CN115856835A - Laser radar control system for realizing zoom scanning imaging and control method thereof - Google Patents
Laser radar control system for realizing zoom scanning imaging and control method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of radar laser, in particular to a laser radar control system for realizing zoom scanning imaging, which comprises: the upper computer is used for sending a control signal; a control component for receiving and transmitting control signals; the transmitting module receives and executes the control signal, transmits the laser beam, and projects a part of formed laser beam to a target area; the receiving module preferentially receives the other part of the laser beam and transmits the laser beam to the control assembly for processing, the control assembly starts timing until the timing is finished after the receiving module receives the part of the laser beam reflected by the target area, the control assembly obtains timing information and carries out point cloud processing according to the timing information and the processed laser beam, and processed data are transmitted to the upper computer; the control assembly also controls the focal length of the transmitting module, so that a part of laser beams are scanned and imaged on a target area, and the control system can simultaneously meet the application requirements of low cost, good stability and high measurement precision.
Description
Technical Field
The invention relates to the technical field of radar laser, in particular to a laser radar control system for realizing zoom scanning imaging and a control method thereof.
Background
The LiDAR (Light Detection And Ranging) is a short for laser Detection And Ranging system, and analyzes information such as the size of reflection energy on the surface of a target object, the amplitude, the frequency And the phase of a reflection spectrum And the like by measuring the propagation distance between a sensor emitter And the target object, so as to present accurate three-dimensional structure information of the target object. The imaging scanning of the existing scanning laser radar system has the technical schemes of mechanical rotation type, mechanical rotating mirror type, micro-vibration mirror type (MEMS), phased array type OPA, electronic scanning type and the like.
The mechanical rotary type and mechanical rotating mirror type laser radar systems have scanning components and have the defects of high cost and low reliability; the MEMS laser radar system is developed based on a micro-vibration mirror structure, cannot well adapt to severe use environments, and is poor in reliability; the OPA scanning laser radar system technology is immature, and the application of the OPA scanning laser radar system is limited; the electronic scanning mode is difficult to meet the application requirements in terms of detection distance, frame rate and detection resolution.
Therefore, a laser radar control system that can satisfy the requirements of low cost, good stability and high measurement accuracy at the same time is needed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problem that the laser radar in the prior art cannot meet the application requirements of low cost, good stability and high measurement precision, the invention provides a laser radar control system for realizing zoom scanning imaging, which can meet the application requirements of low cost, good stability and high measurement precision.
The technical scheme adopted by the invention for solving the technical problems is as follows: a lidar control system for implementing zoom scanning imaging, comprising:
the upper computer is used for sending a control signal;
the control assembly is connected with the upper computer and used for receiving and transmitting the control signal;
the transmitting module is connected with the control assembly, executes the control signal after receiving the control signal, transmits a laser beam and projects a part of the formed laser beam to a target area;
the receiving module is connected with the control assembly, the receiving module preferentially receives the other part of the laser beams and transmits the laser beams to the control assembly for processing, the control assembly starts timing until the receiving module receives one part of the laser beams reflected by the target area, the control assembly finishes timing, the control assembly processes the reflected part of the laser beams and obtains timing information, laser radar point cloud processing is carried out according to the timing information and processed signals of the laser beams, and processed data are transmitted to an upper computer;
wherein the control component further controls the focal length of the emission module so that a part of the laser beam is scanned and imaged on the target area.
Further, in particular, the transmission module comprises:
the laser is connected with the control assembly, receives the control signal transmitted by the control assembly and controls the laser to emit the laser beam;
the collimating lens is arranged on an output light path of the laser, receives the laser beam and collimates the laser beam;
the spectroscope is arranged on an output light path of the collimating lens, and is used for acquiring the collimated laser beam, splitting the laser beam and dividing the laser beam into two parts;
the variable focal length lens is arranged on a transmission output light path of the spectroscope and is used for processing a part of the laser beams, and the control component is connected with the variable focal length lens and is used for controlling the focal length of the variable focal length lens;
and the emission light path is arranged on the output light path of the variable-focus lens, and the processed part of the laser beam is emitted towards a target area through the emission light path.
Further, specifically, the receiving module includes:
a photodetector that preferentially receives another portion of the laser beam reflected by the beam splitter;
a receiving optical path, which receives a part of the laser beam reflected by the target area and transmits the reflected part of the laser beam to the photodetector;
the photoelectric detector is connected with the control assembly and converts the two received laser beams into electric signals according to the receiving priority order and transmits the electric signals to the control assembly.
Further, in particular, the control assembly comprises: the device comprises a main control module, a focal length control module, a laser driving module, a timer and a processing module;
the focal length control module, the laser driving module, the processing module and the timer are all connected with the main control module;
the focal length control module is connected with the variable focal length lens;
the laser driving module is connected with the laser;
the photoelectric detector and the timer are both connected with the processing module;
further, specifically, the focal length control module controls the focal length of the variable focal length lens, so that the laser beam output by the variable focal length lens is scanned and imaged on the target area.
Further, specifically, the control assembly further includes a power module, and the power module is configured to provide an operating voltage.
Further, specifically, a first window sheet is further arranged on the surface of the emission light path facing the target area.
Further, specifically, a second window sheet is further arranged on the surface of the receiving light path facing the target area.
Further, the control device comprises a communication module, and the control assembly is in signal connection with the upper computer through the communication module.
A laser radar control method for realizing zoom scanning imaging adopts the laser radar control system for realizing zoom scanning imaging.
The laser radar control system for realizing zoom scanning imaging has the advantages that mechanical scanning components such as a rotating mirror and a vibrating mirror are not arranged, so that the scanning effect can be realized, the realization cost is low, and the stability is good; the focal length is controlled through the control assembly, the scanning imaging effect of the laser radar is achieved, the solid stating degree of the laser radar is improved, and the measurement precision is high.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a further embodiment of the present invention.
Fig. 3 is a schematic diagram of a detailed connection structure of modules according to a first embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an additional communication module according to an embodiment of the present invention.
Fig. 5 is a schematic arrangement diagram of a laser according to a first embodiment of the invention.
Fig. 6 is a schematic diagram of a scanning principle of the variable focal length lens according to the first embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a focal length control module according to an embodiment of the invention.
In the figure 1, an upper computer; 2. a control component; 3. a transmitting module; 4. a receiving module; 5. a target area; 6. a communication module;
21. a main control module; 22. a focal length control module; 23. a laser driving module; 24. a timer; 25. a processing module; 221. a processor; 222. a position sensor; 223. a voltage regulator;
31. a laser; 32. a collimating lens; 33. a beam splitter; 34. a variable focal length lens; 35. an emission light path;
41. a photodetector; 42. an optical path is received.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The first embodiment is as follows: as shown in fig. 1 to 4, which are first embodiments of the present invention, a laser radar control system for implementing zoom scanning imaging includes: the upper computer 1 is used for sending a control signal; the control component 2 is connected with the upper computer 1 and used for receiving and transmitting control signals; the emitting module 3 is connected with the control component 2, the emitting module 3 receives the control signal, the emitting module 3 executes the control signal, the emitting module 3 emits the laser beam, and a part of the formed laser beam is projected to the target area 5; the receiving module 4 is connected with the control component 2, the receiving module 4 preferentially receives the other part of the laser beams and transmits the laser beams to the control component 2 for processing, the control component 2 starts timing, the control component 2 finishes timing until the receiving module 4 receives a part of the laser beams reflected by the target area 5, the control component 2 processes the reflected part of the laser beams and obtains timing information, laser radar point cloud processing is carried out according to the timing information and signals of the processed laser beams, and processed data are transmitted to the upper computer 1; wherein the control component 2 also controls the focal length of the emitting module 3, so that a part of the laser beam is scanned and imaged on the target area 5. Compared with the prior art, the laser radar control system for realizing zoom scanning imaging does not have mechanical scanning components such as a rotating mirror, a vibrating mirror and the like, can realize the scanning effect, and has low realization cost and good stability; through control assembly 2 control focus, reach laser radar's scanning formation of image effect, promote laser radar's solid attitude degree, measurement accuracy is high.
In the first embodiment, the transmitting module 3 includes: the laser 31 is connected with the control component 2, receives the control signal transmitted by the control component 2 and controls the laser 31 to emit a laser beam; a collimating lens 32 disposed on the output optical path of the laser 31, receiving the laser beam, and collimating the laser beam; a beam splitter 33 disposed on an output light path of the collimating lens 32, for obtaining and splitting the collimated laser beam, and splitting the laser beam into two parts; the variable focal length lens 34 is arranged on the transmission output light path of the spectroscope 33, the variable focal length lens 34 is used for processing a part of laser beams, and the control component 2 is connected with the variable focal length lens 34 and used for controlling the focal length of the variable focal length lens 34; and an emission optical path 35 arranged on an output optical path of the variable focusing lens 34, and emitting a part of the processed laser beam toward the target region 5 through the emission optical path 35.
The laser 31 is selected from, but not limited to, an edge-emitting laser EEL, a vertical cavity surface-emitting laser VCSEL, or a fiber laser, a laser beam emitted by the laser 31 may be a single laser beam emitted by a single laser light source, or a combination of multiple laser beams emitted by multiple laser light sources, an emission timing sequence of the multiple laser beams may be flexibly set as required, the combination of the multiple laser beams is a laser array composed of multiple lasers 31, specifically referring to fig. 5, in fig. 5, I is 1 laser 31, ii is a single-column laser group composed of multiple lasers 31, III is a double-column laser group parallel arrangement, IV is a double-column laser group staggered arrangement, V is a multiple-laser group parallel arrangement, and VI is a multiple-column laser group staggered arrangement. The laser beam emitted by the laser 31 may be a fundamental mode beam or a higher-order mode beam, the mode of the laser beam depends on the selected laser 31, and the energy distribution of the laser beam may be arbitrary.
The collimating lens 32 is used for reducing the divergence angle of the laser beam and homogenizing the energy distribution of the laser spot, and the collimating lens 32 can be arranged on the output light path of the laser 31 as an independent device or consists of a plurality of laser collimating lens sheets; in some embodiments, the collimating lens 32 is integrally disposed in the laser 31 and disposed on the output optical path of the laser 31, forming an integrated design, which improves the compactness of the structure.
The surface of the emission light path 35 facing the target area 5 is further provided with a first window sheet as an exit window of the laser signal, which has the functions of increasing the laser beam transmittance, eliminating interference light, preventing dust and water, and the like, and further improves the measurement accuracy; the emission light path 35 uses, but is not limited to, a mirror or a lens, and in some embodiments, an anti-reflection or anti-reflection filter is further disposed on the emission light path 35, so as to improve the measurement accuracy.
In the first embodiment, the number of the variable focusing lenses 34 may be multiple to achieve a wider field of view scanning, each variable focusing lens 34 is connected to the control assembly 2, the focal length of each variable focusing lens 34 is controlled by the control assembly 2, each variable focusing lens may have the same focal length or different focal lengths, different field of view scanning ranges are flexibly achieved through a combination of different focal lengths, and the control assembly 2 may control the focal length of each variable focusing lens 34 independently or simultaneously control the focal lengths of all the variable focusing lenses 34. Each of the variable focusing lenses 34 may be arranged coaxially or off-axis to accommodate different field scanning effects.
When the control unit 2 controls the variable focusing lens 34 by the transmission voltage signal, the transmission voltage signal may be a periodic transmission voltage signal or an aperiodic transmission voltage signal, so that the frequency of the laser signal can be flexibly controlled. The control component 2 controls the focal length of the focal length variable focusing lens 34 through the voltage signal, and the focal length of the focal length variable focusing lens 34 synchronously feeds back the focal length signal to the control component 2 to complete the focal length control. Specifically, as shown in fig. 6, from the relationship between the lens curvature and the focal length, it can be known that:
wherein f represents the focal length, n represents the refractive index of the variable focusing lens 34, r1, r2 represents the radius of curvature of two surfaces of the variable focusing lens 34, and the radius of curvature of the variable focusing lens 34 can be changed by a voltage signal, so as to realize the change of the focal length f and realize the scanning effect in the target space.
In the first embodiment, the receiving module 4 includes: a photodetector 41, wherein the photodetector 41 preferentially receives the other part of the laser beam reflected by the beam splitter 33; a receiving optical path 42, where the receiving optical path 42 receives a part of the laser beam reflected by the target area 5 and transmits the reflected part of the laser beam to the photodetector 41; the photodetector 41 is connected to the control module 2, and the photodetector 41 converts the two received laser beams into electrical signals according to the receiving priority order and transmits the electrical signals to the control module 2.
The photodetector 41 may be one or a combination of Avalanche Photodiodes (APDs), single photon avalanche photodiodes (SPADs), silicon photomultipliers (sipms), and other photodetectors 41 for converting the received laser beam into an electrical signal.
A second window sheet is further arranged on the surface of the receiving light path 42 facing the target area 5, so that the effects of increasing the transmittance of laser beams, eliminating interference light, preventing dust and water and the like are achieved, and the measurement precision is further improved; the receiving optical path 42 uses, but is not limited to, a mirror or a lens, and in some embodiments, the receiving optical path 42 further has an anti-reflection or anti-reflection filter, so as to improve the measurement accuracy.
It should be noted that, the first window piece and the second window piece may be configured as the same piece, or two pieces may be separately disposed, in some embodiments, the first window piece and the second window piece may also be configured to have a heating function, and both the surfaces of the first window piece and the second window piece are subjected to hardness treatment and hydrophobic and oleophobic treatment, so as to ensure that the hardness of the first window piece and the second window piece is at the same time, so that the surfaces of the first window piece and the second window piece are clean and are not easy to be dirty, so that the laser beam can be effectively transmitted and transmitted, further improve the measurement accuracy of the control system, and ensure the stability of the control system.
In the first embodiment, the control assembly 2 includes: a main control module 21, a focal length control module 22, a laser driving module 23, a timer 24 and a processing module 25; the focal length control module 22, the laser driving module 23, the processing module 25 and the timer 24 are all connected with the main control module 21; the focal length control module 22 is connected with the variable focal length lens 34; the laser driving module 23 is connected with the laser 31; the photodetector 41 and the timer 24 are both connected to the processing module 25.
The main control module 21 is configured to receive and process a control signal sent by the upper computer 1, the main control module 21 controls the focal length control module 22 and the laser driving module 23 based on the control signal, the laser driving module 23 is configured to drive the laser 31 to emit laser pulses, the emitted laser beam may be laser pulses with wavelengths of 905nm, 1550nm, and other wavelengths, the focal length control module 22 controls the focal length of the variable focal length lens 34, so that the laser beam output by the variable focal length lens 34 scans and images on the target area 5, specifically, the focal length control module 22 controls the focal length of the variable focal length lens 34 by adjusting the voltage, the processing module 25 is configured to receive and process an electrical signal sent by the photodetector 41, the processing module 25 further transmits the electrical signal to the timer 24, the timer 24 obtains timing information according to the electrical signal, the timer 24 obtains main control timing information, the timing information is the flight time of the laser beam, the processing module 25 further transmits the processed electrical signal to the main control module 21, the timer 24 transmits the obtained timing information to the main control module 21, the main control module 21 performs laser radar data processing based on the processed electrical signal and the main control information, calculates an echo signal of each laser signal, and further calculates the echo intensity of a single point cloud transmission range, and constitutes a whole range of the point cloud information, and the whole cloud point cloud of the whole field of the whole cloud 1.
It should be noted that the main control module 21 performs distance measurement by using a time of flight (TOF) method during calculation.
Specifically, as shown in fig. 7, the focal length control module 22 includes a processor 221, a position sensor 222, and a voltage regulator 223, the processor 221 is connected to the main control module 21, the position sensor 222 and the voltage regulator 223 are both connected to the processor 221, the position sensor 222 and the voltage regulator 223 are also both connected to the variable focusing lens 34, the position sensor 222 collects a position signal of the variable focusing lens and transmits the position signal to the processor 221, when the main control module 21 sends a control signal, the processor 221 receives the control signal, and generates a signal to the voltage regulator 223 according to the control signal and the position signal, the voltage regulator 223 processes the signal and converts the signal into a voltage signal to the variable focusing lens 34, thereby controlling the focal length of the variable focusing lens 34, achieving a scanning imaging effect of the laser radar, improving a solid state degree of the laser radar, and improving measurement accuracy.
In the first embodiment, the control assembly 2 further includes a power supply module, and the power supply module is configured to provide an operating voltage for supplying power to each module.
In the first embodiment, the upper computer 1 is an external host, a computer host or an automatic driving area controller of a laser radar system, the laser radar control system further comprises a communication module 6, the control component 2 is in signal connection with the upper computer 1 through the communication module 6, the communication module 6 is not limited to a wireless communication module 6, the wireless communication module 6 is preferably selected, and connection of a wire harness between the upper computer 1 and the control component 2 can be reduced.
In the first embodiment, the control assembly 2 further comprises a diagnostic module for identifying faults and failure causes of the lidar.
The laser radar control system for realizing zoom scanning imaging is not provided with mechanical scanning components such as a rotating mirror and a vibrating mirror, can realize a scanning effect, and has low realization cost and good stability; through control assembly 2 control focus, reach laser radar's scanning formation of image effect, promote laser radar's solid attitude degree, measurement accuracy is high.
Example two: based on the same inventive concept as that of the laser radar control system for realizing zoom scanning imaging in the first embodiment, the invention also provides a laser radar control method for realizing zoom scanning imaging, the control method adopts the laser radar control system for realizing zoom scanning imaging, and the control method comprises the following steps:
step S1: the upper computer 1 sends a control signal to the control component 2;
step S2: the control component 2 receives the control signal and transmits the control signal to the transmitting module 3;
and step S3: the emitting module 3 receives the control signal, the emitting module 3 executes the control signal to emit the laser beam, and a part of the formed laser beam is projected to the target area 5;
and step S4: the receiving module 4 preferentially receives another part of the laser beam and transmits the laser beam to the control component 2 for processing, the control component 2 starts timing, the timing of the control component 2 is finished after the receiving module 4 receives a part of the laser beam reflected by the target area 5,
step S5: the control component 2 acquires timing information, performs laser radar point cloud processing according to the timing information and the processed laser signals, and transmits the processed data to the upper computer 1.
In step S3, the control component 2 further controls the focal length of the emitting module 3 to ensure that a portion of the laser beam is scanned and imaged on the target area 5.
Various changes and specific examples of a lidar control system for implementing zoom scanning imaging in the first embodiment are also applicable to the lidar control method for implementing zoom scanning imaging in the present embodiment, and through the foregoing detailed description of a lidar control system for implementing zoom scanning imaging, a lidar control method for implementing zoom scanning imaging in the present embodiment is clearly known to those skilled in the art, so for the sake of brevity of the description, details are not described here.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A lidar control system configured to implement zoom scanning imaging, comprising:
the upper computer (1) is used for sending a control signal;
the control assembly (2) is connected with the upper computer (1) and is used for receiving and transmitting the control signal;
the transmitting module (3) is connected with the control assembly (2), the transmitting module (3) executes the control signal after receiving the control signal, the transmitting module (3) transmits a laser beam, and a part of the formed laser beam is projected to a target area (5);
the receiving module (4) is connected with the control assembly (2), the receiving module (4) preferentially receives the other part of the laser beams and transmits the laser beams to the control assembly (2) for processing, the control assembly (2) starts timing until the receiving module (4) receives one part of the laser beams reflected by the target area (5), the control assembly (2) finishes timing, the control assembly (2) processes the reflected part of the laser beams and obtains timing information, laser radar point cloud processing is carried out according to the timing information and processed signals of the laser beams, and processed data are transmitted to the upper computer (1);
wherein the control assembly (2) further controls the focal length of the emitting module (3) such that a portion of the laser beam is scanned and imaged on the target area (5).
2. Lidar control system for performing variable focal length scanning imaging according to claim 1, wherein said transmit module (3) comprises:
the laser (31) is connected with the control assembly (2), receives the control signal transmitted by the control assembly (2), and controls the laser (31) to emit the laser beam;
the collimating lens (32) is arranged on an output light path of the laser (31), receives the laser beam and collimates the laser beam;
a beam splitter (33) arranged on an output optical path of the collimating lens (32) to obtain the collimated laser beam and split the laser beam into two parts;
the variable-focus lens (34) is arranged on the transmission output light path of the spectroscope (33), the variable-focus lens (34) is used for processing a part of the laser beams, and the control component (2) is connected with the variable-focus lens (34) and used for controlling the focal length of the variable-focus lens (34);
and the emission light path (35) is arranged on the output light path of the variable-focus lens (34), and a part of the processed laser beam is emitted towards the target area (5) through the emission light path (35).
3. Lidar control system for enabling variable focal length scanning imaging according to claim 2, wherein said receiving module (4) comprises:
a photodetector (41), said photodetector (41) preferentially receiving another portion of said laser beam reflected by said beam splitter (33);
a receiving optical path (42), wherein the receiving optical path (42) receives a part of the laser beam reflected by the target area (5) and transmits the reflected part of the laser beam to the photoelectric detector (41);
the photoelectric detector (41) is connected with the control component (2), and the photoelectric detector (41) converts the two received laser beams into electric signals according to the receiving priority sequence and transmits the electric signals to the control component (2).
4. Lidar control system for performing zoom scanning imaging according to claim 3, wherein said control module (2) comprises: the device comprises a main control module (21), a focal length control module (22), a laser driving module (23), a timer (24) and a processing module (25);
the focal length control module (22), the laser driving module (23), the processing module (25) and the timer (24) are all connected with the main control module (21);
the focal length control module (22) is connected with the variable focal length lens (34);
the laser driving module (23) is connected with the laser (31);
the photodetector (41) and the timer (24) are both connected to the processing module (25).
5. The lidar control system for performing variable focal length scanning imaging of claim 4, wherein the focal length control module (22) controls the focal length of the variable focal length lens (34) such that the output laser beam of the variable focal length lens (34) is scanned and imaged on the target region (5).
6. Lidar control system for performing variable focal length scanning imaging according to claim 4, wherein said control module (2) further comprises a power supply module for providing an operating voltage.
7. Lidar control system for performing zoom scanning imaging according to claim 2, wherein a first window plate is further disposed on a surface of said emission optical path (35) facing said target area (5).
8. Lidar control system for performing variable focal length scanning imaging according to claim 3, wherein a second window plate is further arranged on the surface of said receiving optical path (42) facing said target area (5).
9. The lidar control system for effecting variable focal length scanning imaging according to claim 1, further comprising a communication module (6), wherein said control assembly (2) is in signal connection with said host computer (1) via said communication module (6).
10. A lidar control method for performing zoom scanning imaging, wherein the lidar control system for performing zoom scanning imaging according to any of claims 1 to 9 is employed in the control method.
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| CN116068568A (en) * | 2023-04-07 | 2023-05-05 | 天津宜科自动化股份有限公司 | Data processing system for obtaining object distance |
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