CN108226902B - A surface array laser radar measurement system - Google Patents
A surface array laser radar measurement system Download PDFInfo
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- CN108226902B CN108226902B CN201810165771.4A CN201810165771A CN108226902B CN 108226902 B CN108226902 B CN 108226902B CN 201810165771 A CN201810165771 A CN 201810165771A CN 108226902 B CN108226902 B CN 108226902B
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- 238000005259 measurement Methods 0.000 title claims abstract description 26
- 238000010586 diagram Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
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Classifications
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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
- 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
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
- 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
- G01S7/483—Details of pulse systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
本发明实施例公开了一种面阵激光雷达测量系统。该系统包括：激光光源模块、二维扫描机构、光电探测器、发射镜头、接收镜头，分光镜、二维位置探测器、控制模块和运算模块；控制模块，分别与激光光源模块和二维扫描机构连接，用于控制激光光源模块发出的激光强度和二维扫描机构的扫描角度；分光镜，用于将经二维扫描机构反射出的激光分成两束，二维位置探测器接收经所述分光镜反射的激光束并产生第一电信号，发送到运算模块；运算模块，分别与二维位置探测器和光电探测器相连接，用于根据第一电信号与光电探测器产生的第二电信号计算出被测物体的目标参数。本发明实施例提高了面阵扫描激光雷达的空间分辨率，提升了测量的空间位置精度。
The embodiment of the present invention discloses a planar array laser radar measurement system. The system includes: a laser light source module, a two-dimensional scanning mechanism, a photoelectric detector, a transmitting lens, a receiving lens, a spectroscope, a two-dimensional position detector, a control module and a computing module; the control module is respectively connected to the laser light source module and the two-dimensional scanning mechanism, and is used to control the laser intensity emitted by the laser light source module and the scanning angle of the two-dimensional scanning mechanism; the spectroscope is used to divide the laser reflected by the two-dimensional scanning mechanism into two beams, and the two-dimensional position detector receives the laser beam reflected by the spectroscope and generates a first electrical signal, which is sent to the computing module; the computing module is respectively connected to the two-dimensional position detector and the photoelectric detector, and is used to calculate the target parameters of the measured object according to the first electrical signal and the second electrical signal generated by the photoelectric detector. The embodiment of the present invention improves the spatial resolution of the planar array scanning laser radar and improves the spatial position accuracy of the measurement.
Description
Technical Field
The embodiment of the invention relates to a laser radar technology, in particular to an area array laser radar measurement system.
Background
The laser radar is a radar system which emits detection signals (laser beams) to a target, compares received signals (target echoes) reflected from the target with the emission signals, and obtains relevant information of the target, such as target distance, azimuth, altitude, speed and attitude characteristic quantity after proper processing.
In the existing laser radar measuring system, an indirect measuring mode is often adopted for measuring the deflection angle of a light beam, namely, the deflection angle of the light beam is calculated by measuring the mechanical surface of a scanning mechanism, and the target parameter of a target object is calculated by utilizing the indirectly obtained deflection angle. However, the accuracy or resolution of the indirect measurement mode is insufficient, and accurate time synchronization of laser pulse and position feedback is not easy to achieve, so that a larger position measurement error is brought.
Disclosure of Invention
The embodiment of the invention provides an area array laser radar measurement system, which is used for directly measuring the deflection angle of a laser beam, so that the accuracy of measuring target parameters is improved.
The embodiment of the invention provides an area array laser radar measurement system which comprises a laser light source module, a two-dimensional scanning mechanism, a photoelectric detector, a transmitting lens, a receiving lens, a spectroscope, a two-dimensional position detector, a control module and an operation module,
The control module is respectively connected with the laser light source module and the two-dimensional scanning mechanism and is used for controlling the laser intensity emitted by the laser light source module and the scanning angle of the two-dimensional scanning mechanism;
The spectroscope is used for dividing the laser reflected by the two-dimensional scanning mechanism into two beams, wherein the reflected beam is transmitted to the two-dimensional position detector, and the transmitted beam is transmitted to the object to be detected through the transmitting lens;
the two-dimensional position detector receives the laser beam reflected by the spectroscope and generates a first electric signal, and the first electric signal is sent to the operation module;
the operation module is respectively connected with the two-dimensional position detector and the photoelectric detector and is used for calculating the target parameter of the measured object according to the first electric signal and the second electric signal generated by the photoelectric detector.
Optionally, the operation module is specifically configured to:
Determining a reflection angle of the reflected light beam according to the first electric signal;
Determining the emergent angle of the transmitted light beam according to the reflection angle;
Determining the angle of the light beam reflected from the measured object according to the second electric signal;
and determining target parameters of the measured object according to the time of the laser light source module emitting laser, the time of the photoelectric detector receiving the second electric signal, the emergent angle of the transmitted light beam and the angle of the light beam reflected by the measured object.
Optionally, the target parameter includes at least one of a target distance, an azimuth, an altitude, a speed, and an attitude characteristic of the measured object.
According to the embodiment of the invention, the spectroscope and the two-dimensional position detector are added in the area array laser radar measurement system, so that the deflection angle of the laser beam irradiated to the object to be measured is directly measured, and further the target parameter of the object to be measured is calculated, the problems that the accuracy or resolution of an indirect measurement mode of the deflection angle of the beam obtained by measuring and calculating the mechanical surface of the scanning mechanism is insufficient, the time synchronization of pulse and position feedback is inaccurate, and thus the measurement error of the target parameter is caused are solved, the spatial resolution of the area array scanning laser radar is improved, and the spatial position accuracy of measurement is improved.
Drawings
Fig. 1 is a schematic structural diagram of an area array lidar measurement system in an embodiment of the present invention.
Figure 2 is a schematic view of a photodetector array in an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Examples
Fig. 1 is a schematic structural diagram of an area array laser radar measurement system provided by an embodiment of the invention, which is suitable for laser ranging and other situations. As shown in fig. 1, the system specifically includes:
The device comprises a laser light source module 1, a two-dimensional scanning mechanism 2, a photoelectric detector 7, a transmitting lens 5, a receiving lens 6, a spectroscope 3, a two-dimensional position detector 4, a control module 8 and an operation module 9, wherein,
The control module is respectively connected with the laser light source module 1 and the two-dimensional scanning mechanism 2 and is used for controlling the laser intensity emitted by the laser light source module 1 and the scanning angle of the two-dimensional scanning mechanism 2.
Specifically, in the working process of the area array laser radar measurement system, the inclination angle of the two-dimensional scanning mechanism 2 can be continuously adjusted, so that laser beams emitted by the laser light source module 1 are reflected by the two-dimensional scanning mechanism 2 and irradiate different positions on a measured object, and thus two-dimensional scanning of a measurement scene is realized, and the overall information of the measured object is obtained. The two-dimensional scanning mechanism 2 can be a micro-electromechanical system galvanometer, a mechanical galvanometer, a rotating prism and the like, and the scanning frequency in each direction can reach above khz, so that high-frame frequency three-dimensional measurement of high resolution of a measurement scene is realized.
The beam splitter 3 is used for splitting the laser reflected by the two-dimensional scanning mechanism 2 into two beams, wherein the reflected beam is transmitted to the two-dimensional position detector 4, the transmitted beam (i.e. the main energy beam) is irradiated to the measured object through the transmitting lens 5, and the accurate measurement of the emergent angle of the beam irradiated to the measured object can be realized.
The two-dimensional position detector 4 (Position Sentitive Detector, PSD) for determining the two-dimensional coordinate position of a light beam is a device capable of detecting the position of a light beam, and is widely used as a position sensor combined with a light-emitting source. When the two-dimensional position detector 4 receives the laser beam reflected by the beam splitter, a first electric signal is generated, and then the first electric signal is sent to the operation module 9. The operation module 9 can calculate the reflection angle of the reflected light beam according to the received first electric signal, and further calculate the emergent angle of the light beam irradiated on the measured object. Particularly, because the PSD and the measured object receive the same laser pulse signal sent by the light source and are in a direct measurement mode, the measurement of the emergent angle of the light beam irradiated on the measured object is more accurate.
In addition, the position irradiated by the reflected light beam is obtained through the two-dimensional position detector 4, the emergent angle of the light beam irradiated on the measured object is accurately measured, and the two-dimensional scanning mechanism 2 is not required to perform position feedback, so that the limitation factors such as mirror surface size, scanning speed and the like can be solved through diversified selection, and the measurement performance of the radar is improved.
The operation module 9 is connected with the two-dimensional position detector 4 and the photoelectric detector 7 respectively, and is used for calculating the target parameter of the measured object according to the first electric signal and the second electric signal generated by the photoelectric detector 7.
Further, the target parameters comprise at least one of target distance, azimuth, altitude, speed and attitude characteristic quantity of the measured object.
The further operation module 9 is specifically configured to determine a reflection angle of the reflected light beam according to the first electrical signal, determine an exit angle of the transmitted light beam according to the reflection angle, determine a beam angle reflected back from the measured object according to the second electrical signal, and determine a target parameter of the measured object according to a time when the laser light source module emits the laser, a time when the photodetector receives the second electrical signal, the exit angle of the transmitted light beam, and the beam angle reflected back from the measured object.
For example, assuming that the laser beam emitted from the laser light source module 1 is reflected by the two-dimensional scanning mechanism 2 and irradiates the beam splitter 3, the beam splitter 3 splits the laser beam into two beams, one beam irradiates a P point on the two-dimensional position detector 4, an electrical signal is generated at the P point, and the electrical signal is sent to the operation module 9, the operation module 9 can determine the two-dimensional coordinates of the P point according to the received electrical signal, further determine the reflection angle of the reflected beam reflected to the two-dimensional position detector 4, and determine the exit angle of the transmitted beam, that is, the exit angle of the beam irradiated to the object to be measured according to the reflection angle. The laser beam irradiated to the object to be measured is reflected to the receiving lens 6 by the object and irradiated to the P1 point in the photodetector array, as shown in fig. 2. Then, an electrical signal is generated at point P1 and sent to the operation module 9, from which the operation module 9 can determine the orientation of the irradiated object. Further, according to the time when the laser light source module 1 emits laser light and the time when the photoelectric detector receives the light beam reflected by the measured object to generate an electric signal, the distance of the measured object can be calculated, so that the target parameter of the measured object can be known. Further, the phase delay of the laser beam can be determined according to the phase difference between the outgoing light and the received light, so that the distance of the measured object can be calculated.
According to the technical scheme, the spectroscope and the two-dimensional position detector are added in the area array laser radar measuring system, the deflection angle of the laser beam irradiated to the object to be measured is directly measured, and then the target parameter of the object to be measured is calculated, so that the problems that the accuracy or resolution of an indirect measuring mode of the deflection angle of the beam obtained by measuring and calculating the mechanical surface of the scanning mechanism is insufficient, the time synchronization of pulse and position feedback is inaccurate, and thus the measurement error of the target parameter is caused are solved, the spatial resolution of the area array scanning laser radar is improved, the spatial position accuracy of measurement is improved, the two-dimensional scanning mechanism does not need to rotate a position feedback structure, the complexity of the scanning mechanism is simplified, the performance requirement of the scanning mechanism is reduced, and the model selection range of the scanning mechanism is expanded.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109164464B (en) * | 2018-10-12 | 2024-12-24 | 北醒（北京）光子科技有限公司 | Scanning device and laser radar |
| CN109490908B (en) * | 2018-11-07 | 2023-07-25 | 深圳市微觉未来科技有限公司 | Line scanning laser radar and scanning method |
| CN109870699A (en) * | 2019-04-03 | 2019-06-11 | 深圳市镭神智能系统有限公司 | a lidar |
| CN109932729A (en) * | 2019-04-19 | 2019-06-25 | 北京瑞特森传感科技有限公司 | Face battle array laser radar |
| CN110749893B (en) * | 2019-09-21 | 2022-03-15 | 深圳奥锐达科技有限公司 | Two-dimensional scanning laser radar device and electronic equipment |
| CN110716190A (en) * | 2019-09-27 | 2020-01-21 | 深圳奥锐达科技有限公司 | A transmitter and distance measurement system |
| CN112462384B (en) * | 2020-10-13 | 2024-04-05 | 中航航空电子有限公司 | High-resolution solid-state area array laser radar system, control method and device |
| CN114624673A (en) * | 2020-12-11 | 2022-06-14 | 上海禾赛科技有限公司 | Lidar |
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