CN107238842B - Area array target searching, scanning and imaging device and method - Google Patents
Area array target searching, scanning and imaging device and method Download PDFInfo
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- CN107238842B CN107238842B CN201610188133.5A CN201610188133A CN107238842B CN 107238842 B CN107238842 B CN 107238842B CN 201610188133 A CN201610188133 A CN 201610188133A CN 107238842 B CN107238842 B CN 107238842B
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Abstract
The invention provides an area array target searching, scanning and imaging device, which comprises: the system comprises an imaging module (12), an azimuth servo mechanism (8), a pitching servo mechanism (9) and a control processing module (10); the imaging module (12) is used for generating uniform laser illumination on a scanning area, receiving laser echo signals of a target, respectively imaging and target ranging, and outputting a formed three-dimensional image and a target electric signal to the control processing module (10); the azimuth servo mechanism (8) and the pitching servo mechanism (9) are used for bearing and driving the imaging module (12) to search and image and detect a scanning area; the control processing module is used for generating a synchronous working time sequence of ranging and imaging, and controlling and driving the azimuth servo mechanism (8) and the pitching servo mechanism (9); and ranging the target according to the target electric signal, thereby realizing gating imaging on the target. The device can realize large-range three-dimensional high-resolution imaging search and detection.
Description
Technical Field
The invention belongs to the technical field of laser imaging radars, and particularly relates to an area array target searching, scanning and imaging device and method.
Background
The technical approaches based on laser active illumination imaging mainly include laser illumination imaging, laser detection imaging, laser illumination gating imaging and the like. The laser illumination imaging is to directly illuminate a target by laser, and an imaging detector detects the reflected laser of the target to perform imaging. The laser detection imaging is a detection imaging technology which scans and irradiates a target area by controlling a laser beam, reflected echoes of a target are received by a detector, and information such as an azimuth angle, a pitch angle, a distance and a speed of the target relative to the detector is obtained through signal processing, so that a three-dimensional distance image and a Doppler (velocity) image of the target area are obtained. The laser lighting gating imaging utilizes a pulse laser and an imaging detector with high-speed switching capability to separate scattered light and reflected light of a target at different distances in time sequence, when laser pulses reflected by the detected target reach a detector surface when the imaging detector is started, and the imaging detector is closed when the laser pulses are ended, most of the scattered light can be eliminated. Therefore, if the laser detection imaging and the laser illumination gating imaging are combined to make up for the shortfall, the performance of the laser active illumination imaging system can be effectively improved.
Disclosure of Invention
The invention aims to solve the problems of low resolution of the conventional laser imaging detection image, small laser lighting gating imaging detection range and the like, and provides an area array target searching and scanning laser imaging device which can realize the functions of large-range three-dimensional high-resolution imaging searching and detection.
In order to achieve the above object, the present invention provides an area array target search scanning laser imaging apparatus, comprising: an area array target search scan imaging apparatus, the apparatus comprising: the system comprises an imaging module 12, an azimuth servo mechanism 8, a pitching servo mechanism 9 and a control processing module 10;
the imaging module 12 is configured to generate uniform laser illumination on a scanning area, receive a laser echo signal of a target, perform imaging and target ranging respectively, and output a formed three-dimensional image and a target electrical signal to the control processing module 10;
the azimuth servo mechanism 8 and the pitching servo mechanism 9 are used for bearing the imaging module 12 and driving the imaging module 12 to search and image and detect a scanning area;
the control processing module is used for generating a synchronous working time sequence of ranging and imaging, and controlling and driving the azimuth servo mechanism 8 and the pitching servo mechanism 9; and ranging the target according to the target echo signal, thereby realizing gating imaging on the target.
In the above technical solution, the apparatus further includes: and the external electrical interface 11 is used for receiving a human-computer interaction instruction and transmitting data of the control processing module.
In the above technical solution, the imaging module 12 includes: the system comprises an imaging lens 1, a gating imaging sensor 3, a receiving lens 4, a photoelectric detector 5, an illuminating lens 6 and an illuminating laser 7; wherein:
the illumination laser 7 is a pulse laser and is used for generating laser pulses with nanosecond or microsecond pulse widths;
the illumination lens 6 is used for shaping laser pulses emitted by the illumination laser 7 to realize uniform illumination of a target;
the imaging lens 1 is used for receiving a laser echo signal from a target and collecting an optical signal to the gating imaging sensor 3;
the gating imaging sensor 3 is an imaging device of the whole device and is used for converting a target laser echo signal received by the imaging lens 1 into an electric signal and outputting a three-dimensional image to the control processing module 10; the gating imaging sensor 3 is a photoelectric area array imaging sensor with high-speed opening and closing characteristics;
the receiving lens 4 is used for receiving a laser echo signal from a target and collecting an optical signal to the photoelectric detector 5;
the photodetector 5 is a high-sensitivity high-gain photoelectric sensor, and is configured to convert a target laser echo signal received by the receiving lens 4 into an electrical signal, and output the electrical signal to the control processing module 10.
In the above technical solution, the imaging module 12 further includes two optical filters 2, one optical filter 2 is disposed between the imaging lens 1 and the gating imaging sensor 3, and the other optical filter 2 is disposed between the receiving lens 4 and the photodetector 5, and is configured to filter background light and interference light other than the laser echo signal, and improve the image signal-to-noise ratio and the detection signal-to-noise ratio.
In the above technical solution, the control processing module 1) includes: the system comprises a synchronous processing unit, a searching and ranging processing unit, an image processing unit, a servo control unit and a central control unit;
the synchronous processing unit is used for generating two synchronous working time sequences, the first time sequence is a searching and ranging time sequence and is used for triggering and controlling the illumination laser 7, the photoelectric detector 5 and the searching and ranging processing unit, and the second time sequence is a gating and imaging time sequence and is used for triggering and controlling the illumination laser 7, the gating and imaging sensor 3 and the image processing unit;
the searching and ranging processing unit is used for searching and ranging a target according to a searching and ranging time sequence and a target laser echo signal of the photoelectric detector 5; transmitting the measured target distance value to a central control unit;
the image processing unit is used for controlling the work of the gating imaging sensor 3 according to the gating imaging time sequence, carrying out automatic gating imaging on the target, processing a video signal returned by the gating imaging sensor 3, carrying out target extraction and three-dimensional image processing, and sending a processing result to the central control unit for display processing;
the servo control unit is used for controlling and driving the azimuth servo mechanism 8 and the pitch servo mechanism 9;
and the central control unit is used for completing the cooperation and control of all modules of the device, receiving a human-computer interaction instruction and transmitting data of the control processing module.
In the above technical solution, the imaging module 12 includes: the device comprises an imaging lens 1, an optical filter 2, a gating imaging sensor 3, a light splitting sheet 13, a photoelectric detector 5, an illumination lens 6 and an illumination laser 7;
the illumination laser 7 is a pulse laser and is used for generating laser pulses with nanosecond or microsecond pulse widths;
the illumination lens 6 is used for shaping laser pulses emitted by the illumination laser 7 to realize uniform illumination of a target;
the imaging lens 1 is used for receiving a laser echo signal from a target and collecting an optical signal to the gating imaging sensor 3;
the gating imaging sensor 3 is an imaging device of the whole device and is used for converting a target laser echo signal received by the imaging lens 1 into an electric signal and outputting a three-dimensional image to the control processing module 10; the gating imaging sensor 3 is a photoelectric area array imaging sensor with high-speed opening and closing characteristics;
the beam splitter 13 is used for splitting part of target laser echo signals to the photoelectric detector 5;
the photodetector 5 is a high-sensitivity high-gain photoelectric sensor, and is configured to receive the target laser echo signal received by the lens 4 and output the target laser echo signal to the control processing module 10.
Based on the area array target searching, scanning and imaging device, the invention also provides an area array target searching, scanning and imaging method, which comprises the following steps:
step 1) calculating an effective search field angle gamma of the device;
step 2) under the control of the servo control unit, the pitching servo mechanism 9 points to a specified pitching angle, and the azimuth servo mechanism 8 drives the imaging module 12 to rotate at a speed v along the azimuth directionRRotating at a constant speed;
and 3) after the device rotates by gamma angle along the direction, performing search ranging gating imaging once until the device rotates along the direction to complete 360-degree all-dimensional area scanning.
In the above technical solution, the specific process of calculating the effective search field angle γ of the device in step 1) is as follows:
the azimuthal rotation angle β of the device is:
β＝vRτy(1)
τytime intervals between two adjacent laser pulses are searched for ranging and gated imaging;
thus, the effective field angle of the gated imaging sensor 3 in this arrangement is:
φ＝α-2β＝α-2vRτy(2)
then the search field angle γ obtained for each gated imaging is:
γ＝φ(1-2η)＝(α-2vRτy)(1-2η) (3)
where η is the overlap ratio of the effective field angles of the gated imaging sensor 3.
In the above technical solution, the step 3) specifically includes:
step 301) under the coordination of the central control unit, the synchronous processing unit sends out a search ranging time sequence to trigger the illumination laser 7 to emit laser pulses, and the search ranging processing unit simultaneously records the trigger time of the illumination laser;
step 302) after the laser pulse meets the target in the transmission process, the laser pulse is reflected by the target to form a target laser echo signal, the target echo signal is received by the receiving lens 4 and coupled to the photoelectric detector 5, and the photoelectric detector 5 will receive the target echo signalThe target laser echo signal is converted into an electric pulse signal and transmitted to the searching and ranging processing unit, and the searching and ranging processing unit can obtain the time difference tau between the triggering time of the illumination laser 7 and the receiving time of the target laser echo signal by the photoelectric detector 5 by comparing the triggering time of the illumination laser and the receiving time of the target laser echo signal by the photoelectric detector 5RThereby obtaining the distance R of the target:
in the formula, τRThe time difference from the emission of the laser light to the reflection by the target back to the photodetector 5, c is the speed of light;
the searching and ranging processing unit sends the target distance R to the central control unit;
step 303), after receiving the target distance R, the central control unit generates a gating delay tau, the synchronous processing unit generates a gating imaging time sequence, the illumination laser 7 is triggered to emit laser pulses, the gating imaging sensor 3 is controlled to perform gating imaging on a target at a specified distance, a target three-dimensional image is obtained and fed back to the image processing unit, the target three-dimensional image and target three-dimensional position information are formed after image processing, and then the target three-dimensional image and the target three-dimensional position information are transmitted to the central control unit for display processing;
when the target distance R is less than the maximum detection distance R of the gated imaging sensor 3maxThe gating delay τ is:
when the target distance R is greater than the maximum detection distance R of the gated imaging sensor 3maxAnd when the time is long or the target information does not exist, the gating delay tau is as follows:
wherein, tgFor the gate width: the gated imaging sequence includes the illumination laser 7 trigger signal, the switching signal of the gated imaging sensor 3 and the time between its switching.
In the above technical solution, the velocity v of the imaging module 12 in the azimuth direction in the step 2) isRSatisfies the following conditions:
vR≤vI
wherein v isITo gate the imaging speed of the imaging sensor 3.
The invention has the advantages that:
1. the device firstly emits laser to perform point scanning search on a scanning detection area, determines whether a target exists in a laser beam coverage area according to whether a laser echo exists or not, determines the distance of the target, and sets a distance gating imaging working time sequence according to the distance information by the gating imaging module, so that the device can realize large-range search and automatic gating imaging of the target, and improves the availability and the practicability of the system;
2. the invention carries out area array gating imaging detection on the basis of laser point scanning search, so compared with independent point scanning imaging of laser detection imaging and non-scanning imaging of laser illumination gating imaging, the invention organically combines the technical advantages of the laser detection imaging and the laser illumination gating imaging together, can realize large-range search of the target, simultaneously obtains a high-resolution three-dimensional image of the target and the three-dimensional space position of the target, and improves the searching and imaging efficiency;
3. the device of the invention only has one laser, namely the illuminating laser, which can provide pulse laser required by searching and ranging for searching and ranging, and also provide a distance gating imaging for gating imaging to provide an illuminating light source, thereby reducing the complexity of the system, reducing the volume and the quality of the system, and being beneficial to the integration and the miniaturization of the system;
4. the device can be widely applied to the fields of low-altitude, small-sized and slow-speed target warning, underwater large-range laser imaging, airborne ground detection, land remote reconnaissance and monitoring and the like.
Drawings
FIG. 1a is a schematic view of an area array target search scanning imaging device according to the present invention;
FIG. 1b is a schematic diagram of a second exemplary embodiment of an area array target searching, scanning and imaging apparatus according to the present invention;
fig. 2 is a schematic view of the image formation and search of the area array target search scanning imaging device of the invention.
The attached drawings are as follows:
1. imaging lens 2, optical filter 3, gating imaging sensor 4 and receiving lens
5. Photoelectric detector 6, illumination lens 7, illumination laser 8 and azimuth servo mechanism
9. Pitching servo mechanism 10, control processing module 11, external electrical interface 12 and imaging module
13. Light splitting sheet
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Example 1
As shown in fig. 1a, an area array target search scan imaging device comprises: imaging module 12, azimuth servo mechanism 8, pitching servo mechanism 9 and control processing module 10
Furthermore, the apparatus further comprises: the external electrical interface 11 is used for receiving a human-computer interaction instruction and transmitting data of the control processing module;
the imaging module 12 is configured to uniformly illuminate the scanning area, receive a laser echo signal of a target, perform imaging and target ranging respectively, and output a formed three-dimensional image and a target electrical signal to the control processing module 10; the imaging module includes: the system comprises an imaging lens 1, a gating imaging sensor 3, a receiving lens 4, a photoelectric detector 5, an illuminating lens 6 and an illuminating laser 7; wherein:
the illumination laser 7 is a pulse laser and is used for generating laser pulses with nanosecond or microsecond pulse widths;
the illumination lens 6 is used for shaping laser pulses emitted by the illumination laser 7 to realize uniform illumination of a target;
the imaging lens 1 is used for receiving a laser echo signal from a target and collecting an optical signal to the gating imaging sensor 3;
the gating imaging sensor 3 is an imaging device of the whole device and is used for converting a target laser echo signal received by the imaging lens 1 into an electric signal and outputting a three-dimensional image to the control processing module 10; the gate imaging sensor 3 is a photoelectric area array imaging sensor with high-speed on/off characteristics, such as: the gating imaging sensor ICCD and the ICMOS can be selected, wherein the gating ICCD is formed by coupling an image intensifier to the CCD through a light cone, and the gating ICMOS is formed by coupling the image intensifier to the CMOS through the light cone;
the receiving lens 4 is used for receiving a laser echo signal from a target and collecting an optical signal to the photoelectric detector 5;
the photodetector 5 is a high-sensitivity high-gain photoelectric sensor, and is configured to receive the target laser echo signal received by the lens 4 and output the target laser echo signal to the control processing module 10.
In addition, the imaging module 12 further includes two optical filters 2, one of which is disposed between the imaging lens 1 and the gating imaging sensor 3, and the other of which is disposed between the receiving lens 4 and the photodetector 5, for filtering background light and interference light except the laser echo signal, and improving the image signal-to-noise ratio and the detection signal-to-noise ratio;
the azimuth servo mechanism 8 and the pitch servo mechanism 9 are used for bearing the imaging module 12 and relevant electronic processing components and driving the imaging module 12 to search for imaging detection in different areas.
The control processing module 10 includes: the system comprises a synchronous processing unit, a searching and ranging processing unit, an image processing unit, a servo control unit and a central control unit;
the synchronous processing unit is used for generating two synchronous working time sequences, the first time sequence is a searching and ranging time sequence and is used for triggering and controlling the illumination laser 7, the photoelectric detector 5 and the searching and ranging processing unit, and the second time sequence is a gating and imaging time sequence and is used for triggering and controlling the illumination laser 7, the gating and imaging sensor 3 and the image processing unit;
the searching and ranging processing unit is used for searching and ranging a target according to a searching and ranging time sequence and a laser echo detection signal of the photoelectric detector 5; transmitting the target distance value to a central control unit;
the image processing unit is used for controlling the work of the gating imaging sensor 3 according to the gating imaging time sequence, processing the video signal returned by the gating imaging sensor 3 and carrying out target extraction and three-dimensional image processing; the system comprises a central control unit, a target distance value acquisition unit, a target three-dimensional image acquisition unit, a target three-dimensional position information acquisition unit and a target three-dimensional position information acquisition unit, wherein the central control unit is used for providing a target distance value for the target;
the servo control unit is used for controlling and driving the azimuth servo mechanism 8 and the pitch servo mechanism 9;
the central control unit completes the coordination and control of all modules of the device and completes the data exchange with the ground system through the external electrical interface 11.
Example 2
The schematic structural diagram of the device is shown in fig. 1b, and is similar to embodiment 1, except that the imaging module 12 includes: the device comprises an imaging lens 1, an optical filter 2, a gating imaging sensor 3, a light splitting sheet 13, a photoelectric detector 5, an illuminating lens 6 and an illuminating laser 7; the beam splitter 13 is used for splitting part of target laser echo signals to the photoelectric detector 5; in this apparatus, only the laser echo signal is received by the imaging lens 1, and a part of the laser echo signal is distributed to the photodetector 5 by the spectroscope 13.
In addition, based on the apparatus of embodiment 1, the present invention further provides an area array target search scanning imaging method, which is applied to performing alert detection on empty small and medium targets at a fixed installation point, as shown in fig. 2, and the method includes:
step 1) calculating an effective search field angle gamma of the device;
the azimuthal rotation angle β of the device is:
β＝vRτy(1)
τytime intervals between two adjacent laser pulses are searched for ranging and gated imaging; v. ofRThe rotation speed of the imaging module 12 in the azimuth direction;
thus, the effective field angle of the gated imaging sensor in the device is:
φ＝α-2β＝α-2vRτy(2)
to avoid missing scanning, it is required that the effective field angles of the gated imaging sensors must overlap each other, with an overlap ratio of η, so that the search field angle γ obtained for each gated imaging is:
γ＝φ(1-2η)＝(α-2vRτy)(1-2η) (3)
step 2) under the control of the servo control unit, the pitching servo mechanism 9 points to a specified pitching angle, and the azimuth servo mechanism 8 drives the imaging module 12 to rotate at a speed v along the azimuth directionRRotating at a constant speed;
imaging frame frequency f due to gated imaging sensor 3IAllowing the apparatus to search without omission and to image three-dimensionally at the imaging speed v of the gated imaging sensor 3IComprises the following steps:
vI＝γfI＝γ(α-2vRτ)(1-2η) (4)
due to the device rotating at azimuth speed vRCovering the airspace of 360 degrees without missing scanning, and in order to avoid missing scanning, requiring azimuth rotation speed vRMust be equal to or less than the imaging speed v of the gated imaging sensor 3IThat is:
vR≤vI(5)
step 3) after the device rotates every gamma angle along the azimuth, the device carries out once searching and ranging gating imaging until the device rotates along the azimuth to complete 360-degree all-directional area scanning, and the method specifically comprises the following steps:
step 301) under the coordination of the central control unit, the synchronous processing unit sends out a search ranging time sequence to trigger the illumination laser 7 to emit laser pulses, and the search ranging processing unit simultaneously records the trigger time of the illumination laser;
step 302) after the laser pulse meets the target in the transmission process, the laser pulse is reflected by the target to form a target laser echo signal, the target echo signal is received by the receiving lens 4 and coupled to the photoelectric detector 5, the photoelectric detector 5 converts the target laser echo signal into an electric pulse signal and transmits the electric pulse signal to the searching and ranging processing unitThe searching and ranging processing unit can obtain the time difference tau between the triggering time of the illumination laser 7 and the receiving time of the target laser echo signal by the photoelectric detector 5 by comparing the triggering time of the twoRThereby obtaining the distance R of the target:
in the formula, τRThe time difference from the emission of the laser light to the reflection by the target back to the photodetector 5, c is the speed of light;
the searching and ranging processing unit sends the target distance R to the central control unit;
step 303) after the central control unit receives the target distance R, a gating delay tau is generated, a gating imaging time sequence is generated by the synchronous processing unit, the illumination laser 7 is triggered to emit laser pulses, the gating imaging sensor 3 is controlled to carry out gating imaging on the target at the specified distance, a three-dimensional image of the target is obtained and fed back to the image processing unit,
forming a target three-dimensional image and target three-dimensional position information after image processing, and then transmitting the target three-dimensional image and the target three-dimensional position information to a central control unit for display processing;
when the target distance R is less than the maximum detection distance R of the gated imaging sensor 3maxThe gating delay τ is:
when the target distance R is greater than the maximum detection distance R of the gated imaging sensor 3maxAnd when the time is long or the target information does not exist, the gating delay tau is as follows:
wherein, tgFor the gate width: the gated imaging sequence includes the illumination laser 7 trigger signal, the switching signal of the gated imaging sensor 3 and the time between its switching.
The device can also raise or lower the search imaging range in the pitch direction by automatically or manually changing the pitch angle.
Calculation example:
the azimuth rotation speed of the device is vRThe divergence angle of the laser beam emitted by the illumination laser 7 is equal to the field angle of the imaging lens 1, α is 2 °, the time interval τ between two adjacent laser pulses is 0.01s, and the imaging frame frequency f is 20 °/sIWhen 25Hz and the overlap η is 10%, the following are provided:
the effective field angle phi of the gated imaging sensor (laser spot) is:
φ＝α-2vRτ＝2°-2×20°×0.01＝1.6°
the search field angle γ obtained by each gate imaging is:
γ＝φ(1-2η)＝1.6°(1-2×0.1)＝1.28°
the device needs to rotate the angle theta along the azimuth from the last search range gate imaging to the next search range gate imaging as follows:
θ＝γ＝1.28°
gated imaging sensor imaging velocity vIComprises the following steps:
vI＝γfI＝1.28°×25/s＝32°/s
gated imaging sensor search velocity vIGreater than the azimuthal rotation speed v of the deviceRUnder which conditions the device can rotate at an azimuthal rotational speed vRThe 360 ° airspace was covered without missing scan at 20 °/s.
Claims (5)
1. An area array target searching, scanning and imaging method is realized based on an area array target searching, scanning and imaging device, and the device comprises: the system comprises an imaging module (12), an azimuth servo mechanism (8), a pitching servo mechanism (9) and a control processing module (10);
the imaging module (12) is used for generating uniform laser illumination on a scanning area, receiving laser echo signals of a target, respectively imaging and target ranging, and outputting a formed three-dimensional image and a target electric signal to the control processing module (10);
the azimuth servo mechanism (8) and the pitching servo mechanism (9) are used for bearing the imaging module (12) and driving the imaging module (12) to search for imaging detection in a scanning area;
the control processing module is used for generating a synchronous working time sequence of ranging and imaging, and controlling and driving the azimuth servo mechanism (8) and the pitching servo mechanism (9); ranging the target according to the target echo signal so as to realize gating imaging on the target;
the imaging module (12) comprises: the device comprises an imaging lens (1), a gating imaging sensor (3), a receiving lens (4), a photoelectric detector (5), an illuminating lens (6) and an illuminating laser (7); wherein:
the illumination laser (7) is a pulse laser and is used for generating laser pulses with nanosecond or microsecond pulse widths;
the illumination lens (6) is used for shaping laser pulses emitted by the illumination laser (7) to realize uniform illumination of a target;
the imaging lens (1) is used for receiving a laser echo signal from a target and collecting an optical signal to a gating imaging sensor (3);
the gating imaging sensor (3) is an imaging device of the whole device and is used for converting a target laser echo signal received by the imaging lens (1) into an electric signal and outputting a three-dimensional image to the control processing module (10); the gating imaging sensor (3) is a photoelectric area array imaging sensor with high-speed opening and closing characteristics;
the receiving lens (4) is used for receiving a laser echo signal from a target and collecting an optical signal to the photoelectric detector (5);
the photoelectric detector (5) is a high-sensitivity high-gain photoelectric sensor and is used for converting a target laser echo signal received by the receiving lens (4) into an electric signal and outputting the electric signal to the control processing module (10);
the control processing module (10) comprises: the system comprises a synchronous processing unit, a searching and ranging processing unit, an image processing unit, a servo control unit and a central control unit;
the synchronous processing unit is used for generating two synchronous working time sequences, the first time sequence is a searching and ranging time sequence and is used for triggering and controlling the illumination laser (7), the photoelectric detector (5) and the searching and ranging processing unit, and the second time sequence is a gating imaging time sequence and is used for triggering and controlling the illumination laser (7), the gating imaging sensor (3) and the image processing unit;
the searching and ranging processing unit is used for searching and ranging a target according to a searching and ranging time sequence and a target laser echo signal of the photoelectric detector (5); transmitting the measured target distance value to a central control unit;
the image processing unit is used for controlling the work of the gating imaging sensor (3) according to the gating imaging time sequence, automatically gating and imaging the target, processing a video signal sent back by the gating imaging sensor (3), extracting the target and processing a three-dimensional image, and sending a processing result to the central control unit for display processing;
the servo control unit is used for controlling and driving the azimuth servo mechanism (8) and the pitch servo mechanism (9);
the central control unit is used for completing the cooperation and control of all modules of the device, receiving a human-computer interaction instruction and transmitting data of the control processing module;
the method comprises the following steps:
step 1) calculating an effective search field angle gamma of the device;
step 2) under the control of the servo control unit, the pitching servo mechanism (9) points to a specified pitching angle, and the azimuth servo mechanism (8) drives the imaging module (12) to rotate at a speed v along the azimuth directionRRotating at a constant speed;
step 3), after the device rotates by gamma angle along the direction, searching, ranging, gating and imaging are carried out once until the device rotates along the direction to complete 360-degree all-directional area scanning;
the specific process of calculating the effective search field angle γ of the device in the step 1) is as follows:
the azimuthal rotation angle β of the device is:
β＝vRτy(1)
τytime intervals between two adjacent laser pulses are searched for ranging and gated imaging; v. ofRThe rotation speed of the imaging module (12) along the azimuth direction;
thus, the effective field angle phi of the gated imaging sensor (3) in the device is:
φ＝α-2β＝α-2vRτy(2)
α is the beam divergence angle of the laser beam emitted by the illumination laser (7), the search field angle gamma obtained by each gate imaging is:
γ＝φ(1-2η)＝(α-2vRτy)(1-2η) (3)
wherein η is the overlap ratio of the effective field angles of the gated imaging sensor (3).
2. The area array target search scan imaging method of claim 1, wherein the apparatus further comprises: and the external electrical interface (11) is used for receiving a human-computer interaction instruction and transmitting data of the control processing module.
3. The area array target searching, scanning and imaging method according to claim 1, wherein the imaging module (12) further comprises two optical filters (2), one optical filter (2) is arranged between the imaging lens (1) and the gating imaging sensor (3), and the other optical filter (2) is arranged between the receiving lens (4) and the photodetector (5) and is used for filtering background light and interference light except for laser echo signals and improving an image signal-to-noise ratio and a detection signal-to-noise ratio.
4. The area array target search scan imaging method according to claim 1, wherein the step 3) specifically comprises:
step 301), under the coordination of a central control unit, a synchronous processing unit sends out a search ranging time sequence to trigger an illumination laser (7) to emit laser pulses, and the search ranging processing unit simultaneously records the trigger time of the illumination laser;
step 302) after the laser pulse meets the target in the transmission process, the laser pulse is reflected by the target to form a target laser echo signal, the target laser echo signal is received by the receiving lens (4) and coupled to the photoelectric detector (5), and the photoelectric detector (5) converts the target laser echo signal into electricityThe pulse signal is transmitted to a search ranging processing unit, and the search ranging processing unit obtains the time difference tau between the triggering time of the illumination laser (7) and the receiving time of the target laser echo signal by the photoelectric detector (5)RThereby obtaining the distance R of the target:
in the formula, τRC is the time difference from the laser emission to the reflection by the target back to the photodetector (5), and c is the speed of light;
the searching and ranging processing unit sends the target distance R to the central control unit;
step 303), after receiving the target distance R, the central control unit generates a gating delay tau, the synchronous processing unit generates a gating imaging time sequence, the synchronous processing unit triggers the illumination laser (7) to emit laser pulses, controls the gating imaging sensor (3) to perform gating imaging on the target at the specified distance to obtain a target three-dimensional image, feeds the target three-dimensional image back to the image processing unit, forms a target three-dimensional image and target three-dimensional position information after image processing, and transmits the target three-dimensional image and the target three-dimensional position information to the central control unit for display processing;
when the target distance R is less than the maximum detection distance R of the gated imaging sensor (3)maxThe gating delay τ is:
when the target distance R is larger than the maximum detection distance R of the gating imaging sensor (3)maxAnd when the time is long or the target information does not exist, the gating delay tau is as follows:
wherein, tgFor the gate width: the gated imaging sequence comprises an illumination laser (7) trigger signal, a gated imaging sensor (3) switching signal and the time between its switching.
5. The area array target search scan imaging method according to claim 1, wherein the velocity v of the imaging module (12) in the azimuth direction in the step 2)RSatisfies the following conditions:
vR≤vI
wherein v isIIs the imaging speed of the gated imaging sensor (3).
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