvanometer. When the MEMS galvanometer is used, the mirror surface of the MEMS galvanometer is ensured to rotate along with the rotating mirror rotating shaft 5.
Example 6
As shown in fig. 1, the three-dimensional target imaging lidar device further comprises a box body and a supporting device 10; the laser array 1, the reflector A2, the reflector B3, the rotating mirror 4, the rotating mirror rotating shaft 5, the receiving lens group 6, the area array detector 7, the target surface 8 of the area array detector 7 and the control and data processing system 9 are all positioned on the box body and the supporting device 10.
Further, the box and the supporting device 10 are mounted on a moving platform capable of moving along x-axis, y-axis and z-axis, and the position distribution of the detection target 16 in any area can be obtained according to the moving direction of the moving platform.
The working principle of the three-dimensional target imaging laser radar device is as follows:
s1, the control and data processing system 9 controls the rotating mirror rotating shaft 5 to rotate the rotating mirror 4 to the initial position (such as the position in FIG. 3); for control purposes, the control and data processing system 9 is able to record the angle of rotation of the rotating mirror shaft 5;
s2, the control and data processing system 9 controls the laser array 1 to emit laser pulses and records the time t1 of the emitted laser pulses;
s3, laser pulses enter the surface of the detection target 16 after passing through the reflector A2, the reflector B3 and the rotating mirror 4, and reflected return light enters the target surface 8 of the area array detector 7 after passing through the rotating mirror 4 and the receiving lens group 6;
s4, the area array detector 7 sends detection data to the control and data processing system 9 when receiving the reflected return light;
s5, the control and data processing system 9 carries out data processing analysis on the detection data to obtain the reflected light detection time t2(x, y) corresponding to the surface position of the detection target 16;
s6, the control and data processing system 9 calculates the position distribution of the detection target 16 based on t1 and t2(x, y); the calculation formula of the position distribution of the detection target 16 from t1 and t2(x, y) is as follows:
where l (x, y) is the position distribution of the detection target 16, and c is the speed of light.
S7, the control and data processing system 9 controls the rotating mirror rotating shaft 5 to drive the rotating mirror 4 to rotate, and repeats the steps S2-S6 to obtain the position distribution of all the detection targets 16 in the scanning area.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A three-dimensional target imaging lidar apparatus comprising: the system comprises a laser array (1), a reflector A (2), a reflector B (3), a rotating mirror (4), a rotating mirror rotating shaft (5), a receiving lens group (6), an area array detector (7), a target surface (8) of the area array detector (7) and a control and data processing system (9); the reflector B (3) is fixed at the center of the receiving mirror surface of the receiving lens group (6); the laser array (1) emits laser beams which are coaxial, and the laser beams are parallel to the optical axis of the receiving lens group (6) after passing through the reflector A (2) and the reflector B (3); the target surface (8) of the area array detector (7) is positioned on the focal surface of the receiving lens group (6), and the center of the target surface (8) of the area array detector (7) is positioned on the focal point of the receiving lens group (6); the rotating mirror rotating shaft (5) is vertical to the optical axis of the receiving lens group (6), meanwhile, the rotating mirror rotating shaft (5) is positioned at the center of the rotating mirror (4), and the rotating mirror (4) can rotate along with the rotating mirror rotating shaft (5); the laser array (1), the area array detector (7) and the rotating mirror rotating shaft (5) are electrically connected with the control and data processing system (9) through cables.
2. The three-dimensional target imaging lidar device according to claim 1, wherein the rotating mirror (4) is a prism mirror having N faces, N ≧ 3 and N is an integer.
3. The three-dimensional target imaging lidar device of claim 2, wherein the laser array (1) comprises M optical axis-parallel lasers fixed in a fixture (11), M ≧ 2 and M is an integer.
4. The three-dimensional target imaging lidar apparatus of claim 3, wherein each laser is a pulsed laser, and wherein the wavelength and repetition rate of each laser are the same.
5. The three-dimensional target imaging lidar apparatus of claim 4, wherein the rotating mirror (4) is a MEMS galvanometer.
6. The three-dimensional target imaging lidar apparatus of claim 5, further comprising a housing and support apparatus (10); the laser array (1), the reflector A (2), the reflector B (3), the rotating mirror (4), the rotating mirror rotating shaft (5), the receiving lens group (6), the area array detector (7), the target surface (8) of the area array detector (7) and the control and data processing system (9) are all located on the box body and the supporting device (10).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010691578 | 2020-07-17 | ||
| CN2020106915781 | 2020-07-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213934212U true CN213934212U (en) | 2021-08-10 |
Family
ID=74050682
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022127778.2U Active CN213934212U (en) | 2020-07-17 | 2020-09-24 | Three-dimensional target imaging laser radar device |
| CN202011013085.9A Active CN112213736B (en) | 2020-07-17 | 2020-09-24 | Three-dimensional target imaging laser radar device and target detection method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011013085.9A Active CN112213736B (en) | 2020-07-17 | 2020-09-24 | Three-dimensional target imaging laser radar device and target detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN213934212U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112213736A (en) * | 2020-07-17 | 2021-01-12 | 中国工程物理研究院应用电子学研究所 | Three-dimensional target imaging laser radar device and target detection method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115902818A (en) * | 2023-02-21 | 2023-04-04 | 探维科技(北京)有限公司 | Signal detection system, radar system and detection method of image fusion laser |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101688774A (en) * | 2006-07-13 | 2010-03-31 | 威力登音响公司 | High definition lidar system |
| JP5266739B2 (en) * | 2007-02-28 | 2013-08-21 | 株式会社デンソーウェーブ | Laser radar equipment |
| JP5082704B2 (en) * | 2007-09-13 | 2012-11-28 | 株式会社デンソーウェーブ | Laser radar device |
| CN102354051B (en) * | 2011-09-28 | 2013-01-02 | 哈尔滨工业大学 | Light beam deflection control device with superhigh frequency response and high sensitivity based on reflecting mirror translation |
| WO2014011241A2 (en) * | 2012-04-30 | 2014-01-16 | Zuk David M | System and method for scan range gating |
| JP2016109517A (en) * | 2014-12-04 | 2016-06-20 | リコーインダストリアルソリューションズ株式会社 | Laser radar device |
| KR101665938B1 (en) * | 2015-04-28 | 2016-10-13 | 전자부품연구원 | Optical system of multi lidar scanner using mirror rotation |
| JP6839335B2 (en) * | 2016-01-28 | 2021-03-10 | クモノスコーポレーション株式会社 | Optical scanning device |
| CN108132472A (en) * | 2017-12-08 | 2018-06-08 | 上海禾赛光电科技有限公司 | Laser radar system |
| CN107728130B (en) * | 2017-09-14 | 2020-10-16 | 中国科学院上海光学精密机械研究所 | Multi-channel wide-amplitude synthetic aperture laser imaging radar transmitting and receiving system |
| CN109375237B (en) * | 2018-12-12 | 2019-11-19 | 北京华科博创科技有限公司 | A kind of all solid state face array three-dimensional imaging laser radar system |
| CN213934212U (en) * | 2020-07-17 | 2021-08-10 | 中国工程物理研究院应用电子学研究所 | Three-dimensional target imaging laser radar device |
-
2020
- 2020-09-24 CN CN202022127778.2U patent/CN213934212U/en active Active
- 2020-09-24 CN CN202011013085.9A patent/CN112213736B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112213736A (en) * | 2020-07-17 | 2021-01-12 | 中国工程物理研究院应用电子学研究所 | Three-dimensional target imaging laser radar device and target detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112213736A (en) | 2021-01-12 |
| CN112213736B (en) | 2022-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| USRE40927E1 (en) | Optical detection system | |
| CN213934212U (en) | Three-dimensional target imaging laser radar device | |
| DE112014003088T5 (en) | Laser tracker that interacts with a remote camera wand and coordinate measuring machine | |
| DE112012001721T5 (en) | Six-degree-of-freedom laser tracker that interacts with a remote projector to transmit information. | |
| US7940444B2 (en) | Method and apparatus for synchronous laser beam scanning | |
| CN107015237A (en) | A kind of sounding optical system | |
| GB2264602A (en) | Object examination | |
| CN113340279B (en) | Surveying device with on-axis beam deflection element | |
| CN111158061A (en) | Multi-dimensional information detection device and measurement method thereof | |
| CN112817007A (en) | Non-visual field scanning imaging system | |
| EP0340632B1 (en) | Position locating apparatus for an underwater moving body | |
| CN206960659U (en) | A kind of sounding optical system | |
| CN210755921U (en) | Fusion depth detection equipment based on low coherence interferometry | |
| CN114353596A (en) | Anti-unmanned aerial vehicle multispectral detection tracking device | |
| CN109490865B (en) | Area array laser radar | |
| CN113296105B (en) | Non-coaxial laser scanning imaging system based on MEMS scanning mirror | |
| CN102141436B (en) | Femtojoule-level laser micro energy meter having automatic tracking function | |
| US4391514A (en) | Sidelooking laser altimeter for a flight simulator | |
| CN215524579U (en) | Optical axis parallel debugging system of laser ceilometer | |
| CN210639281U (en) | Miniature solid-state laser radar | |
| WO2017176410A1 (en) | Time-of-flight detector with single-axis scan | |
| CN209086436U (en) | A kind of planar array scanning formula laser far-distance three-dimension measuring system | |
| CN217604922U (en) | Depth data measuring head and partial depth data measuring apparatus | |
| RU2784602C1 (en) | Method for forming and pointing laser radiation of emitters with optical fiber outputs on a target | |
| CN117906910B (en) | Underwater flow field information measurement system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |