CN215867128U - Samm imaging laser radar with high spatial resolution - Google Patents
Samm imaging laser radar with high spatial resolution Download PDFInfo
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- CN215867128U CN215867128U CN202122361071.2U CN202122361071U CN215867128U CN 215867128 U CN215867128 U CN 215867128U CN 202122361071 U CN202122361071 U CN 202122361071U CN 215867128 U CN215867128 U CN 215867128U
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Abstract
The utility model discloses a high-spatial-resolution Samm imaging laser radar. The utility model comprises a transmitting end, a receiving end and a detecting end, wherein the receiving end and the detecting end are at least more than two sets, and each set of receiving end corresponds to one set of detecting end. The transmitting end is composed of a laser driver, a diode laser and a refraction type telescope. The receiving end consists of a Newton reflection telescope and a narrow band filter. The method can solve the problem of low long-distance spatial resolution of the traditional Samm imaging laser radar technology, and can further improve the detection distance and the detection precision of the atmospheric particulates.
Description
Technical Field
The utility model relates to the technical field of laser radars, in particular to a high-spatial-resolution Samm imaging laser radar.
Background
With the rapid advance of global modernization and industrialization, people's transportation and travel, the continuous upgrading development of production and living style, environmental problems such as atmospheric pollutant emission are becoming more serious. The atmospheric pollutants mainly comprise gaseous pollutants such as ozone, sulfur dioxide and carbon dioxide and granular pollutants such as PM2.5 and PM10, and the atmospheric remote sensing detection technology and related equipment have wide application in atmospheric pollution monitoring due to the characteristics of remote distance, non-contact measurement, automatic operation and the like.
The Sam imaging laser radar technology is based on the Sam imaging principle: when the object plane of the imaging system is not parallel to the lens, the object plane can still be clearly imaged as long as the image plane, the object plane and the plane where the lens is located intersect in a straight line. For atmospheric pollution monitoring, different from the traditional atmospheric detection laser radar technology, the Schlemm imaging laser radar selects a high-power continuous wave diode laser instead of a high-performance nanosecond pulse laser as a light source; an image detector is used for imaging detection instead of scanning detection by a high-sensitivity photoelectric detector; spatially resolved atmospheric backscatter signals are obtained in an angle-resolved, rather than time-resolved, manner, thereby enabling detection of spatially resolved atmospheric backscatter signals. In recent years, the low requirement on a light source, simple system design and lower production and maintenance cost of the samm imaging laser radar are compared, the application potential of the samm imaging laser radar in the aspect of atmospheric environment monitoring is shown, and a novel laser remote sensing monitoring technology is provided.
Fig. 1 shows a technical schematic diagram of the samm imaging lidar, and according to a lens equation and a geometric optics basic principle, the tilt angle of a receiving telescope of the samm imaging lidar system and the relationship between the pixel of an image detector and the distance can be deduced as follows:
in the formula: theta is the tilt angle of the imaging plane relative to the imaging lens, phi is the tilt angle of the receiving telescope, f is the focal length of the receiving telescope, z0,p0The calibration distance and the calibration pixel position are respectively, L is the distance between the optical axes of the emitting end and the receiving end, and L 'is the distance between the center of the imaging plane and the imaging lens, because phi is small, L' can be approximately seen as L ═ L · tan θ, where p represents the position of each pixel unit on the imaging plane (p is marked in fig. 1 by taking the position of the pixel unit of the whole imaging plane as an example). By differentiating the above equation, the variation of range resolution with the detection range can be calculated (dp is the pixel interval, which is regarded as a constant):
from the above equation, it can be seen that the spatial resolution of the samm imaging lidar system deteriorates as the measured distance increases. And (3) according to system parameters: the technical advantages of the Samm imaging laser radar system can be calculated by substituting a formula with L being 806mm, theta being 45 degrees, f being 800mm, dp being 5.5 mu m, phi being 0.254 degrees and the number of pixels being 2048 multiplied by 1024, wherein the short-distance spatial resolution (centimeter magnitude) of the Samm imaging laser radar system is very high, and the long-distance spatial resolution (7.5m) is lower than that of the traditional pulse type atmosphere laser radar, so that the results that the precision of the Samm imaging laser radar system for the short-distance atmosphere is very high, the precision of the long-distance atmosphere is very poor or even the long-distance atmosphere cannot be detected are caused.
Disclosure of Invention
In view of the deficiencies of the prior art, the present invention provides a samm imaging lidar having high spatial resolution.
The utility model comprises a transmitting end, a receiving end and a detecting end, wherein the receiving end and the detecting end are at least more than two sets, and each set of receiving end corresponds to one set of detecting end;
the transmitting end consists of a laser driver, a diode laser and a refraction type telescope, wherein the laser driver is connected with the diode laser and used for controlling the working wavelength of the diode laser; the diode laser emits laser into a collimation system formed by a refraction type telescope, and the laser is collimated and then emitted into the atmosphere;
the receiving end consists of a Newton reflection telescope and a narrow-band filter, wherein the Newton reflection telescope is used for collecting backscattering signals of emitted laser after being absorbed and scattered by atmospheric molecules and particles after being emitted into the atmosphere; the narrow-band filter is used for filtering background light signals in the back scattering signals collected by the Newton's reflection telescope;
the detection end adopts a CMOS image detector, and is connected with an upper computer through a data acquisition card;
a plurality of sets of receiving ends respectively collect the backscattering signals of the emitted laser through a plurality of distance sections under the action of atmosphere; and the multiple sets of detection ends respectively receive the backscatter signals collected by the corresponding receiving ends.
Furthermore, the diode laser is a high-power continuous wave diode laser, and the power of the diode laser is 1-20W; the focal length of the refraction type telescope is 100mm-2000mm, and the caliber is 10mm-1000 mm.
Furthermore, the Newton's reflection telescope has a focal length of 100-2000 mm and a caliber of 20-1000 mm, and the transmittance of the narrow band filter is greater than 90%.
Furthermore, the effective pixel of the image detector is 2048 multiplied by 1024, and the quantum efficiency reaches 50% at the wavelength of the laser, namely, near 800 nm.
The utility model has the beneficial effects that: the utility model is suitable for carrying out near-distance and long-distance accurate detection on atmospheric particulates, is different from the prior single transmitting-receiving-detecting optical system, utilizes a plurality of sets of detecting optical systems, can divide and segment a detection path according to the distance degree by different settings of radar system parameters L, theta and x, and realizes the fine detection of the atmospheric particulates in the whole distance on the basis of ensuring high-resolution detection in each distance, so that the detection is carried out by utilizing the plurality of sets of detecting optical systems, and the precision and the accuracy are greatly improved compared with the detection of the single transmitting-receiving-detecting optical system.
Drawings
FIG. 1 is a technical schematic diagram of a Samm imaging lidar;
FIG. 2 is a schematic view of the overall apparatus;
fig. 3 is a schematic diagram of the principle of the present invention.
Detailed Description
The utility model is further described below with reference to the accompanying drawings.
The utility model provides a novel Samm imaging laser radar system, which introduces a new system parameter x on the basis of the theory of the original Samm imaging laser radar system, utilizes different settings of radar system architecture parameters to form a plurality of sets of laser transmitting-receiving-detecting optical systems, and combines the data recombination processing of a receiving end, thereby improving the detection precision and resolution of the system, increasing the effective detection distance of the system and realizing the effective and real-time detection of large-range atmospheric particulates. The method can solve the problem of low long-distance spatial resolution of the traditional Samm imaging laser radar technology, and can further improve the detection distance and the detection precision of the atmospheric particulates.
Examples of the utility model are given below:
as shown in fig. 2, the apparatus according to the present embodiment includes a laser driver 1, a diode laser 2, a collimating system 3, a receiving optical system 4, a receiving optical system 5, a receiving optical system 6, an image detector 7, an image detector 8, an image detector 9, a data acquisition card 10, and a PC terminal 11.
Different from a traditional atmospheric particulate matter detection laser radar which mostly selects a nanosecond-level pulse laser Nd with the working wavelength of 532nm, namely a YAG laser, a proper device is selected, and the system selects a high-power (1-20W) continuous wave diode laser with the working wavelength of 800nm and the working wavelength of lower cost, smaller size and higher stability; the laser drive matched with each parameter index of the diode laser is selected, so that the temperature and the current of a diode laser chip can be accurately controlled, and the working wavelength of the diode laser is adjusted; selecting a refraction type telescope with the focal length of F (100mm-2000mm) and the caliber of D (10mm-1000mm), collimating the laser and emitting the laser into the atmosphere.
Selecting 3 Newtonian reflection telescopes with the focal length Fr (100mm-2000mm) and the caliber Dr (20mm-1000mm), and collecting backscattering signals of emitted laser after being absorbed and scattered by atmospheric molecules and particulate matters after being emitted into the atmosphere; the operating wavelength is selected to cover the laser wavelength, namely the central wavelength is around 800nm, and 3 narrow-band filters with the transmittance of more than 90 percent are selected to filter the background light signal in the backscattering signals collected by the Newton's reflection telescope.
The number of CMOS image detectors with effective pixels of 2048(H) x 1024(V) and quantum efficiencies of 50% at the laser wavelength, i.e., around 800nm, was chosen to be 3.
The whole device structure is built according to the technical principle of the Samm imaging laser radar-the Samm imaging principle: when the object plane of the imaging system is not parallel to the lens, the object plane can still be clearly imaged as long as the image plane, the object plane and the plane where the lens is located intersect in a straight line. For the embodiment, the plane of the transmitting end mainly based on the laser drive and the diode laser, the receiving end composed of the Newton reflection telescope and the narrow-band filter and the detecting end where the image detector is located intersect in a straight line, so that the clear imaging and detection of the backscatter signal generated after the emitted laser enters the atmosphere can be realized. It should be noted that the present embodiment has multiple sets of laser emitting-receiving-detecting systems, so each set of system device should be constructed according to the schemer imaging principle.
The working process of the utility model is as follows: and starting the laser driver 1, connecting the laser driver 1 with the diode laser 2, and accurately controlling the temperature and the current of the diode laser 2 by using the laser driver 1, so that the working wavelength of the diode laser 2 is adjusted and controlled to be about 808nm required by atmospheric particulate detection. The diode laser 2 is connected with a collimation system 3 formed by a refraction type telescope, laser is emitted to the atmosphere along a detection path after being collimated, the laser can be absorbed and scattered by atmospheric molecules and atmospheric particulates after being emitted to the atmosphere, and the emitted laser can form a back scattering signal.
The backscatter signals at the respective corresponding distance ends on the segmented detection path are collected by the reception optical system 4, the reception optical system 5, and the reception optical system 6, respectively. The receiving optical system mainly comprises a Newton reflection telescope and a narrow band filter, wherein the large-caliber Newton reflection telescope is used for collecting a backscattering signal, and then the working wavelength is used for covering the wavelength of the laser, namely the background light is filtered by the narrow band filter with the central wavelength near 808 nm. Finally, the detection distance segments received by the receiving optical system 4, the receiving optical system 5 and the receiving optical system 6 by the image detector 7, the image detector 8 and the image detector 9 are respectively z1、z2、z3The back scattering signals of the atmospheric particles are detected, so that three sets of transmitting-receiving-detecting optical systems are formed.
The data acquisition card 10 is used for acquiring the atmospheric particulate backscattering signals detected by the image detector 7, the image detector 8 and the image detector 9, the data are transmitted to the computer PC end 11, the data are processed at the computer end, the whole data processing flow is to preprocess the received data, filter system noise, perform data recombination processing, and finally perform inversion on atmospheric parameters such as backscattering coefficients and extinction coefficients of the atmospheric particulate by using a Samm imaging atmospheric laser radar atmospheric parameter inversion algorithm and using the data after data processing.
The utility model provides a method for utilizing a plurality of sets of laser transmitting-receiving-detecting systems to detect atmospheric particulates on a detection path in a segmented manner, so that the detection results of distance values-backscatter signal intensity values finally obtained by each set of laser transmitting-receiving-detecting system are used for removing heavy particulates according to the distance values and the sequence of distance points from small to largeSelecting and recombining the overlapped distance points in sequence, recombining the backscattering signal intensity values corresponding to each distance point according to the selection condition of the distance points, and detecting three sections of distances z by using three sets of laser emission-receiving-detection systems1、z2、z3The corresponding distance value-backscatter signal intensity value correspondences which correspond respectively are integrated into a set of full distance value-backscatter signal intensity value correspondences with a complete path. And carrying out data processing on the obtained complete distance value-backscattering signal intensity value data and carrying out inversion on atmospheric parameters such as backscattering coefficients and extinction coefficients of atmospheric particulates.
The present invention is specifically explained about the improvement of the detection range resolution: this will be explained with reference to fig. 3. Each set of laser emitting-receiving-detecting system should satisfy the illustrated samm imaging principle, and the parameter models of the structural components used in each set of system are the same, for example, the focal length f of the newton reflection telescope in the receiving optical system is 800mm, the effective pixels of the adopted image detector are 2048(H) x 1024(V), and the difference lies in the different choices of the system parameters L, θ and x. According to the lens equation and the basic principle of geometric optics, the relationship between the tilt angle of the receiving telescope of the novel SLidar system and the relationship between the pixel of the image detector and the distance can be deduced as follows:
in the formula: theta is the inclination of the imaging plane with respect to the imaging lens, f is the focal length of the receiving telescope, z0,p0Respectively, the calibration distance and the calibration pixel position, L is the interval between the optical axes of the transmitting end and the receiving end, and L 'is the interval between the center of the imaging plane and the imaging lens, because phi is very small, L' can be approximately seen as L ═ L · tan θ, and x is the horizontal pixel column of the image detector to the receiving endThe distance between the end optical axes phi is the swing angle of the receiving telescope, and p represents the position of each pixel unit on the imaging surface (p in fig. 3 is the position of the pixel unit of a half imaging surface as an example). By differentiating the above equation, the variation of range resolution with the detection range can be calculated (dp is the pixel interval, which is regarded as a constant):
it is proved by data that under the condition that the model parameters of the used component devices are the same (i.e. f is 800mm), the range resolution and the detection blind area of the radar system with only one set of laser transmitting-receiving-detecting system can be remarkably improved by using three sets of laser transmitting-receiving-detecting systems, i.e. three sets of system parameters L, theta and x, and the specific parameter settings and results are shown in the following tables 1 and 2:
TABLE 1
TABLE 2
The utility model can effectively improve the range resolution of the radar system on the basis of hardly influencing the detection blind area. It can be seen that the distance resolution at 0.5km is improved by nearly 5 times; the distance resolution at 1km is improved by 13.6 times; the distance resolution at the position of 2km is improved by 13.7 times, the problem of poor distance resolution in the process of long-distance detection in the traditional Samm imaging atmospheric laser radar technology is solved to a great extent, and atmospheric particulates can be detected more effectively and accurately.
Although the embodiment uses three sets of detection systems for proving and analyzing, more sets of detection systems can be adopted to further increase the effective detection distance of the system, and realize effective and real-time detection of large-range atmospheric particulates.
Claims (4)
1. A lamb imaging lidar having high spatial resolution, characterized by: the device comprises a transmitting end, a receiving end and a detecting end, wherein the receiving end and the detecting end are at least more than two sets, and each set of receiving end corresponds to one set of detecting end;
the transmitting end consists of a laser driver, a diode laser and a refraction type telescope, wherein the laser driver is connected with the diode laser and used for controlling the working wavelength of the diode laser; the diode laser emits laser into a collimation system formed by a refraction type telescope, and the laser is collimated and then emitted into the atmosphere;
the receiving end consists of a Newton reflection telescope and a narrow-band filter, wherein the Newton reflection telescope is used for collecting backscattering signals of emitted laser after being absorbed and scattered by atmospheric molecules and particles after being emitted into the atmosphere; the narrow-band filter is used for filtering background light signals in the back scattering signals collected by the Newton's reflection telescope;
the detection end adopts a CMOS image detector, and is connected with an upper computer through a data acquisition card;
a plurality of sets of receiving ends respectively collect the backscattering signals of the emitted laser through a plurality of distance sections under the action of atmosphere; and the multiple sets of detection ends respectively receive the backscatter signals collected by the corresponding receiving ends.
2. A lamb imaging lidar having high spatial resolution as defined in claim 1 wherein: the diode laser is a high-power continuous wave diode laser, and the power of the diode laser is 1-20W; the focal length of the refraction type telescope is 100mm-2000mm, and the caliber is 10mm-1000 mm.
3. A lamb imaging lidar having high spatial resolution as defined in claim 2 wherein: the Newton's reflection telescope has a focal length of 100-2000 mm and a caliber of 20-1000 mm, and the transmission rate of the narrow band filter is greater than 90%.
4. A high spatial resolution sarm imaging lidar according to claim 3, wherein: the effective pixel of the image detector is 2048 multiplied by 1024, and the quantum efficiency reaches 50% at the wavelength of the laser, namely, near 800 nm.
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Effective date of registration: 20231030 Address after: 311106 Room 102, building 1, No. 1, nangonghe Road, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: HANGZHOU BACOU MACHINERY MANUFACTURING Co.,Ltd. Address before: 321004 No. 688 Yingbin Avenue, Wucheng District, Zhejiang, Jinhua Patentee before: ZHEJIANG NORMAL University |
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