CN108226902A - A kind of face battle array lidar measurement system - Google Patents

A kind of face battle array lidar measurement system Download PDF

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CN108226902A
CN108226902A CN201810165771.4A CN201810165771A CN108226902A CN 108226902 A CN108226902 A CN 108226902A CN 201810165771 A CN201810165771 A CN 201810165771A CN 108226902 A CN108226902 A CN 108226902A
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laser
scanning mechanism
electric signal
angle
light source
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CN108226902B (en
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周晓庆
贾相飞
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Hefei Ruishi Optoelectronic Technology Co ltd
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Beijing Ritsson Sensing Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The embodiment of the invention discloses a kind of face battle array lidar measurement systems.The system includes：Laser light source module, photodetector, transmitting camera lens, receives camera lens, spectroscope, two-dimensional position detector, control module and computing module at two-dimentional scanning mechanism；Control module is connect respectively with laser light source module and two-dimentional scanning mechanism, for controlling the scanning angle of laser intensity that laser light source module sends out and two-dimentional scanning mechanism；Spectroscope, for will be divided into two beams through the laser that two-dimentional scanning mechanism reflects, the laser beam that the reception of two-dimensional position detector is reflected through the spectroscope simultaneously generates the first electric signal, is sent to computing module；Computing module is connected respectively with two-dimensional position detector and photodetector, and the second electric signal for being generated according to the first electric signal and photodetector calculates the target component of testee.The embodiment of the present invention improves the spatial resolution of planar array scanning laser radar, improves the spatial position precision of measurement.

Description

一种面阵激光雷达测量系统An area array laser radar measurement system

技术领域technical field

本发明实施例涉及激光雷达技术，尤其涉及一种面阵激光雷达测量系统。Embodiments of the present invention relate to laser radar technology, and in particular to an area array laser radar measurement system.

背景技术Background technique

激光雷达是通过向目标发射探测信号(激光束)，然后将接收到的从目标反射回来的信号(目标回波)与发射信号进行比较，作适当处理后，就可获得目标的有关信息，如目标距离、方位、高度、速度、姿态特征量的雷达系统。Laser radar is to transmit detection signal (laser beam) to the target, and then compare the received signal (target echo) reflected from the target with the transmitted signal, and after proper processing, the relevant information of the target can be obtained, such as Radar system for target distance, azimuth, altitude, speed, and attitude features.

在现有激光雷达测量系统中，测量光束偏转角多采用间接测量方式，即通过对扫描机构的机械面测量，计算得到光束的偏转角，利用该间接得到的偏转角进行运算得到目标物体的目标参数。但是，间接测量方式精度或分辨率不足，且不容易做到激光脉冲和位置反馈的精确时间同步，从而带来较大的位置测量误差。In the existing laser radar measurement system, the indirect measurement method is often used to measure the deflection angle of the beam, that is, the deflection angle of the beam is calculated by measuring the mechanical surface of the scanning mechanism, and the target object is calculated by using the deflection angle obtained indirectly. parameter. However, the accuracy or resolution of the indirect measurement method is insufficient, and it is not easy to achieve precise time synchronization between the laser pulse and the position feedback, resulting in a large position measurement error.

发明内容Contents of the invention

本发明实施例提供一种面阵激光雷达测量系统，以实现直接测量激光束偏转角度，从而提高目标参数测量的精确度。An embodiment of the present invention provides an area array laser radar measurement system to directly measure the deflection angle of a laser beam, thereby improving the accuracy of target parameter measurement.

本发明实施例提供了一种面阵激光雷达测量系统，该系统包括：激光光源模块、二维扫描机构、光电探测器、发射镜头和接收镜头，还包括：分光镜、二维位置探测器、控制模块和运算模块；其中，An embodiment of the present invention provides an area array laser radar measurement system, the system includes: a laser light source module, a two-dimensional scanning mechanism, a photoelectric detector, a transmitting lens and a receiving lens, and also includes: a beam splitter, a two-dimensional position detector, Control module and computing module; Wherein,

所述控制模块，分别与所述激光光源模块和二维扫描机构连接，用于控制激光光源模块发出的激光强度和二维扫描机构的扫描角度；The control module is respectively connected with the laser light source module and the two-dimensional scanning mechanism, and is used to control the laser intensity emitted by the laser light source module and the scanning angle of the two-dimensional scanning mechanism;

所述分光镜，用于将经所述二维扫描机构反射出的激光分成两束，其中，反射光束打到所述二维位置探测器上，透射光束通过所述发射透镜照射到被测物体上；The beam splitter is used to split the laser light reflected by the two-dimensional scanning mechanism into two beams, wherein the reflected beam hits the two-dimensional position detector, and the transmitted beam irradiates the measured object through the emitting lens superior;

所述二维位置探测器接收经所述分光镜反射的激光束并产生第一电信号，将所述第一电信号发送到所述运算模块；The two-dimensional position detector receives the laser beam reflected by the beam splitter and generates a first electrical signal, and sends the first electrical signal to the computing module;

所述运算模块，分别与所述二维位置探测器和光电探测器相连接，用于根据所述第一电信号与所述光电探测器产生的第二电信号计算出所述被测物体的目标参数。The computing module is connected to the two-dimensional position detector and the photodetector respectively, and is used to calculate the position of the measured object according to the first electrical signal and the second electrical signal generated by the photodetector. target parameter.

可选的，运算模块具体用于：Optionally, the computing module is specifically used for:

根据所述第一电信号确定所述反射光束的反射角度；determining a reflection angle of the reflected light beam according to the first electrical signal;

根据所述反射角度确定透射光束的出射角度；determining the exit angle of the transmitted light beam according to the reflection angle;

根据所述第二电信号确定从所述被测物体反射回的光束角度；determining the angle of the light beam reflected from the measured object according to the second electrical signal;

根据激光光源模块发出激光的时间、光电探测器接收到所述第二电信号的时间、所述透射光束的出射角度和所述被测物体反射回的光束角度确定所述被测物体的目标参数。Determine the target parameters of the measured object according to the time when the laser light source module emits laser light, the time when the photodetector receives the second electrical signal, the outgoing angle of the transmitted light beam, and the angle of the light beam reflected back by the measured object .

可选的，目标参数包括所述被测物体的目标距离、方位、高度、速度、姿态特征量中至少一个。Optionally, the target parameter includes at least one of the target distance, orientation, height, speed, and attitude feature of the measured object.

本发明实施例通过在面阵激光雷达测量系统中增加分光镜和二维位置探测器，直接测量照射到待测物体的激光光束的偏转角度，进而计算待测物体的目标参数，解决了通过对扫描机构的机械面测量计算得到光束的偏转角的间接测量方式精度或分辨率不足，脉冲和位置反馈的时间同步不精确，从而导致目标参数测量误差的问题，提高了面阵扫描激光雷达的空间分辨率，提升了测量的空间位置精度。In the embodiment of the present invention, by adding a beam splitter and a two-dimensional position detector in the area array laser radar measurement system, directly measuring the deflection angle of the laser beam irradiated on the object to be measured, and then calculating the target parameters of the object to be measured, the problem of The accuracy or resolution of the indirect measurement method of the beam deflection angle calculated by the mechanical surface measurement of the scanning mechanism is insufficient, and the time synchronization of the pulse and position feedback is not accurate, which leads to the problem of measurement error of the target parameters and improves the space of the area scanning laser radar. The resolution improves the spatial position accuracy of the measurement.

附图说明Description of drawings

图1是本发明实施例中的面阵激光雷达测量系统的结构示意图。Fig. 1 is a schematic structural diagram of an area array lidar measurement system in an embodiment of the present invention.

图2是本发明实施例中光电探测器阵列示意图。Fig. 2 is a schematic diagram of a photodetector array in an embodiment of the present invention.

具体实施方式Detailed ways

下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

实施例Example

图1为本发明实施例提供的面阵激光雷达测量系统的结构示意图，适用于激光测距等情况。如图1所示，该系统具体包括：FIG. 1 is a schematic structural diagram of an area array laser radar measurement system provided by an embodiment of the present invention, which is applicable to situations such as laser ranging. As shown in Figure 1, the system specifically includes:

激光光源模块1、二维扫描机构2、光电探测器7、发射镜头5和接收镜头6、分光镜3、二维位置探测器4、控制模块8和运算模块9；其中，Laser light source module 1, two-dimensional scanning mechanism 2, photodetector 7, transmitting lens 5 and receiving lens 6, beam splitter 3, two-dimensional position detector 4, control module 8 and computing module 9; wherein,

控制模块，分别与激光光源模块1和二维扫描机构2连接，用于控制激光光源模块1发出的激光强度和二维扫描机构2的扫描角度。The control module is connected with the laser light source module 1 and the two-dimensional scanning mechanism 2 respectively, and is used to control the laser intensity emitted by the laser light source module 1 and the scanning angle of the two-dimensional scanning mechanism 2 .

具体的，在该面阵激光雷达测量系统工作的过程中，二维扫描机构2倾斜的角度会不断的调整，以使激光光源模块1发出的激光束经过二维扫描机构2反射，照到被测物体上的不同位置处，从而实现对测量场景的二维扫描，得到被测物体的整体信息。二维扫描机构2可以是微机电系统振镜，机械振镜，旋转棱镜等，且每个方向上的扫描频率可达khz以上，从而实现对测量场景的高分辨率的高帧频三维测量。Specifically, during the working process of the area array laser radar measurement system, the inclination angle of the two-dimensional scanning mechanism 2 will be continuously adjusted, so that the laser beam emitted by the laser light source module 1 is reflected by the two-dimensional scanning mechanism 2 and illuminated by the two-dimensional scanning mechanism. Different positions on the measured object, so as to realize the two-dimensional scanning of the measurement scene, and obtain the overall information of the measured object. The two-dimensional scanning mechanism 2 can be a MEMS vibrating mirror, a mechanical vibrating mirror, a rotating prism, etc., and the scanning frequency in each direction can reach above khz, so as to realize high-resolution and high-frame-rate three-dimensional measurement of the measurement scene.

分光镜3，用于将经二维扫描机构2反射出的激光分成两束，其中，反射光束打到二维位置探测器4上，透射光束(即主能量光束)通过发射镜头5照射到被测物体上；即可实现对照射到被测物体上光束的出射角度的精确测量。The beam splitter 3 is used to divide the laser light reflected by the two-dimensional scanning mechanism 2 into two beams, wherein the reflected beam hits the two-dimensional position detector 4, and the transmitted beam (ie, the main energy beam) is irradiated to the detected laser beam through the emitting lens 5 On the measured object; it can realize the accurate measurement of the outgoing angle of the light beam irradiated on the measured object.

二维位置探测器4(Position Sentitive Detector，PSD)，用于测定光束的二维坐标位置，是一种能检测光束位置的器件，常作为与发光源组合的位置传感器广泛应用。二维位置探测器4接收经分光镜反射的激光束时，会产生第一电信号，然后将第一电信号发送到运算模块9。运算模块9根据所接收到的第一电信号，可以计算出反射光束的反射角度，进而计算出照射到被测物体上光束的出射角度。特别的因为PSD与被测物体，接收到的是光源发出的同一个激光脉冲信号，是直接测量的方式，所以对于照射到被测物体上光束的出射角度的测量更加精确。The two-dimensional position detector 4 (Position Sentitive Detector, PSD), used to measure the two-dimensional coordinate position of the light beam, is a device that can detect the position of the light beam, and is often widely used as a position sensor combined with a light source. When the two-dimensional position detector 4 receives the laser beam reflected by the spectroscopic mirror, it will generate a first electrical signal, and then send the first electrical signal to the computing module 9 . The computing module 9 can calculate the reflection angle of the reflected light beam according to the received first electrical signal, and then calculate the outgoing angle of the light beam irradiated on the measured object. Especially because the PSD and the measured object receive the same laser pulse signal sent by the light source, which is a direct measurement method, so the measurement of the outgoing angle of the beam irradiated on the measured object is more accurate.

此外，通过二维位置探测器4获取反射光束照射到的位置，精确测量照射到被测物体上光束的出射角度，则无需二维扫描机构2进行位置反馈，这样可以通过多样化的选择，解决镜面尺寸，扫描速率等限制因素，提升雷达的测量测量性能。In addition, by using the two-dimensional position detector 4 to obtain the position irradiated by the reflected light beam, and accurately measure the outgoing angle of the light beam irradiated on the object to be measured, there is no need for the two-dimensional scanning mechanism 2 to perform position feedback, so that various options can be used to solve Limiting factors such as mirror size and scanning rate improve the measurement performance of radar.

运算模块9，分别与二维位置探测器4和光电探测器7相连接，用于根据第一电信号与光电探测器7产生的第二电信号计算出被测物体的目标参数。The computing module 9 is connected with the two-dimensional position detector 4 and the photodetector 7 respectively, and is used to calculate the target parameter of the measured object according to the first electrical signal and the second electrical signal generated by the photodetector 7 .

进一步的，目标参数包括所述被测物体的目标距离、方位、高度、速度、姿态特征量中至少一个。Further, the target parameter includes at least one of the target distance, orientation, height, speed, and attitude feature of the measured object.

进一步的运算模块9具体用于：根据所述第一电信号确定所述反射光束的反射角度；根据所述反射角度确定透射光束的出射角度；根据所述第二电信号确定从所述被测物体反射回的光束角度；根据激光光源模块发出激光的时间、光电探测器接收到所述第二电信号的时间、所述透射光束的出射角度和所述被测物体反射回的光束角度确定所述被测物体的目标参数。The further computing module 9 is specifically used to: determine the reflection angle of the reflected light beam according to the first electrical signal; determine the outgoing angle of the transmitted light beam according to the reflection angle; The angle of the light beam reflected back by the object; according to the time when the laser light source module emits laser light, the time when the photodetector receives the second electrical signal, the outgoing angle of the transmitted light beam and the angle of the light beam reflected back by the measured object to determine the Describe the target parameters of the measured object.

示例性的，假设由激光光源模块1发出的激光束经过二维扫描机构2反射照射到分光镜3，分光镜3将该激光束分成两束，其中一束打到了二维位置探测器4上的P点处，P点处会产生一个电信号，并将该电信号发送到运算模块9，运算模块9根据接收到的电信号，可确定P点的二维坐标，进而确定反射到二维位置探测器4上的反射光束的反射角度，根据反射角度确定透射光束的出射角度，即照射到被测物体上光束的出射角度。照射到被测物体的激光束经物体反射到接收镜头6，照射到光电探测器阵列中的P1点上，如图2所示。那么，在P1点位置处会产生一个电信号，并将该电信号发送到运算模块9，运算模块9可根据该电信号确定被照射物体的方位。进一步的，根据激光光源模块1发出激光的时间和光电探测器接收到由被测物体反射的光束产生电信号的时间，即可计算出被测物体的距离，由此得知被测物体的目标参数。进一步的，还可以根据出射光和接收到光的相位差确定激光束的相位延迟，从而计算出被测物体的距离。Exemplarily, it is assumed that the laser beam emitted by the laser light source module 1 is reflected by the two-dimensional scanning mechanism 2 and irradiates the beam splitter 3, and the beam splitter 3 divides the laser beam into two beams, one of which hits the two-dimensional position detector 4 At point P, an electrical signal will be generated at point P, and the electrical signal will be sent to the computing module 9, and the computing module 9 can determine the two-dimensional coordinates of point P according to the received electrical signal, and then determine the reflection to the two-dimensional The reflection angle of the reflected light beam on the position detector 4 determines the outgoing angle of the transmitted light beam according to the reflection angle, that is, the outgoing angle of the light beam irradiated on the measured object. The laser beam irradiated to the measured object is reflected by the object to the receiving lens 6, and irradiated to the point P1 in the photodetector array, as shown in FIG. 2 . Then, an electrical signal is generated at the point P1, and the electrical signal is sent to the computing module 9, and the computing module 9 can determine the orientation of the irradiated object according to the electrical signal. Further, according to the time when the laser light source module 1 emits laser light and the time when the photodetector receives the electric signal generated by the light beam reflected by the measured object, the distance of the measured object can be calculated, thereby knowing the target of the measured object parameter. Furthermore, the phase delay of the laser beam can also be determined according to the phase difference between the emitted light and the received light, so as to calculate the distance of the measured object.

本实施例的技术方案，通过在面阵激光雷达测量系统中增加分光镜和二维位置探测器，直接测量照射到待测物体的激光光束的偏转角度，进而计算待测物体的目标参数，解决了通过对扫描机构的机械面测量计算得到光束的偏转角的间接测量方式精度或分辨率不足，脉冲和位置反馈的时间同步不精确，从而导致目标参数测量误差的问题，提高了面阵扫描激光雷达的空间分辨率，提升了测量的空间位置精度；二维扫描机构无需转动位置反馈结构，简化了扫描机构的复杂度，降低对扫描机构性能要求，扩展了扫描机构的选型范围。In the technical solution of this embodiment, by adding a spectroscope and a two-dimensional position detector to the area array laser radar measurement system, the deflection angle of the laser beam irradiated on the object to be measured is directly measured, and then the target parameters of the object to be measured are calculated to solve the problem. The accuracy or resolution of the indirect measurement method of the deflection angle of the beam obtained by measuring the mechanical surface of the scanning mechanism is insufficient or the resolution is insufficient, and the time synchronization of the pulse and position feedback is not accurate, which leads to the problem of measurement error of the target parameters, and improves the surface array scanning laser. The spatial resolution of the radar improves the spatial position accuracy of the measurement; the two-dimensional scanning mechanism does not need to rotate the position feedback structure, which simplifies the complexity of the scanning mechanism, reduces the performance requirements of the scanning mechanism, and expands the selection range of the scanning mechanism.

注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims (3)

1. An area array lidar measurement system comprising: laser light source module, two-dimensional scanning mechanism, photoelectric detector, transmitting lens and receiving lens, its characterized in that, the system still includes: the system comprises a spectroscope, a two-dimensional position detector, a control module and an operation module; wherein,
the control module is respectively connected with the laser light source module and the two-dimensional scanning mechanism and is used for controlling the intensity of laser light emitted by the laser light source module and the scanning angle of the two-dimensional scanning mechanism;
the spectroscope is used for dividing the laser reflected by the two-dimensional scanning mechanism into two beams, wherein a reflected beam is irradiated onto the two-dimensional position detector, and a transmitted beam is irradiated onto a measured object through the transmitting lens;
the two-dimensional position detector receives the laser beam reflected by the spectroscope, generates a first electric signal and sends the first electric signal to the operation module;
and the operation module is respectively connected with the two-dimensional position detector and the photoelectric detector and is used for calculating the target parameters of the object to be measured according to the first electric signal and the second electric signal generated by the photoelectric detector.
2. The system of claim 1, wherein the computing module is specifically configured to:
determining a reflection angle of the reflected beam according to the first electrical signal;
determining the emergent angle of the transmitted light beam according to the reflection angle;
determining the angle of the light beam reflected from the measured object according to the second electric signal;
and determining the target parameters of the measured object according to the time of the laser light source module emitting laser, the time of the photoelectric detector receiving the second electric signal, the emergent angle of the transmitted light beam and the angle of the light beam reflected by the measured object.
3. The system of claim 1, wherein the target parameters include at least one of target distance, orientation, altitude, speed, attitude characteristic quantities of the object under test.
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