WO2017206522A1 - 基于可见光-近红外-短波红外波段的激光雷达系统 - Google Patents

基于可见光-近红外-短波红外波段的激光雷达系统 Download PDF

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WO2017206522A1
WO2017206522A1 PCT/CN2017/070953 CN2017070953W WO2017206522A1 WO 2017206522 A1 WO2017206522 A1 WO 2017206522A1 CN 2017070953 W CN2017070953 W CN 2017070953W WO 2017206522 A1 WO2017206522 A1 WO 2017206522A1
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infrared
echo
signal
wave
visible
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PCT/CN2017/070953
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English (en)
French (fr)
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李传荣
陈育伟
王震
唐健
李伟
贺文静
张慧静
吴昊昊
李晓辉
刘照言
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中国科学院光电研究院
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Priority to US16/305,675 priority Critical patent/US20200096613A1/en
Publication of WO2017206522A1 publication Critical patent/WO2017206522A1/zh

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    • 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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone

Definitions

  • the invention relates to the field of laser radar technology, in particular to a laser radar system based on visible light-near infrared-short wave infrared band.
  • the traditional method of fusion laser radar to measure the target's three-dimensional information and the spectral imaging equipment to measure the target's spectral information requires two sets of equipment, lidar and spectral imaging, to simultaneously detect and measure the same target, and then the laser ranging data and spectrum.
  • the imaging data is fused and matched.
  • there must be errors in the matching alignment which affects the fusion matching accuracy of subsequent data.
  • the data processing based on the high matching alignment of the field of view of the two sets of devices, it is necessary to associate the points of the laser radar ranging with the corresponding points on the spectral image data.
  • the data points of the laser radar ranging are sparse compared with the spectral image data, it is necessary to interpolate the laser radar ranging data, increase the number of data points, and correspond to the spectral image data, thereby achieving the three-dimensional and spectral simultaneous target. measuring. Interpolation and other operations in the data processing process will inevitably introduce computational errors and increase computational complexity and reduce measurement efficiency.
  • a typical laser radar device can detect a single-wavelength laser echo, and by measuring the flight time of a single-wavelength laser pulse, the distance information between the target point and the lidar system can be calculated, thereby obtaining a three-dimensional model of the target. And at the same time, the reflectivity of the target to the current laser band can be extracted.
  • the shortcoming of the traditional laser radar system is that it can only detect the laser echo receiving the emission wavelength.
  • the detection spectrum is limited by the output wavelength of the laser light source, and cannot be further broadened in the spectral dimension. It cannot simultaneously detect the received visible light to near infrared.
  • Some research institutes use a combination of lasers of different wavelengths as the light source of the laser radar integrated on the same platform or emission path.
  • the disadvantage of this type of laser radar is that the output laser is a fixed wavelength combination. When the application needs change and other wavelengths of output light are required, there is no other available method than replacing the laser source.
  • tunable lasers As the source of laser radar, tunable lasers
  • the wavelength can be continuously varied within a certain spectral range width to achieve the ability of the lidar to measure the hyperspectral information of the target.
  • the shortcoming of this kind of laser radar is that the tunable laser source can only output one wavelength of laser light at a time. Therefore, to achieve high-spectrum detection of the target, the wavelength of the output laser needs to be varied within the tunable spectral range. The change takes time, so it is impossible to extract the multiple spectral information of the target at the same time by the hyperspectral laser radar.
  • the invention provides a laser radar system based on visible light-near-infrared-short wave infrared band, comprising a light source subsystem, a light receiving subsystem and a signal acquisition processing subsystem; wherein the light source subsystem generates light, near infrared and Short-wavelength infrared three-band supercontinuum laser, part of the supercontinuum laser as the probe light to the detection target and form an echo, part of the supercontinuum laser as the main laser wave and generate the main wave electrical signal; light receiving subsystem, The antenna receives the echo reflected by the detection target, and divides the echo into visible-near-infrared echo and short-wave infrared echo, and generates visible-near-infrared echo electrical signal and short-wave infrared echo electrical signal; signal acquisition and processing subsystem The control light source subsystem emits the supercontinuum spectral laser, and receives the visible-near-infrared echo electrical signal, the short-wave infrared echo electrical signal and the main wave
  • the light source subsystem comprises a laser light source, a beam collimator, a beam splitter and a main wave photoelectric sensor; wherein the laser light source emits a supercontinuum laser comprising three wavelengths of visible light, near infrared and short wave infrared;
  • the continuous spectrum laser is collimated by the beam collimator and then incident on the beam splitter, partially transmitted from the beam splitter, emitted as probe light to the detection target, partially reflected by the beam splitter, and reflected light as the main wave of the laser radar
  • the main wave photoelectric sensor receives, and the main wave photoelectric sensor generates a main wave electrical signal.
  • the light receiving subsystem comprises: a receiving lens, a wavelength beam splitter, a first diffraction grating, a first photoelectric sensor, a second diffraction grating and a second photoelectric sensor; wherein the detecting light is reflected back by the detecting target
  • the wave is received by the receiving lens, the echo of the receiving lens is incident on the wavelength beam splitter, the visible-near-infrared echo is reflected by the wavelength beam splitter, and the short-wave infrared echo is transmitted by the wavelength beam splitter; the visible-near-infrared echo is incident
  • the first diffraction grating divides the visible-near-infrared echo into light bands arranged in a wavelength, the light band is incident on the first photosensor, and the first photoelectric sensor converts the visible-near-infrared echo into a visible-near-infrared echo electrical signal; a short-wave infrared echo is incident on the second
  • the signal acquisition and processing subsystem comprises a first digital acquisition card, a second digital acquisition card and a computer; wherein the signal input end of the first digital acquisition card is connected to the main wave photoelectric sensor and the signal output end of the first photoelectric sensor, The signal input end of the second digital acquisition card is connected to the signal output end of the main wave photoelectric sensor and the second photoelectric sensor, and the signal output end of the first digital acquisition card and the second digital acquisition card is connected to the computer, and the signal output end of the computer is connected to the laser light source. .
  • the computer generates a trigger signal, the trigger signal controls the laser light source to emit the super-continuous spectrum laser; the first digital acquisition card and the second digital acquisition card receive the main wave electrical signal as a main wave trigger signal, and the main signal
  • the wave trigger signal is digitally sampled, and the main wave trigger sampling signal is sent to the computer;
  • the first digital acquisition card digitally samples the visible light-near infrared echo electric signal, and sends the visible light-near infrared echo sampling signal to the computer
  • the second digital acquisition card digitally samples the short-wave infrared echo electric signal, and sends the short-wave infrared echo sampling signal to the computer;
  • the computer is based on the received main wave trigger sampling signal, the visible-near-infrared echo sampling signal, and
  • the short-wave infrared echo sampling signal is analyzed and processed to obtain three-dimensional information and spectral information of the detection target.
  • the light receiving subsystem comprises: a receiving lens, a wavelength beam splitter, a first diffraction grating, a first photoelectric sensor, a second diffraction grating and a second photoelectric sensor; wherein the detecting light is reflected back by the detecting target
  • the wave is received by the receiving lens, and the echo of the receiving lens is incident on the wavelength beam splitter, the short-wave infrared echo is reflected by the wavelength beam splitter, the visible-near-infrared echo is transmitted through the wavelength beam splitter, and the short-wave infrared echo is incident to the first a diffraction grating, the first diffraction grating divides the short-wave infrared echo into light bands arranged according to wavelengths, the light band is incident on the first photoelectric sensor, and the first photoelectric sensor converts the short-wave infrared echo into a short-wave infrared echo electrical signal
  • the visible-near-infrared echo is incident on the second dif
  • the signal acquisition processing subsystem comprises a first digital acquisition card, a second digital acquisition card and a computer; the signal input end of the first digital acquisition card is connected to the main wave photoelectric sensor and the signal output end of the first photoelectric sensor, and second The signal input end of the digital capture card is connected to the signal output end of the main wave photoelectric sensor and the second photoelectric sensor, the first digital capture card and the second digital capture card
  • the signal output is connected to the computer, and the signal output of the computer is connected to the laser light source.
  • the computer generates a trigger signal, the trigger signal controls the laser light source to emit the super-continuous spectrum laser; the first digital acquisition card and the second digital acquisition card receive the main wave electrical signal as a main wave trigger signal, and trigger the main wave
  • the signal is digitally sampled, and the main wave trigger sampling signal is sent to the computer; the first digital acquisition card digitally samples the short-wave infrared echo electric signal, and sends the short-wave infrared echo sampling signal to the computer; the second digital acquisition card
  • the visible-near-infrared echo electrical signal is digitally sampled, and the visible-near-infrared echo sampling signal is sent to a computer; the computer is based on the received main wave trigger sampling signal, visible-near-infrared echo sampling signal, and short-wave infrared
  • the echo samples the signal, analyzes and processes it to obtain three-dimensional information and spectral information of the detected target.
  • the computer is connected to the upper computer, and the computer receives the main wave trigger sampling signal, the visible light-near infrared echo sampling signal and the short wave infrared echo sampling signal, and outputs the signal to the upper computer for subsequent analysis and processing by the upper computer. And get the 3D information and spectral information of the detected target.
  • the wavelength beam splitter is an anti-reflection mirror.
  • a laser source that emits a supercontinuum laser containing three wavelengths of visible light, near-infrared and short-wave infrared, high-spectral measurement of visible, near-infrared and short-wave infrared can be easily and efficiently performed without replacing the laser source;
  • the hyperspectral measurement of the visible light, near-infrared and short-wave infrared of the target is realized, which improves the ability and application range of the laser radar system to detect the target spectral information; the laser radar system can also detect the target ranging due to The target of the measurement does not have a matching error of the instantaneous field of view, the measurement effect is more accurate and the post-processing algorithm is simpler.
  • FIG. 1 is a structural diagram of a laser radar system based on a visible-near-infrared-short wave infrared band according to a first embodiment of the present invention.
  • 21-receiving lens 22-wavelength beam splitter; 23-first diffraction grating; 24-first photosensor;
  • 31-first digital acquisition card 32-second digital acquisition card; 33-computer.
  • the laser radar system including a light source subsystem, a light receiving subsystem, and a signal acquisition processing subsystem.
  • the light source subsystem generates a laser, which is a supercontinuum laser including three wavelengths of visible light, near infrared and short wave infrared. Part of the supercontinuum laser is emitted as a probe light to the detection target and forms an echo, and another part of the supercontinuum spectrum The laser acts as the main wave of the laser radar.
  • a laser which is a supercontinuum laser including three wavelengths of visible light, near infrared and short wave infrared.
  • Part of the supercontinuum laser is emitted as a probe light to the detection target and forms an echo, and another part of the supercontinuum spectrum
  • the laser acts as the main wave of the laser radar.
  • the light receiving subsystem receives the echo reflected by the detection target and divides the echo into a visible-near-infrared echo and a short-wave infrared echo.
  • the signal acquisition and processing subsystem receives the visible-near-infrared echo and the short-wave infrared echo signal, and receives the main wave signal, and performs analysis and processing to obtain three-dimensional information and spectral information of the detected target.
  • the light source subsystem includes a laser light source 11, a beam collimator 12, a beam splitter 13 and a main wave photosensor 14, and the beam collimator 12 and the beam splitter 13 are sequentially located in front of the optical path of the laser light source, and the beam splitting is performed.
  • the device 13 is disposed at an angle of 45 degrees to the optical axis of the laser source, and the main wave photosensor 14 is located behind the optical path of the first beam splitting path of the beam splitter.
  • the laser light source 11 of the present invention can select a plurality of supercontinuum laser light sources, such as but not limited to a narrow pulse supercontinuum laser light source, having a wavelength range of 400 nm to 2400 nm, an output power of 150 mW or more, a repetition frequency of 25 kHz to 30 kHz, and a pulse width of 1 ns.
  • the laser source 11 is a supercontinuum laser source of the SCM-30-450 model.
  • the beam splitter 13 of the present invention is a high transmittance low reflectivity mirror, most of which are transmitted by a high transmittance low reflectance mirror, and the remaining part of the laser is reflected by a high transmittance low reflectance mirror, wherein the transmittance can be 99%, reflectivity is 1%; transmittance can be 99.9%, reflectivity is 0.1%; high transmittance low reflectivity mirror can have higher transmittance, lower reflectivity, as long as the reflected light can be the first photoelectric
  • the sensor 14 detects and generates an electrical signal.
  • the light receiving subsystem includes a receiving lens 21, a wavelength beam splitter 22, a first diffraction grating 23, a first photosensor 24, a second diffraction grating 25, and a second photosensor 26, and the wavelength beam splitter 22 is located behind the optical path of the receiving lens.
  • the wavelength beam splitter 22 is disposed at an angle of 45 degrees with the optical axis of the receiving lens; the second diffraction grating 25 and the second photosensor 26 are sequentially located behind the optical path of the first beam splitting path of the wavelength beam splitter 22; the first diffraction grating 23
  • the first photosensor 24 is sequentially located behind the optical path of the second beam splitting path of the wavelength beam splitter 22.
  • the wavelength beam splitter 22 is an anti-reflection high-reflection mirror, and has a high anti-visible-near-infrared laser beam to enhance the short-wavelength infrared band laser.
  • the first photosensor 24 may be a Si detector array such as, but not limited to, a PIN or APD detector, and the second photosensor 26 is an InGaAs detector array.
  • the signal acquisition processing subsystem includes a first digital acquisition card 31, a second digital acquisition card 32, and a computer 33.
  • the signal input end of the first digital acquisition card is connected to the main wave photoelectric sensor and the signal output end of the first photoelectric sensor, and the second number
  • the signal input end of the acquisition card is connected to the signal output end of the main wave photoelectric sensor and the second photoelectric sensor.
  • the signal output ends of the first digital acquisition card and the second digital acquisition card are connected to the computer 33, and the signal output end of the computer is connected to the laser light source 11.
  • the bandwidth of the first digital acquisition card and the second digital acquisition card is greater than or equal to the reciprocal of the laser pulse width of the laser light source.
  • the computer 33 When the laser radar system based on the visible-near-infrared-short-wave infrared band of the present invention operates, the computer 33 generates a trigger signal, and under the control of the trigger signal, the laser light source 11 emits supercontinuity including three wavelengths of visible light, near infrared and short wave infrared.
  • the spectral laser is collimated by the beam collimator 12 and then incident on the beam splitter 13, and a portion of the supercontinuum laser is transmitted from the beam splitter 13 as a probe to the detection target, and a partially supercontinuum spectrum is emitted.
  • the laser light is reflected by the beam splitter 13, and the reflected light is received as a main wave by the main wave photosensor 14, and the main wave photosensor 14 generates a laser radar main wave trigger signal, and transmits the main wave trigger signal to the first digital acquisition card 31.
  • the second digital capture card 32, the first digital capture card 31 and the second digital capture card 32 digitally sample the lidar main wave trigger signal, and send the sampled signal to the meter Computer 33.
  • the echo formed by the detection light reflected by the detection target is received by the receiving lens 21, and the echo of the receiving lens is incident on the wavelength beam splitter 22, and the visible-near-infrared light in the echo is reflected by the wavelength beam splitter 22, short-wave infrared
  • the light is transmitted through the wavelength beam splitter 22, whereby the wavelength beam splitter 22 splits the echo into two beams, that is, visible-near-infrared echoes and short-wave infrared echoes, and visible-near-infrared echoes are incident on the first diffraction grating.
  • the response spectrum segment of the first diffraction grating is a visible light and a near-infrared spectrum segment
  • the first diffraction grating 23 divides the visible-near-infrared echo into light bands arranged according to wavelengths, and the light band is incident on the first photosensor 24
  • the first photosensor 24 converts the optical signal into an electrical signal and transmits the electrical signal to the first digital capture card 31.
  • the first digital capture card 31 digitally samples the electrical signal and transmits the sampled signal to the computer 33.
  • the short-wave infrared echo is incident on the second diffraction grating 25, the response spectrum of the second diffraction grating is a short-wave infrared spectrum, and the second diffraction grating 25 divides the short-wave infrared echo into light bands arranged according to wavelengths, and the light band is incident.
  • the second photosensor 26 converts the optical signal into an electrical signal and sends the electrical signal to the second digital capture card 32.
  • the second digital capture card 32 digitally samples the electrical signal and samples the signal. Sent to computer 33.
  • the computer 33 performs analysis and processing based on the received main wave sampling signal, the visible light-near infrared echo sampling signal, and the short wave infrared echo sampling signal to obtain three-dimensional information and spectral information of the detection target.
  • the laser radar system based on the visible-near-infrared-short-wave infrared band of the first embodiment of the present invention uses a laser light source 11 capable of emitting a supercontinuum laser including three wavelengths of visible light, near-infrared and short-wave infrared, without replacing the laser light source.
  • the high-spectral measurement of three wavelengths of visible light, near-infrared and short-wave infrared can be conveniently realized; and the laser light source 11 is a laser that simultaneously emits three wavelengths of visible light, near-infrared and short-wave infrared, and simultaneously realizes the simultaneous wavelength beam splitter 22 at the receiving end.
  • the hyperspectral measurement of the visible light, near-infrared and short-wave infrared of the target improves the ability and application range of the laser radar system to detect the target spectral information; and the laser radar system only needs the laser radar device when detecting the target.
  • There is no need for spectral imaging equipment so there is no problem of high-visibility alignment of the field of view of the laser radar equipment and the spectral imaging equipment, and the detection light reflected by the target received by the laser radar contains the ranging information and spectrum of the same point on the detection target.
  • the laser radar system based on the visible-near-infrared-short-wave infrared band sequentially places a wavelength beam splitter 22, a first diffraction grating 23, and a first photosensor 24 in front of the receiving lens, perpendicular to the optical axis, and below the wavelength beam splitter.
  • the second diffraction grating 25 and the second photoelectric sensor 26 are sequentially disposed, and the signal input end of the first digital acquisition card is connected to the signal output end of the main wave photoelectric sensor and the second photoelectric sensor, and the signal input end of the second digital acquisition card is connected to the main wave.
  • the signal output end of the photosensor and the first photosensor, the high-inverse-short-wave infrared laser of the wavelength beam splitter 22, and the laser in the visible-near-infrared band are enhanced.
  • the first diffraction grating 23, the first photosensor 24, the second diffraction grating 25, and the second photosensor 26 are interchangeably positioned, which can also achieve the object of the present invention.
  • the computer will receive the main wave sampling signal, the visible-near-infrared echo sampling signal and the short-wave infrared echo sampling signal, and output it to the upper computer, and then perform subsequent analysis and processing by the upper computer, and obtain the three-dimensional information of the detection target and Spectral information.
  • optical path component can also adopt other types of components as long as the same function can be achieved;
  • the laser radar system based on the visible-near-infrared-short-wave infrared band of the present invention uses a laser light source capable of emitting a supercontinuum laser including three wavelengths of visible light, near-infrared and short-wave infrared, without replacing the laser light source.
  • the high-spectral measurement of visible light, near-infrared and short-wave infrared can be conveniently realized, and the laser light source emits laser light in three wavelengths of visible light, near-infrared and short-wave infrared simultaneously, and simultaneous detection by the wavelength splitter at the receiving end
  • the hyperspectral measurement of the target visible light, near-infrared and short-wave infrared is used to improve the ability and application range of the laser radar system to detect the target spectral information.
  • the detectors with different response characteristics are used to receive and reduce the laser according to the wavelength of the laser.
  • the detector's different response characteristics in different spectral bands can not simultaneously detect the effects of visible-near-infrared and short-wave infrared, and improve the ability of the lidar system to simultaneously detect visible-near-infrared and short-wave infrared.

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Abstract

一种基于可见光-近红外-短波红外波段的激光雷达系统，其包括光源子系统、光接收子系统和信号采集处理子系统，采用可以发出包含可见光、近红外和短波红外三种波段的超连续光谱激光的激光光源（11），无需更换激光光源（11）即可方便、高效地实现可见光、近红外和短波红外三种波段的高光谱测量，提高了激光雷达系统的探测目标光谱信息的能力和应用范围，测量的效果更精确并且后处理算法更简便，提高了激光雷达系统同时探测可见光-近红外波段和短波红外波段的能力。

Description

基于可见光-近红外-短波红外波段的激光雷达系统 技术领域
本发明涉及激光雷达技术领域，尤其涉及一种基于可见光-近红外-短波红外波段的激光雷达系统。
背景技术
传统的融合激光雷达对目标进行三维信息测量、光谱成像设备对目标进行光谱信息测量的方法，需要激光雷达和光谱成像两套设备同时对同一目标进行探测和测量，随后将激光测距数据与光谱成像数据进行融合匹配。在硬件上，需要将激光雷达的视场和光谱成像仪的视场进行高匹配度对准。但匹配对准必然存在误差，影响后续数据的融合匹配精度。在数据处理上，基于两套设备的视场的高匹配对准的前提下，需要将激光雷达测距的点与光谱影像数据上相应的点对应起来。由于激光雷达测距的数据点与光谱影像数据相比较为稀疏，因此需要对激光雷达测距数据进行内插，提升数据点数，并与光谱影像数据一对应，从而实现对目标的三维和光谱同时测量。在数据处理过程中的内插等运算必然会引入计算误差并提升计算复杂度，降低测量效率。
同时，通常的激光雷达装置可以探测单波长的激光回波，通过测量单波长激光脉冲的飞行时间可计算出目标物被测点与激光雷达系统之间的距离信息，进而得到目标物的三维模型，并且同时可以提取目标物对当前激光波段的反射率。传统激光雷达系统的不足之处在于只能探测接收发射波长的激光回波，探测谱段受到激光光源输出波长的限制，不能在光谱维度上进一步展宽，无法同时探测接收到从可见光到近红外到短波红外波段的更宽光谱谱段的激光回波，这种单波长的三维成像能力限制了激光雷达探测多种目标的能力和应用范围。
有部分研究机构使用多个不同波长的激光器的组合作为激光雷达的光源集成在同一个平台或发射光路上。这种激光雷达的不足之处在于输出的激光是固定的波长组合，当应用需求改变需要其它波长的输出光时，除了更换激光光源，没有其它的可用的方法。
有部分研究机构使用可调谐激光器作为激光雷达的光源，可调谐激光 的波长可在一定光谱谱段宽度范围内连续变化，实现激光雷达可测量目标物高光谱信息的能力。这种激光雷达的不足之处在于可调谐激光光源在一个时刻只能输出一个波长的激光，因此要对目标物实现高光谱探测，需要输出激光的波长在可调谐的谱段范围内变化，波长的变化需要时间，因此无法实现高光谱激光雷达在同一时刻对目标物的多个光谱信息的提取。
发明内容
本发明提供了一种基于可见光-近红外-短波红外波段的激光雷达系统，包括光源子系统、光接收子系统和信号采集处理子系统；其中，光源子系统，其产生包含可见光、近红外和短波红外三种波段的超连续光谱激光，部分超连续光谱激光作为探测光向探测目标发射并形成回波，部分超连续光谱激光作为激光雷达主波并生成主波电信号；光接收子系统，其接收探测目标反射的回波，将该回波分为可见光-近红外回波和短波红外回波，并生成可见光-近红外回波电信号和短波红外回波电信号；信号采集处理子系统，其控制光源子系统发出该超连续光谱激光，并接收可见光-近红外回波电信号、短波红外回波电信号和主波电信号，进行分析处理得到探测目标的三维信息和光谱信息。
优选地，该光源子系统包括激光光源、光束准直器、光束分束器和主波光电传感器；其中，激光光源发出包含可见光、近红外和短波红外三种波段的超连续光谱激光；该超连续光谱激光经光束准直器准直后入射至光束分束器，部分从光束分束器透射，作为探测光向探测目标发射，部分被光束分束器反射，反射光作为激光雷达主波由主波光电传感器接收，主波光电传感器生成主波电信号。
优选地，该光接收子系统包括：接收镜头、波长分束器、第一衍射光栅、第一光电传感器、第二衍射光栅和第二光电传感器；其中；探测光经探测目标反射后形成的回波由接收镜头接收，经接收镜头的回波入射至波长分束器，可见光-近红外回波被波长分束器反射，短波红外回波经波长分束器透射；可见光-近红外回波入射至第一衍射光栅，第一衍射光栅将可见光-近红外回波分为按照波长排列分布的光带，该光带入射至第一光电传感器，第一光电传感器将可见光-近红外回波转换为可见光-近红外回波电信号；短波红外回波入射至第二衍射光栅，第二衍射光栅将短波红外回波分 为按照波长排列分布的光带，该光带入射至第二光电传感器，第二光电传感器将短波红外回波转换为短波红外回波电信号。
优选地，该信号采集处理子系统包括第一数字采集卡、第二数字采集卡和计算机；其中，第一数字采集卡的信号输入端连接主波光电传感器和第一光电传感器的信号输出端，第二数字采集卡的信号输入端连接主波光电传感器和第二光电传感器的信号输出端，第一数字采集卡和第二数字采集卡的信号输出端连接计算机，计算机的信号输出端连接激光光源。
优选地，该计算机产生触发信号，该触发信号控制该激光光源发出该超连续光谱激光；该第一数字采集卡和第二数字采集卡接收主波电信号作为主波触发信号，并对该主波触发信号进行数字采样，并将主波触发采样信号发送至计算机；第一数字采集卡对该可见光-近红外回波电信号进行数字采样，并将可见光-近红外回波采样信号发送至计算机；第二数字采集卡对该短波红外回波电信号进行数字采样，并将短波红外回波采样信号发送至计算机；计算机基于接收到的主波触发采样信号、可见光-近红外回波采样信号和短波红外回波采样信号，进行分析和处理，得到探测目标的三维信息和光谱信息。
优选地，该光接收子系统包括：接收镜头、波长分束器、第一衍射光栅、第一光电传感器、第二衍射光栅和第二光电传感器；其中，探测光经探测目标反射后形成的回波由接收镜头接收，经接收镜头的回波入射至波长分束器，短波红外回波被波长分束器反射，可见光-近红外回波经波长分束器透射，短波红外回波入射至第一衍射光栅，第一衍射光栅将短波红外回波分为按照波长排列分布的光带，该光带入射至第一光电传感器，第一光电传感器将短波红外回波转换为短波红外回波电信号；可见光-近红外回波入射至第二衍射光栅，第二衍射光栅将可见光-近红外回波分为按照波长排列分布的光带，该光带入射至第二光电传感器，第二光电传感器将可见光-近红外回波转换为可见光-近红外回波电信号。
优选地，该信号采集处理子系统包括第一数字采集卡、第二数字采集卡和计算机；第一数字采集卡的信号输入端连接主波光电传感器和第一光电传感器的信号输出端，第二数字采集卡的信号输入端连接主波光电传感器和第二光电传感器的信号输出端，第一数字采集卡和第二数字采集卡 的信号输出端连接计算机，计算机的信号输出端连接激光光源。
优选地，计算机产生触发信号，该触发信号控制该激光光源发出该超连续光谱激光；第一数字采集卡和第二数字采集卡接收主波电信号作为主波触发信号，并对该主波触发信号进行数字采样，并将主波触发采样信号发送至计算机；第一数字采集卡对该短波红外回波电信号进行数字采样，并将短波红外回波采样信号发送至计算机；第二数字采集卡对该可见光-近红外回波电信号进行数字采样，并将可见光-近红外回波采样信号发送至计算机；计算机基于接收到的主波触发采样信号、可见光-近红外回波采样信号和短波红外回波采样信号，进行分析和处理，得到探测目标的三维信息和光谱信息。
优选地，计算机连接上位机，计算机将接收到主波触发采样信号、可见光-近红外回波采样信号和短波红外回波采样信号保存，并输出至上位机，由上位机进行后续的分析和处理，并得到探测目标的三维信息和光谱信息。
优选地，该波长分束器为增透高反镜。
从上述技术方案可以看出，本发明的基于可见光-近红外-短波红外波段的激光雷达系统具有以下有益效果：
采用可以发出包含可见光、近红外和短波红外三种波段的超连续光谱激光的激光光源，无需更换激光光源即可方便、高效地实现可见光、近红外和短波红外三种波段的高光谱测量；接收端实现了同时对探测目标可见光、近红外和短波红外三种波段的高光谱测量，提高了激光雷达系统的探测目标光谱信息的能力和应用范围；激光雷达系统还可以对探测目标测距，由于测量的目标不存在瞬时视场的匹配误差，测量的效果更精确并且后处理算法更简便。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1为本发明第一实施例的基于可见光-近红外-短波红外波段的激光雷达系统结构图。
【符号说明】
11-激光光源；12-光束准直器；13-光束分束器；14-主波光电传感器；
21-接收镜头；22-波长分束器；23-第一衍射光栅；24-第一光电传感器；
25-第二衍射光栅；26-第二光电传感器；
31-第一数字采集卡；32-第二数字采集卡；33-计算机。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参见图1，图1示出了本发明第一实施例的基于可见光-近红外-短波红外波段的激光雷达系统，该激光雷达系统包括光源子系统、光接收子系统和信号采集处理子系统。
其中，光源子系统产生激光，该激光为包含可见光、近红外和短波红外三种波段的超连续光谱激光，部分超连续光谱激光作为探测光向探测目标发射并形成回波，另一部分超连续光谱激光作为激光雷达主波。
光接收子系统接收探测目标反射的回波，并将该回波分为可见光-近红外回波和短波红外回波。
信号采集处理子系统接收可见光-近红外回波和短波红外回波信号，并接收主波信号，进行分析处理得到探测目标的三维信息和光谱信息。
其中，光源子系统包括激光光源11、光束准直器12、光束分束器13和主波光电传感器14，光束准直器12、光束分束器13依次位于激光光源的光路前方，光束分束器13与激光光源的光轴呈45度角设置，主波光电传感器14位于光束分束器的第一分光路的光路后方。
本发明的激光光源11可以选用多种超连续激光光源，例如但不限于窄脉冲超连续激光光源，其波长范围为400nm-2400nm，输出功率大于等于150mW，重复频率为25KHz-30KHz，脉冲宽度1ns，优选地，该激光光源11为SCM-30-450型号的超连续激光光源。
本发明的光束分束器13为高透射率低反射率镜，绝大部分激光由高透射率低反射率镜透射，剩余部分激光被高透射率低反射率镜反射，其中，透射率可以为99％，反射率为1％；透射率可以为99.9％，反射率为0.1％；高透射率低反射率镜的透射率可以更高，反射率可以更低，只要反射光能够被第一光电传感器14探测到并产生电信号即可。
光接收子系统包括接收镜头21、波长分束器22、第一衍射光栅23、第一光电传感器24、第二衍射光栅25、第二光电传感器26，波长分束器22位于接收镜头的光路后方，波长分束器22与接收镜头的光轴呈45度角设置；第二衍射光栅25和第二光电传感器26依次位于波长分束器22的第一分光路的光路后方；第一衍射光栅23和第一光电传感器24依次位于波长分束器22的第二分光路的光路后方。该波长分束器22为增透高反镜，其高反可见光-近红外波段的激光，增透短波红外波段的激光。
第一光电传感器24可以选用Si探测器阵列，例如但不限于PIN或APD探测器，第二光电传感器26为InGaAs探测器阵列。
信号采集处理子系统包括第一数字采集卡31、第二数字采集卡32和计算机33，第一数字采集卡的信号输入端连接主波光电传感器和第一光电传感器的信号输出端，第二数字采集卡的信号输入端连接主波光电传感器和第二光电传感器的信号输出端，第一数字采集卡和第二数字采集卡的信号输出端连接计算机33，计算机的信号输出端连接激光光源11。
其中，第一数字采集卡和第二数字采集卡的带宽大于或等于激光光源的激光脉冲宽度的倒数。
本发明的基于可见光-近红外-短波红外波段的激光雷达系统工作时，计算机33产生触发信号，在触发信号的控制下，激光光源11发出包含可见光、近红外和短波红外三种波段的超连续光谱激光，该超连续光谱激光经光束准直器12准直后入射至光束分束器13，部分超连续光谱激光从光束分束器13透射，作为探测光向探测目标发射，部分超连续光谱激光被光束分束器13反射，反射光作为主波由主波光电传感器14接收，主波光电传感器14生成激光雷达主波触发信号，并将该主波触发信号发送至第一数字采集卡31和第二数字采集卡32，第一数字采集卡31和第二数字采集卡32对激光雷达主波触发信号进行数字采样，并将采样信号发送至计 算机33。
探测光经探测目标反射后形成的回波由接收镜头21接收，经接收镜头的回波入射至波长分束器22，回波中的可见光-近红外光被波长分束器22反射，短波红外光经波长分束器22透射，由此，波长分束器22将回波分为两束，即可见光-近红外回波和短波红外回波，可见光-近红外回波入射至第一衍射光栅23，第一衍射光栅的响应谱段为可见光与近红外谱段，第一衍射光栅23将可见光-近红外回波分为按照波长排列分布的光带，该光带入射至第一光电传感器24，第一光电传感器24将光信号转换为电信号，并将电信号发送至第一数字采集卡31，第一数字采集卡31对电信号进行数字采样，并将采样信号发送至计算机33。短波红外回波入射至第二衍射光栅25，第二衍射光栅的响应谱段为短波红外谱段，第二衍射光栅25将短波红外回波分为按照波长排列分布的光带，该光带入射至第二光电传感器26，第二光电传感器26将光信号转换为电信号，并将电信号发送至第二数字采集卡32，第二数字采集卡32对电信号进行数字采样，并将采样信号发送至计算机33。
计算机33基于接收到的主波采样信号、可见光-近红外回波采样信号和短波红外回波采样信号，进行分析和处理，得到探测目标的三维信息和光谱信息。
本发明第一实施例的基于可见光-近红外-短波红外波段的激光雷达系统，采用可以发出包含可见光、近红外和短波红外三种波段的超连续光谱激光的激光光源11，无需更换激光光源即可方便地实现可见光、近红外和短波红外三种波段的高光谱测量；并且激光光源11是同时发射可见光、近红外和短波红外三种波段的激光，通过接收端的波长分束器22实现了同时对探测目标可见光、近红外和短波红外三种波段的高光谱测量，提高了激光雷达系统的探测目标光谱信息的能力和应用范围；并且，该激光雷达系统在探测目标时只需要激光雷达设备，无需光谱成像设备，因此不存在激光雷达设备和光谱成像设备的视场高匹配度对准问题，且激光雷达接收到的目标反射的探测光中包含了探测目标上同一点的测距信息与光谱信息，这两种信息完全来自于探测目标被测点的同一个反射光，测距信息与光谱信息完全匹配，从原理上即不存在测距信息与光谱信息融合匹配问 题，因此不需要进行后续的测距数据点与光谱影像数据的融合匹配，也不再需要融合匹配过程中的内插等运算，只需要简单地将测距信息与光谱信息分离出来即可，所以测量的效果更精确并且后处理算法更简便。
在本发明的第二实施例中，为了达到简要说明的目的，上述第一实施例中任何可作相同应用的技术特征叙述皆并于此，无需再重复相同叙述。该基于可见光-近红外-短波红外波段的激光雷达系统，接收镜头前方依次放置波长分束器22、第一衍射光栅23、第一光电传感器24，与光轴垂直方向、波长分束器的下方依次放置第二衍射光栅25、第二光电传感器26，第一数字采集卡的信号输入端连接主波光电传感器和第二光电传感器的信号输出端，第二数字采集卡的信号输入端连接主波光电传感器和第一光电传感器的信号输出端，波长分束器22高反短波红外波段的激光，增透可见光-近红外波段的激光。本发明第二实施例的激光雷达系统，第一衍射光栅23、第一光电传感器24与第二衍射光栅25、第二光电传感器26位置互换，其同样可以实现本发明的目的。
在本发明的第三实施例中，为了达到简要说明的目的，上述第一、二实施例中任何可作相同应用的技术特征叙述皆并于此，无需再重复相同叙述。计算机将接收到主波采样信号、可见光-近红外回波采样信号和短波红外回波采样信号保存，并输出至上位机，由上位机进行后续的分析和处理，并得到探测目标的三维信息和光谱信息。
需要说明的是，在附图或说明书正文中，未绘示或描述的实现方式，均为所属技术领域中普通技术人员所知的形式，并未进行详细说明。此外，上述对各元件的定义并不仅限于实施例中提到的各种具体结构和形状，本领域普通技术人员可对其进行简单地更改或替换，例如：
(1)光路元件还可采用其他类型的元件，只要能实现相同的功能即可；
(2)本文可提供包含特定值的参数的示范，但这些参数无需确切等于相应的值，而是可在可接受的误差容限或设计约束内近似于相应值；
(3)实施例中提到的方向用语，例如“上”、“下”、“前”、“后”、“左”、“右”等，仅是参考附图的方向，并非用来限制本发明的保护范围；
(4)上述实施例可基于设计及可靠度的考虑，彼此混合搭配使用或 与其他实施例混合搭配使用，即不同实施例中的技术特征可以自由组合形成更多的实施例。
此外，关于本发明中所用到的术语“可见光”、“近红外”、“短波红外”、“高光谱测量”等，均为本领域技术人员所通常理解的含义，此处不再对其进行详细说明。
综上所述，本发明的基于可见光-近红外-短波红外波段的激光雷达系统，采用可以发出包含可见光、近红外和短波红外三种波段的超连续光谱激光的激光光源，无需更换激光光源即可方便地实现可见光、近红外和短波红外三种波段的高光谱测量，并且激光光源是同时发射可见光、近红外和短波红外三种波段的激光，通过接收端的波长分束器实现了同时对探测目标可见光、近红外和短波红外三种波段的高光谱测量，提高了激光雷达系统探测目标光谱信息的能力和应用范围；根据激光的波段使用不同响应特性的探测器对激光进行感应接收，减小探测器对不同光谱波段的响应特性不同而造成的无法同时探测可见光-近红外波段和短波红外波段的影响，提高了激光雷达系统同时探测可见光-近红外波段和短波红外波段的能力。
以上为本发明的最优实施例，需要说明的，该最优的实施例仅用于理解本发明，并不用于限制本发明的保护范围。并且，最优实施例中的特征，在无特别注明的情况下，均同时适用于方法实施例和装置实施例，在相同或不同实施例中出现的技术特征在不相互冲突的情况下可以组合使用。
需要说明的是，上述对各元件的定义并不仅限于实施方式中提到的各种具体结构或形状，本领域的普通技术人员可对其进行简单地熟知地替换，以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种基于可见光-近红外-短波红外波段的激光雷达系统，其特征在于，其包括光源子系统、光接收子系统和信号采集处理子系统；其中，
    光源子系统，其产生包含可见光、近红外和短波红外三种波段的超连续光谱激光，部分超连续光谱激光作为探测光向探测目标发射并形成回波，部分超连续光谱激光作为激光雷达主波并生成主波电信号；
    光接收子系统，其接收探测目标反射的回波，将该回波分为可见光-近红外回波和短波红外回波，并生成可见光-近红外回波电信号和短波红外回波电信号；
    信号采集处理子系统，其控制光源子系统发出该超连续光谱激光，并接收可见光-近红外回波电信号、短波红外回波电信号和主波电信号，进行分析处理得到探测目标的三维信息和光谱信息。
  2. 如权利要求1所述的激光雷达系统，其特征在于，该光源子系统包括激光光源、光束准直器、光束分束器和主波光电传感器；
    其中，激光光源发出包含可见光、近红外和短波红外三种波段的超连续光谱激光；
    该超连续光谱激光经光束准直器准直后入射至光束分束器，部分从光束分束器透射，作为探测光向探测目标发射，部分被光束分束器反射，反射光作为激光雷达主波由主波光电传感器接收，主波光电传感器生成主波电信号。
  3. 如权利要求2所述的激光雷达系统，其特征在于，该光接收子系统包括：接收镜头、波长分束器、第一衍射光栅、第一光电传感器、第二衍射光栅和第二光电传感器；
    其中；
    探测光经探测目标反射后形成的回波由接收镜头接收，经接收镜头的回波入射至波长分束器，可见光-近红外回波被波长分束器反射，短波红外回波经波长分束器透射；
    可见光-近红外回波入射至第一衍射光栅，第一衍射光栅将可见光-近红外回波分为按照波长排列分布的光带，该光带入射至第一光电传感器， 第一光电传感器将可见光-近红外回波转换为可见光-近红外回波电信号；
    短波红外回波入射至第二衍射光栅，第二衍射光栅将短波红外回波分为按照波长排列分布的光带，该光带入射至第二光电传感器，第二光电传感器将短波红外回波转换为短波红外回波电信号。
  4. 如权利要求3所述的激光雷达系统，其特征在于，该信号采集处理子系统包括第一数字采集卡、第二数字采集卡和计算机；
    其中，第一数字采集卡的信号输入端连接主波光电传感器和第一光电传感器的信号输出端，第二数字采集卡的信号输入端连接主波光电传感器和第二光电传感器的信号输出端，第一数字采集卡和第二数字采集卡的信号输出端连接计算机，计算机的信号输出端连接激光光源。
  5. 如权利要求4所述的激光雷达系统，其特征在于，该计算机产生触发信号，该触发信号控制该激光光源发出该超连续光谱激光；
    该第一数字采集卡和第二数字采集卡接收主波电信号作为主波触发信号，并对该主波触发信号进行数字采样，并将主波触发采样信号发送至计算机；
    第一数字采集卡对该可见光-近红外回波电信号进行数字采样，并将可见光-近红外回波采样信号发送至计算机；
    第二数字采集卡对该短波红外回波电信号进行数字采样，并将短波红外回波采样信号发送至计算机；
    计算机基于接收到的主波触发采样信号、可见光-近红外回波采样信号和短波红外回波采样信号，进行分析和处理，得到探测目标的三维信息和光谱信息。
  6. 如权利要求2所述的激光雷达系统，其特征在于，该光接收子系统包括：接收镜头、波长分束器、第一衍射光栅、第一光电传感器、第二衍射光栅和第二光电传感器；
    其中，
    探测光经探测目标反射后形成的回波由接收镜头接收，经接收镜头的回波入射至波长分束器，短波红外回波被波长分束器反射，可见光-近红外回波经波长分束器透射，
    短波红外回波入射至第一衍射光栅，第一衍射光栅将短波红外回波分 为按照波长排列分布的光带，该光带入射至第一光电传感器，第一光电传感器将短波红外回波转换为短波红外回波电信号；
    可见光-近红外回波入射至第二衍射光栅，第二衍射光栅将可见光-近红外回波分为按照波长排列分布的光带，该光带入射至第二光电传感器，第二光电传感器将可见光-近红外回波转换为可见光-近红外回波电信号。
  7. 如权利要求6所述的激光雷达系统，其特征在于，该信号采集处理子系统包括第一数字采集卡、第二数字采集卡和计算机；
    第一数字采集卡的信号输入端连接主波光电传感器和第一光电传感器的信号输出端，第二数字采集卡的信号输入端连接主波光电传感器和第二光电传感器的信号输出端，第一数字采集卡和第二数字采集卡的信号输出端连接计算机，计算机的信号输出端连接激光光源。
  8. 如权利要求7所述的激光雷达系统，其特征在于，计算机产生触发信号，该触发信号控制该激光光源发出该超连续光谱激光；
    第一数字采集卡和第二数字采集卡接收主波电信号作为主波触发信号，并对该主波触发信号进行数字采样，并将主波触发采样信号发送至计算机；
    第一数字采集卡对该短波红外回波电信号进行数字采样，并将短波红外回波采样信号发送至计算机；
    第二数字采集卡对该可见光-近红外回波电信号进行数字采样，并将可见光-近红外回波采样信号发送至计算机；
    计算机基于接收到的主波触发采样信号、可见光-近红外回波采样信号和短波红外回波采样信号，进行分析和处理，得到探测目标的三维信息和光谱信息。
  9. 如权利要求3-8中任一项权利要求所述的激光雷达系统，其特征在于，计算机连接上位机，计算机将接收到主波触发采样信号、可见光-近红外回波采样信号和短波红外回波采样信号保存，并输出至上位机，由上位机进行后续的分析和处理，并得到探测目标的三维信息和光谱信息。
  10. 如权利要求3-8中任一项权利要求所述的激光雷达系统，其特征在于，该波长分束器为增透高反镜。
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