CN110058259A - A kind of pulse laser active gated sweep 3D imaging device and method - Google Patents
A kind of pulse laser active gated sweep 3D imaging device and method Download PDFInfo
- Publication number
- CN110058259A CN110058259A CN201810051487.4A CN201810051487A CN110058259A CN 110058259 A CN110058259 A CN 110058259A CN 201810051487 A CN201810051487 A CN 201810051487A CN 110058259 A CN110058259 A CN 110058259A
- Authority
- CN
- China
- Prior art keywords
- laser
- echo
- linear
- pulse
- imaging device
- 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.)
- Pending
Links
Classifications
-
- 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
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- 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
The invention discloses a kind of pulse laser active gated sweep 3D imaging device and methods, including camera unit, linear laser, horizontal revolving stage, controller and processor.Wherein, camera unit includes optical lens, narrow band filter slice, storbing gate, camera shooting trigger.Linear laser can be in the linear pulse laser light beam of transmitting certain frequency.Controller is used to be assigned in different distance slice in sometime interior multiple laser pulse light beams of setting according to certain rule, the storbing gate is controlled to open at the respective pulses laser beam echo moment, linear laser transmitting laser beam is simultaneously got on object under test, reflection echo is in camera unit and is imaged, and obtains the distance of object under test according to formed image.The advantages that present invention can significantly weaken influence of the rear scattering of space cloud particle to laser scanning and ranging, solve laser scanning and ranging to the defect of ambient air conditions high request, be provided simultaneously with continuous scanning imaging, big investigative range and high s/n ratio.
Description
Technical field
The present invention relates to a kind of laser scanning imaging fields more particularly to a kind of pulse laser active gated sweep 3D to be imaged
Device and method.
Background technique
In recent years, emerging with pilotless automobile and robot, as must accessory, range laser radar technology
High speed development.It wherein, is even more rapidly to exist using CMOS or CCD camera as the cost laser radar of information acquisition unit
It rises in market.Currently, the range laser radar of mainstream all has high request to environment on the market.Once mist, haze weather are encountered, by
Molecule in air has serious rear scattering, and decaying of the laser beam of laser transmitting in air can be very tight
Weight, causes video camera imaging picture to whiten, can not accurately scan object under test.
Summary of the invention
It is an object of the invention to the technology used existing product on the market there are aiming at the problem that, a kind of pulse is provided
Laser active gated sweep 3D imaging device and method, repacking, which is set, can be improved laser radar and penetrates energy under the conditions of haze
It is excellent to be provided simultaneously with continuous scanning imaging, big investigative range and high s/n ratio etc. for power, the scanning ranging range of expansion of laser light radar
Point.
The technical solution adopted by the present invention are as follows:
A kind of pulse laser active gated sweep 3D imaging device and method, which is characterized in that including camera unit (1), linear
Laser (2), horizontal revolving stage (3), controller (4) and processor (5)；Wherein, the component for including in the camera unit (1) is pressed
Successively according to sequencing are as follows: be mounted on the optical lens (7) of front end, for the narrow band filter slice (8) of optically filtering, for selecting
Lead to the storbing gate (9) of laser pulse and the camera shooting trigger (6) for output digital image；The linear laser (2) can be
Emit the linear pulse laser light beam of certain frequency；Controller (4) controller be used for setting sometime in it is more
A laser pulse light beam is assigned in different distance slice according to certain rule, while controlling the storbing gate (9) in same a period of time
In open at the time of corresponded to each pulsed laser beam echo；The horizontal revolving stage (3) can 360 ° of level rotation, institute
It states camera unit (1) and the linear laser (2) is fixed on jointly on horizontal revolving stage (3)；Linear laser (2) transmitting
Laser beam is simultaneously got on object under test, and laser beam is reflected into the camera unit (1) by object under test and is imaged, according to
Formed image obtains the distance of determinand.
The laser beam of linear laser (2) output is near-infrared light beam, goes out light subtended angle not less than 90 °.
The pulsed laser beam of the linear laser (2) output in one cycle optical power be it is gradually incremental, i.e.,
Meet:
P(n-1)<P(n)<P(n+1)
Wherein, P(n-1)、P(n)、P(n+1)Respectively t(n-1)、t(n)、t(n+1)The pulsed laser light of the transmitting of linear laser described in moment
The power of beam.
The imaging sensor used in the camera shooting trigger (6) of the camera unit (1) is CMOS chip or CCD chip.
The optical field of view angle of the optical lens (7) is consistent with the output subtended angle of the linear laser (2).
The gating wavelength of the narrow band filter slice (8) is consistent with the output beam wavelength of the linear laser (2).
A kind of high-frequency pulsed lasers active gated sweep distance measuring method, which is characterized in that ranging step is as follows:
Step 1, the controller (4) controls the linear laser (2) using δ t as time interval emission pulse laser light beam,
The corresponding detection range of echo at t1 moment is set as s1, the corresponding detection range of the echo at t2 moment is s2, and so on, directly
To the target detected in this direction；
Step 2, the controller (4) controls the storbing gate (9) and opens at the time of each pulsed laser beam echo corresponds to
It opens, is remained turned-off in other times；In the storbing gate (9) start-up time, echo passes through optical lens (7) and narrow band filter slice
(8), it is finally imaged on camera shooting trigger；
Step 3, the location of pixels that the echo imaging at corresponding moment on analysis CMOS chip is calculated by the processor (5) can
It learns, if this echo is space, cloud particle must reflect, and be invalid information；It otherwise, then can be by processor (5) according to triangle
The distance for calculating object under test is sent out in ranging；
Step 4, terminate when the direction has detected, rotated by the processor (5) controlled level turntable to next angle, repeated
Above step, until the horizontal revolving stage (3) rotate a circle.
Compared with prior art, the beneficial effects of the present invention are:
The present invention by pulse laser emission pulse laser light beam, by the tranmitting frequency of controller control pulse laser and
The opening and closing time of storbing gate, so that opening storbing gate, other moment at the emission pulse laser light beam corresponding echo moment
Storbing gate is kept to close.Then processor is by calculating the object that the location of pixels being imaged on CMOS chip analysis detects
Cloud particle or object to be measured, and processing is screened out to the imaging of cloud particle, only retain effective information.The invention device is logical
Crossing the scanning ranging step method can achieve the effect for improving signal-to-noise ratio, and the invention device is allowed to have cloud particle
In the environment of still can effectively be scanned ranging 3D imaging, the defect of the similar product existing on the market made up.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of pulse laser active gated sweep 3D imaging device of the present invention.
Fig. 2 is a kind of operation principle schematic diagram of pulse laser active gated sweep 3D imaging device of the present invention.
Fig. 3 is a kind of hot spot schematic diagram of pulse laser active gated sweep 3D imaging device of the present invention.
Specific embodiment
To facilitate the understanding of the present invention, below with reference to relevant drawings to the structure of apparatus of the present invention, workflow and
Working principle is described more fully.
Refering to what is shown in Fig. 1, a kind of pulse laser active gated sweep 3D imaging device, structure includes camera unit
(1), linear laser (2), horizontal revolving stage (3), controller (4) and processor (5).Camera unit (1) and linear laser (2)
It is mounted on horizontal revolving stage (3) respectively.The component for including in camera unit (1) is successively are as follows: optical lens (7), narrowband filter
Wave plate (8), storbing gate (9) and camera shooting trigger (6).
A kind of pulse laser active gated sweep 3D imaging device, workflow are as follows:
The signal of communication (15) that controller (4) is given according to processor (5), output control signal (13) control linear laser
(2) with certain frequency emission pulse laser light beam, and on the basis of the pulsed laser beam sending moment, prolong according to preset
When to storbing gate (9) send control signal (14), control with the corresponding pulses laser beam echo moment open storbing gate, echo
It passes sequentially through optical lens (7), after narrow band filter slice (8) and storbing gate (9), is irradiated on CMOS trigger (6), camera unit
(1) imaging is completed.
Vision signal (16) is transferred to processor (5) by camera unit (1), and processor (5) is analyzed by preset formula
Vision signal (16) analyzes this echo imaging, with confirm this pulsed laser light beam scanning is object under test or sky
Cloud particle in gas then determines to be invalid information, otherwise is effective information, and further output is logical if it is cloud particle
Believe that signal (15) to controller (4), execute the transmitting of pulsed laser beam next time and the unlatching of storbing gate (9).In the party
Upwards after detection, processor (5) exports signal of communication (17) to horizontal revolving stage (3), it is made to carry camera unit (1) and line
Shape laser (2) rotates a certain angle.
Shown in referring to figs. 2 and 3, a kind of pulse laser active gated sweep 3D imaging device, working principle is such as
Under:
Due to the rear scattering process of the cloud particle of air, pulsed laser beam in advancement can be ceaselessly by cloud
Grain reflection, generates echo.Assuming that linear laser emits a branch of pulsed laser light light beam M, in light beam direction of advance at the t0 moment
The upper cloud particle positioned at A, B, C point can generate respectively generates echo-signal Ma、Mb、Mc, these echo-signals arrival camera unit
At the time of respectively ta、tb、tc.Since the storbing gate in controller control camera unit is corresponding in this subpulse laser beam
Moment tbMoment opens storbing gate, tcMoment closes, so, tbEcho before moment can't be imaged on camera unit, only
There is tbTo tcEcho in this period of time can just be imaged on camera unit.In this way, the space dirt before eliminating the need for position B
Interference of the scattering to imaging after mist particle.
For the working principle of device further elucidated above, generation is scattered after the cloud particle of A, B, location of C can be enabled
Location of pixels of the echo imaging on CMOS chip is respectively Pa、Pb、Pc, and calculated by geometry it is known that Pa、Pb、
PcLocation of pixels on CMOS chip is fixed.In the device course of work, if the position of the echo-wave imaging at ta moment
For Pa, tbThe position of the echo-wave imaging at moment is Pb, tcThe position of the echo-wave imaging at moment is Ic,IcNot equal to Pc.Then it is found that
The imaging of location A and B location is all cloud particle echo-wave imaging, and the imaging of location of C is object under test echo-wave imaging.It can sentence
It is fixed, it is filled with cloud particle between A and B, without object under test, can be used as invalid image, but there are to be measured between B and C
Object needs further to measure scanning, obtains its 3D data information.
In addition, the physical characteristic due to atmosphere is more complicated.Light propagate in an atmosphere it is refined this will not be as in a vacuum
Undamped propagation.Because the light intensity of absorption and catadioptric of the atmosphere to light beam, laser beam can be produced with the increase of transmission range
Raw decaying, decaying estimation formula are as follows:
I=I0× exp(-a × d)
Wherein, d is light penetration depth, and a is absorption coefficient, I0It is initial beam intensity.Therefore, it is defeated to control linear laser for controller
The power of pulsed laser beam out increases with the increase of irradiation distance, it may be assumed that pulsed laser beam light in one cycle
Power is gradually incremental, satisfaction:
P(n-1)<P(n)<P(n+1)
Wherein, P(n-1)、P(n)、P(n+1)Respectively t(n-1)、t(n)、t(n+1)The pulsed laser light of the transmitting of linear laser described in moment
The power of beam.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. a kind of pulse laser active gated sweep 3D imaging device and method, which is characterized in that including camera unit (1), line
Shape laser (2), horizontal revolving stage (3), controller (4) and processor (5)；Wherein, the component for including in the camera unit (1)
Successively according to sequencing are as follows: be mounted on front end optical lens (7), for optically filtering narrow band filter slice (8), be used for
The storbing gate (9) of strobed laser pulse and camera shooting trigger (6) for output digital image；The linear laser (2) can be with
In the linear pulse laser light beam of transmitting certain frequency；Controller (4) controller be used for setting sometime in
Multiple laser pulse light beams are assigned in different distance slice according to certain rule, while controlling the storbing gate (9) same
It is opened at the time of correspondence in time with each pulsed laser beam echo；The horizontal revolving stage (3) can 360 ° of level rotation,
The camera unit (1) and the linear laser (2) are fixed on jointly on horizontal revolving stage (3)；Linear laser (2) hair
It penetrates laser beam and gets on object under test, laser beam is reflected into the camera unit (1) by object under test and is imaged, root
The distance of determinand is obtained according to formed image.
2. a kind of pulse laser active gated sweep 3D imaging device according to claim 1, which is characterized in that the line
The laser beam of shape laser (2) output is near-infrared light beam.
3. a kind of pulse laser active gated sweep 3D imaging device according to claim 1, which is characterized in that the line
The light subtended angle that goes out of the laser beam of shape laser (2) output is not less than 90 °.
4. a kind of pulse laser active gated sweep 3D imaging device according to claim 1, which is characterized in that the line
Shape laser (2) output pulsed laser beam in one cycle optical power be it is gradually incremental, that is, meet:
P(n-1)<P(n)<P(n+1)
Wherein, P(n-1)、P(n)、P(n+1)Respectively t(n-1)、t(n)、t(n+1)The pulse laser of linear laser described in moment (2) transmitting
The power of light beam.
5. a kind of pulse laser active gated sweep 3D imaging device according to claim 1, which is characterized in that described to take the photograph
As the interior imaging sensor used of the camera shooting trigger (6) of unit (1) is CMOS chip or CCD chip.
6. a kind of pulse laser active gated sweep 3D imaging device according to claim 1, which is characterized in that the light
The optical field of view angle for learning camera lens (7) is consistent with the output subtended angle of the linear laser (2).
7. a kind of pulse laser active gated sweep 3D imaging device according to claim 1, which is characterized in that described narrow
Gating wavelength with filter plate (8) is consistent with the output beam wavelength of the linear laser (2).
8. a kind of high-frequency pulsed lasers active gated sweep distance measuring method, which is characterized in that ranging step is as follows:
Step 1, the controller (4) controls the linear laser (2) using δ t as time interval emission pulse laser light beam,
The corresponding detection range of echo at t1 moment is set as s1, the corresponding detection range of the echo at t2 moment is s2, and so on, directly
To the target detected in this direction；
Step 2, the controller (4) controls the storbing gate (9) and opens at the time of each pulsed laser beam echo corresponds to
It opens, is remained turned-off in other times；In the storbing gate (9) start-up time, echo passes through optical lens (7) and narrow band filter slice
(8), it is finally imaged on camera shooting trigger；
Step 3, the location of pixels that the echo imaging of adjacent moment on analysis CMOS chip is calculated by the processor (5) are poor
Value, available, if this echo is space, cloud particle must reflect, and be invalid information；It otherwise, then can be by processor (5)
The distance of object under test is calculated according to range of triangle hair；
Step 4, when the difference in step 3 is zero, the characterization direction, which has detected, to be terminated, and controls water by the processor (5)
Flat turn platform is rotated to next angle, repeats above step, until the horizontal revolving stage (3) rotate a circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810051487.4A CN110058259A (en) | 2018-01-19 | 2018-01-19 | A kind of pulse laser active gated sweep 3D imaging device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810051487.4A CN110058259A (en) | 2018-01-19 | 2018-01-19 | A kind of pulse laser active gated sweep 3D imaging device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110058259A true CN110058259A (en) | 2019-07-26 |
Family
ID=67315677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810051487.4A Pending CN110058259A (en) | 2018-01-19 | 2018-01-19 | A kind of pulse laser active gated sweep 3D imaging device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110058259A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505661A (en) * | 2020-04-01 | 2020-08-07 | 威海市赢海通信技术有限公司 | Sea surface searching, illuminating and imaging device based on laser scanning imaging |
-
2018
- 2018-01-19 CN CN201810051487.4A patent/CN110058259A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505661A (en) * | 2020-04-01 | 2020-08-07 | 威海市赢海通信技术有限公司 | Sea surface searching, illuminating and imaging device based on laser scanning imaging |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108270970B (en) | Image acquisition control method and device and image acquisition system | |
| US10222204B2 (en) | High-speed 3D imaging system using continuous-wave THz beam scan | |
| CN105242280B (en) | Associated imaging device and method based on optical parameter process | |
| CN205175364U (en) | A laser profile scanning device for data acquisition | |
| CN107144546B (en) | Terahertz imaging method based on reflected time domain waveform windowing | |
| CN112731443B (en) | Three-dimensional imaging system and method for fusing single photon laser radar and short wave infrared image | |
| CN107713994A (en) | Multi-modal optical imaging system | |
| CN114545428B (en) | Single-pixel-single-photon detector-based tracking range laser radar device and method | |
| CN106770311B (en) | A kind of pretreatment of crystal laser and point-to-point damage measure device and test method | |
| CN101408618A (en) | Wide light beam illumination three-dimensional gating imaging system of airborne laser radar | |
| EP0310470A1 (en) | Process and apparatus for localising and destroying anatomical anomalies by means of elastic waves with target tracking and automatic triggering means | |
| CN105759280A (en) | Laser triangulation system safe for human eyes | |
| CN107238842A (en) | A kind of face battle array target search scanned imagery device and method | |
| CN107942341A (en) | A kind of Imaging Detection System and method for being used to cover target | |
| JP6804949B2 (en) | Controls, measuring devices, and computer programs | |
| CN105195468A (en) | Method and device for online cleaning and detection of first lens of fusion device | |
| CN108415037A (en) | A kind of infrared and visual signature obstacle avoidance apparatus and control method | |
| CN110058259A (en) | A kind of pulse laser active gated sweep 3D imaging device and method | |
| CN113625243A (en) | Method and device for improving image signal-to-noise ratio of laser radar in severe weather | |
| CN108508453A (en) | Laser detection equipment and method | |
| CN116243332B (en) | Area array laser radar three-dimensional imaging simulation modeling method and system | |
| CN106291583B (en) | Transverse scanning synthesis method for large-visual-angle distance gating laser imaging | |
| Hancock et al. | High-performance laser range scanner | |
| CN209460409U (en) | A kind of underwater laser images reconnaissance equipment | |
| CN208432736U (en) | A kind of infrared and visual signature obstacle avoidance apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190726 |
|
| WD01 | Invention patent application deemed withdrawn after publication |