CN102565808A - Implementation method for sparse array high-speed three-dimensional imaging lidar - Google Patents
Implementation method for sparse array high-speed three-dimensional imaging lidar Download PDFInfo
- Publication number
- CN102565808A CN102565808A CN2010105990033A CN201010599003A CN102565808A CN 102565808 A CN102565808 A CN 102565808A CN 2010105990033 A CN2010105990033 A CN 2010105990033A CN 201010599003 A CN201010599003 A CN 201010599003A CN 102565808 A CN102565808 A CN 102565808A
- Authority
- CN
- China
- Prior art keywords
- laser
- dimensional imaging
- imaging
- detection
- implementation method
- 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.)
- Granted
Links
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the field of three-dimensional imaging lidars, and aims to overcome the deficiencies of the prior art and provide an implementation method for a sparse array high-speed three-dimensional imaging lidar. In the implementation method, convenient and easily-obtained single detectors are utilized to form a sparse array detection system through sparse arrangement, piezoceramic low-angle quick scanning is combined to realize quick photoelectric conversion in a target echo signal subzone and solve the problems in high-speed three-dimensional imaging of the lidar. The invention is characterized in that an imaging detection optical system comprises a piezoceramic two-dimensional vibrating mirror (3), a laser receiving system (4) and the sparse array detection system (5). The invention has the advantages as follows: motor-free rotational scanning is realized, the whole structure is simple and the reliability is improved; the array detection has high imaging frame frequency and can satisfy high-speed measurement; devices are easy to obtain; and the transmit-receive separation layout has a low requirement for emitted light, and the installation is convenient.
Description
Technical field:
The present invention relates to three-dimensional imaging laser radar field.
Background technology:
Laser radar is compared with existing optical imagery means, has the illumination condition of the target of not relying on, perhaps radiation feature, and the strong point of target 3 D stereo information is obtained in round-the-clock work; With microwave radar relatively, its high resolving power, volume are little, in light weight.Thereby have a good application prospect at civilian and military aspect.The mode of three-dimensional imaging laser radar has two kinds at present.One of which is the laser beam scan mode; It two is the focal plane arrays (FPA) detection mode.
The laser beam scan mode is general to adopt high Repetition Frequency Laser pulse to launch; Make laser pulse according to the difference on the scanning constant pattern sensing spatial domain through mechanical scanner (like two galvanometer galvanometers, rotary wedge prism etc.); Constitute the two-dimensional scan space lattice; Drop on target in the scan sector to these space lattices reflections, and then utilize single-element detector according to regular time sequence measuring from the light intensity of difference and pulse two-way time, obtain the 3D rendering of target.But the acquisition speed that this two-dimensional scan imaging mode will limited images, the speed that promptly forms images are difficult to improve, and meanwhile mechanical scanner increases the weight and volume of total system, and power consumption and cost are difficult to realize low cost and miniaturization also than higher.
The focal plane arrays (FPA) detection mode is a kind of non-scanning technique.Be characterized in a plurality of detectors are integrated on the array chip, each detectors spatial domain is separately surveyed, and the phase relation that perhaps resolve laser on each probe unit the two-way time of Laser Measurement pulse realizes the rapid three dimensional imaging to target.The external focal plane arrays (FPA) chip that adopts solves, and major part is in laboratory stage or single-piece making now, can't realize commercial distribution.It is impossible especially to be used for military affairs or space flight if desired.Thereby be difficult to solve military affairs, the space flight demand of China.And there is very big distance in the restriction on domestic semi-conductor industry basis with external aspect the special-purpose monster chip of development; Simultaneously, carry out the research, drop into hugely, therefore, it is more unlikely to adopt this scheme to solve our present space requirement.
Summary of the invention:
Technical matters to be solved by this invention is the deficiency that overcomes above-mentioned prior art; A kind of implementation method of thinned array high speed three-dimensional imaging laser radar is proposed; Utilize the simple detector that conveniently is easy to get through the sparse thinned array detection system that rearranges; And combine the piezoelectric ceramics low-angle to scan fast, realize target echo signal subregion opto-electronic conversion is fast solved laser radar high speed three-dimensional imaging problem.
A kind of implementation method of thinned array high speed three-dimensional imaging laser radar, said three-dimensional imaging laser radar is made up of optical transmitting system and detection imaging optical system.Said optical transmitting system is the laser transmitting system of being made up of laser instrument 1 and beam expander 2, and it adopts non-scanning, covers required detection viewing field with big emission visual field form; It is characterized in that: said detection imaging optical system is made up of piezoelectric ceramics 2-D vibration mirror 3, laser receiver system 4 and thinned array detection system 5; Laser instrument 1 emission laser beam, beam expander 2 is coaxial with laser instrument 1, and light beam shines required detection viewing field after beam expander 2 shapings; Piezoelectric ceramics 2-D vibration mirror 3 receives systematic optical axis relatively and places with 45; It reflexes to laser receiver system 4 with target echo signal; Laser receiver system 4 focuses on its focal plane with target echo signal; Thinned array detection system 5 is positioned over the place, focal plane of laser receiver system 4, realizes the opto-electronic conversion of target echo signal.
Said thinned array detection system 5 is that single detector is evenly distributed according to certain spacing, and the arrangement mode of said single detector makes the sweep amplitude of piezoelectric ceramics 2-D vibration mirror 3 just make the reception visual field of detector array be full of whole detection viewing field.
The present invention brings following beneficial effect:
The advantage of thinned array high speed three-dimensional imaging laser radar implementation method is:
1, no motor rotary scanning, total is simplified, and reliability improves, and has overcome the restriction of space cold welding, and the life-span greatly improves, and weight, volume also significantly reduce;
2, array detection, imaging frame frequency is high, can satisfy at a high speed and measure;
3, device obtains easily, runs into the supply of material problem that is difficult to overcome when avoiding the number of transition.
4, transmitting-receiving separates layout, to radiative require low, easy for installation.
Description of drawings:
Fig. 1: thinned array high speed three-dimensional imaging laser radar schematic diagram and receiving system synoptic diagram
Fig. 2: thinned array high speed three-dimensional imaging laser radar laser transmitting system synoptic diagram
Embodiment:
In conjunction with referring to Fig. 1, Fig. 2,1 is laser instrument among the figure; 2 is beam expander; 3 is the piezoelectric ceramics 2-D vibration mirror; 4 is receiving system; 5 is the thinned array detection system; 6 is target screen; 7 is pedestal; 8 is thinned array detection system enlarged drawing.
The piezoelectric ceramics 2-D vibration mirror is a kind of Rapid Realization driving mechanism of two-dimensional scan by a small margin; Its response frequency generally can reach 2KHz; Its drive end has been worn high reflectivity mirror, can provide search coverage is done high-velocity scanning among a small circle at two on axially.
Receiving system is the common imaging optical path of a cover, and it receives bore and the visual field depends on imaging viewing field requirement, Laser emission power, detector sensitivity, piezoelectric ceramics 2-D vibration mirror scanning field of view.
The thinned array detection system is that single detector is evenly distributed according to certain spacing, and the principle that single detector is arranged in the thinned array detection system is that the sweep amplitude of piezoelectric ceramics galvanometer just makes the reception visual field of detector array be full of whole detection viewing field.
Thinned array high speed three-dimensional imaging laser radar structure: referring to Fig. 2, laser instrument 1 emission laser, laser beam shines the required detection of a target 6 through beam expander 2; Through piezoelectric ceramics 2-D vibration mirror 3 scanning, can be with each visual field echoed signal receiving system 4 of turning back, receiving system 4 focuses on thinned array detection system 5 with echoed signal, accomplishes the single frames of target and surveys.
Concrete optical system embodiment is following:
(1) optical transmitting system
Laser transmitting system of the present invention is made up of laser instrument 1 and beam expander 2, and it adopts non-scanning, covers required detection viewing field with big emission visual field form, and the Laser emission pattern can adopt the laser of pulse or modulation, referring to Fig. 2.When adopting pulse laser to scan; The echo of each pulse emission; On spatial relationship, the picture on all corresponding focal plane, the distance of target and laser radar just was reflected on the flight time of echo laser; Each scan angle of record 2-D vibration mirror and the time of detector array, just form a complete three-dimensional picture; If adopt the continuous wave laser of modulation; Detector array receives the light wave that returns of correspondence position; Its intensity modulated phase place is relevant to the distance of radar with the phase differential and the target of emission laser; Thereby adopt phase detector to solve to differ, just obtained range information, also just obtained complete 3-D view through same mode.
(2) survey imaging optical system
The present invention surveys imaging optical system and is made up of piezoelectric ceramics 2-D vibration mirror 3, laser receiver system 4 and thinned array detection system 5, referring to Fig. 1.The bore of piezoelectric ceramics 2-D vibration mirror 3 and laser receiver system 4 depends on detection range; Its scan angle and field angle depend on the number of arrays N of whole field angle U and thinned array detector; Thinned array detection system with 2 * 2 arrays among Fig. 1 is an example; The scan angle U1=U/N=U/2 of piezoelectric ceramics 2-D vibration mirror 3, the field angle U2=U-U1=U/2 of receiving system 4; The layout interval of thinned array detection system 5 directly depends on the focal length of receiving system under thinned array detection system number of arrays certain condition.
The course of work of surveying imaging optical system is: referring to Fig. 1; Thinned array detection system with 2 * 2 arrays is an example, is divided into four zones to target 6, and echoed signal is by 3 reflections of piezoelectric ceramics 2-D vibration mirror; Image on the thinned array detection system 5 through receiving system 4; At the scanning initial angle place of piezoelectric ceramics 2-D vibration mirror 3, the A point in a zone images on the detector A ', and two area B point images on the detector B '; Three zone C point images in detector C ' on, four region D point images on the detector D '; Behind the piezoelectric ceramics 2-D vibration mirror 3 scanned two-dimentional visual fields; Point on one zone all images on the detector A ' successively; Point on two zones all images on the detector B ' successively; Point on three zones all images in detector C successively ' on, the point on four zones all images on the detector D ' successively; The each point that each detector is pressed under the time keeping is surveyed energy relativeness demonstration spatially, can make up a two field picture.
Claims (1)
1. the implementation method of a thinned array high speed three-dimensional imaging laser radar, said three-dimensional imaging laser radar by optical transmitting system with survey imaging optical system and form; Said optical transmitting system is the laser transmitting system of being made up of laser instrument (1) and beam expander (2), and it adopts non-scanning, covers required detection viewing field with big emission visual field form; It is characterized in that: said detection imaging optical system is made up of piezoelectric ceramics 2-D vibration mirror (3), laser receiver system (4) and thinned array detection system (5); Laser instrument (1) emission laser beam, beam expander (2) is coaxial with laser instrument (1), and light beam shines required detection viewing field after beam expander (2) shaping; Piezoelectric ceramics 2-D vibration mirror (3) receives systematic optical axis relatively and places with 45; It reflexes to laser receiver system (4) with target echo signal; Laser receiver system (4) focuses on its focal plane with target echo signal; Thinned array detection system (5) is positioned over the place, focal plane of laser receiver system (4), realizes the opto-electronic conversion of target echo signal; Said thinned array detection system (5) is that single detector is evenly distributed according to certain spacing, and the arrangement mode of said single detector makes the sweep amplitude of piezoelectric ceramics 2-D vibration mirror (3) just make the reception visual field of detector array be full of whole detection viewing field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010599003.3A CN102565808B (en) | 2010-12-17 | 2010-12-17 | A kind of implementation method of sparse array high-speed three-dimensional imaging lidar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010599003.3A CN102565808B (en) | 2010-12-17 | 2010-12-17 | A kind of implementation method of sparse array high-speed three-dimensional imaging lidar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102565808A true CN102565808A (en) | 2012-07-11 |
| CN102565808B CN102565808B (en) | 2015-10-21 |
Family
ID=46411683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010599003.3A Active CN102565808B (en) | 2010-12-17 | 2010-12-17 | A kind of implementation method of sparse array high-speed three-dimensional imaging lidar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102565808B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103471561A (en) * | 2013-09-05 | 2013-12-25 | 中国人民解放军63680部队 | Three-dimensional small-angle measuring device and three-dimensional small-angle measuring method |
| CN105182359A (en) * | 2015-07-31 | 2015-12-23 | 武汉大学 | Satellite-borne Lidar hyperchaotic compressed sensing high-spatial-resolution imaging method |
| CN107153181A (en) * | 2017-02-24 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107678040A (en) * | 2017-11-03 | 2018-02-09 | 长春理工大学 | for vehicle-mounted three-dimensional imaging solid-state laser radar system |
| CN108152830A (en) * | 2017-12-26 | 2018-06-12 | 苏州镭图光电科技有限公司 | A kind of laser radar scanning imaging system and its measuring method |
| US10107915B2 (en) | 2016-09-20 | 2018-10-23 | Innoviz Technologies Ltd. | Parallel capturing of lidar frames at differing rates |
| CN109116367A (en) * | 2018-06-27 | 2019-01-01 | 上海禾赛光电科技有限公司 | A kind of laser radar |
| CN109188546A (en) * | 2018-08-24 | 2019-01-11 | 河南中光学集团有限公司 | A kind of big visual field sniper laser scanning, detecting device |
| CN109814088A (en) * | 2017-11-20 | 2019-05-28 | 北京万集科技股份有限公司 | A kind of big visual field reception device and big visual field method of reseptance |
| CN110476080A (en) * | 2017-04-07 | 2019-11-19 | 罗伯特·博世有限公司 | Laser radar apparatus and method for being scanned to scan angle and for analyzing processing detector |
| CN111190192A (en) * | 2020-01-13 | 2020-05-22 | 中国科学院上海光学精密机械研究所 | Airborne array three-dimensional coherent scanning laser radar |
| CN111427149A (en) * | 2020-04-02 | 2020-07-17 | 哈尔滨工业大学 | Wide-angle high-resolution infrared optical system based on step scanning |
| WO2021147527A1 (en) * | 2020-01-23 | 2021-07-29 | 华为技术有限公司 | Time-of-flight (tof) sensing module and electronic device |
| CN115825926A (en) * | 2023-01-29 | 2023-03-21 | 苏州识光芯科技术有限公司 | Control method of solid-state laser radar and solid-state laser radar |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060006309A1 (en) * | 2004-07-06 | 2006-01-12 | Jerry Dimsdale | Method and apparatus for high resolution 3D imaging |
| CN101813779A (en) * | 2010-03-11 | 2010-08-25 | 中国科学院上海技术物理研究所 | Scanning three-dimensional imaging laser radar based on linear array APD detector and method |
-
2010
- 2010-12-17 CN CN201010599003.3A patent/CN102565808B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060006309A1 (en) * | 2004-07-06 | 2006-01-12 | Jerry Dimsdale | Method and apparatus for high resolution 3D imaging |
| CN101813779A (en) * | 2010-03-11 | 2010-08-25 | 中国科学院上海技术物理研究所 | Scanning three-dimensional imaging laser radar based on linear array APD detector and method |
Non-Patent Citations (1)
| Title |
|---|
| 刘晓波，李丽: "基于盖革模式APD阵列的激光雷达性能分析", 《航空兵器》, no. 6, 31 December 2009 (2009-12-31), pages 35 - 38 * |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103471561A (en) * | 2013-09-05 | 2013-12-25 | 中国人民解放军63680部队 | Three-dimensional small-angle measuring device and three-dimensional small-angle measuring method |
| CN105182359A (en) * | 2015-07-31 | 2015-12-23 | 武汉大学 | Satellite-borne Lidar hyperchaotic compressed sensing high-spatial-resolution imaging method |
| US10241207B2 (en) | 2016-09-20 | 2019-03-26 | Innoviz Technologies Ltd. | Dynamic mode of operation based on driving environment |
| US10241208B2 (en) | 2016-09-20 | 2019-03-26 | Innoviz Technologies Ltd. | Steerable high energy beam |
| US10481268B2 (en) | 2016-09-20 | 2019-11-19 | Innoviz Technologies Ltd. | Temperature based control in LIDAR |
| US10107915B2 (en) | 2016-09-20 | 2018-10-23 | Innoviz Technologies Ltd. | Parallel capturing of lidar frames at differing rates |
| US10353075B2 (en) | 2016-09-20 | 2019-07-16 | Innoviz Technologies Ltd. | Parallel scene scanning in LIDAR using a common steerable deflector |
| US10698114B2 (en) | 2016-09-20 | 2020-06-30 | Innoviz Technologies Ltd. | Detector-array based scanning LIDAR |
| US10191156B2 (en) | 2016-09-20 | 2019-01-29 | Innoviz Technologies Ltd. | Variable flux allocation within a LIDAR FOV to improve detection in a region |
| US10215859B2 (en) | 2016-09-20 | 2019-02-26 | Innoivz Technologies Ltd. | LIDAR detection scheme for cross traffic turns |
| US10222477B2 (en) | 2016-09-20 | 2019-03-05 | Innoviz Technologies Ltd. | Optical budget apportionment in LIDAR |
| US10317534B2 (en) | 2016-09-20 | 2019-06-11 | Innoviz Technologies Ltd. | Adaptive noise mitigation for different parts of the field of view |
| US10310088B2 (en) | 2016-09-20 | 2019-06-04 | Innoviz Technologies Ltd. | Dynamic illumination allocation in highway driving |
| US10281582B2 (en) | 2016-09-20 | 2019-05-07 | Innoviz Technologies Ltd. | Adaptive lidar illumination techniques based on intermediate detection results |
| CN107153181A (en) * | 2017-02-24 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN110476080A (en) * | 2017-04-07 | 2019-11-19 | 罗伯特·博世有限公司 | Laser radar apparatus and method for being scanned to scan angle and for analyzing processing detector |
| CN110476080B (en) * | 2017-04-07 | 2023-12-26 | 罗伯特·博世有限公司 | Lidar device and method for scanning a scanning angle and for analyzing a treatment detector |
| CN107678040A (en) * | 2017-11-03 | 2018-02-09 | 长春理工大学 | for vehicle-mounted three-dimensional imaging solid-state laser radar system |
| CN107678040B (en) * | 2017-11-03 | 2023-09-26 | 长春理工大学 | Solid-state laser radar system for vehicle-mounted three-dimensional imaging |
| CN109814088A (en) * | 2017-11-20 | 2019-05-28 | 北京万集科技股份有限公司 | A kind of big visual field reception device and big visual field method of reseptance |
| CN109814088B (en) * | 2017-11-20 | 2024-05-31 | 武汉万集光电技术有限公司 | Large-view-field receiving device and large-view-field receiving method |
| CN108152830A (en) * | 2017-12-26 | 2018-06-12 | 苏州镭图光电科技有限公司 | A kind of laser radar scanning imaging system and its measuring method |
| CN109116367A (en) * | 2018-06-27 | 2019-01-01 | 上海禾赛光电科技有限公司 | A kind of laser radar |
| CN109188546A (en) * | 2018-08-24 | 2019-01-11 | 河南中光学集团有限公司 | A kind of big visual field sniper laser scanning, detecting device |
| CN111190192A (en) * | 2020-01-13 | 2020-05-22 | 中国科学院上海光学精密机械研究所 | Airborne array three-dimensional coherent scanning laser radar |
| CN111190192B (en) * | 2020-01-13 | 2022-11-08 | 中国科学院上海光学精密机械研究所 | Airborne array three-dimensional coherent scanning laser radar |
| WO2021147527A1 (en) * | 2020-01-23 | 2021-07-29 | 华为技术有限公司 | Time-of-flight (tof) sensing module and electronic device |
| CN111427149A (en) * | 2020-04-02 | 2020-07-17 | 哈尔滨工业大学 | Wide-angle high-resolution infrared optical system based on step scanning |
| CN115825926A (en) * | 2023-01-29 | 2023-03-21 | 苏州识光芯科技术有限公司 | Control method of solid-state laser radar and solid-state laser radar |
| WO2024156266A1 (en) * | 2023-01-29 | 2024-08-02 | 苏州识光芯科技术有限公司 | Control method for solid-state laser radar and solid-state laser radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102565808B (en) | 2015-10-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102565808A (en) | Implementation method for sparse array high-speed three-dimensional imaging lidar | |
| CN102947726B (en) | Scanning 3 D imaging instrument | |
| CN102884444B (en) | Laser radar device | |
| US11408983B2 (en) | Lidar 2D receiver array architecture | |
| CN106405572B (en) | Remote high-resolution laser Active Imaging device and method based on space encoding | |
| US10571574B1 (en) | Hybrid LADAR with co-planar scanning and imaging field-of-view | |
| CN107238842B (en) | Area array target searching, scanning and imaging device and method | |
| CN102999986B (en) | Method for detecting embedded invasion detection system based on ultraphonic phase array | |
| US11808887B2 (en) | Methods and systems for mapping retroreflectors | |
| KR102324620B1 (en) | Lidar system with non-uniform sensitivity response | |
| Grossman et al. | Active millimeter-wave imaging for concealed weapons detection | |
| CN108152830A (en) | A kind of laser radar scanning imaging system and its measuring method | |
| CN107991681A (en) | Laser radar and its scan method based on diffraction optics | |
| CN107703517A (en) | Airborne multiple beam optical phased array laser three-dimensional imaging radar system | |
| CN101449181A (en) | Distance measuring method and distance measuring element for detecting the spatial dimension of a target | |
| CN207380238U (en) | A kind of laser radar based on diffraction optics | |
| CN102375144A (en) | Single-photon-counting compression-sampling laser three-dimensional imaging method | |
| CN108008375B (en) | Photoelectric millimeter wave searching and tracking device and method | |
| KR20200059159A (en) | Multi-detector with interleaved photodetector arrays and analog readout circuits for lidar receiver | |
| CN207833020U (en) | A kind of laser radar scanning imaging system | |
| US20210396845A1 (en) | Methods and Systems for Dithering Active Sensor Pulse Emissions | |
| CN109581323B (en) | Micro-electromechanical laser radar system | |
| CN111007527B (en) | Infrared laser composite rapid imaging tracking device | |
| CN109870707A (en) | Pyramid laser synchronization scanned imagery device for submarine navigation device | |
| US11156716B1 (en) | Hybrid LADAR with co-planar scanning and imaging field-of-view |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |