CN103760567A - Passive imaging system with distance measuring function and distance measuring method thereof - Google Patents
Passive imaging system with distance measuring function and distance measuring method thereof Download PDFInfo
- Publication number
- CN103760567A CN103760567A CN201410040445.2A CN201410040445A CN103760567A CN 103760567 A CN103760567 A CN 103760567A CN 201410040445 A CN201410040445 A CN 201410040445A CN 103760567 A CN103760567 A CN 103760567A
- Authority
- CN
- China
- Prior art keywords
- signal
- digital
- target
- laser
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated 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
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- 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
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
-
- 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
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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 passive imaging system with a distance measuring function and a distance measuring method of the passive imaging system. The passive imaging system comprises a high-frequency low-energy pulse laser emitting device, a photodiode array detector imaging device, a video amplifying and analog-digital converting device and a digital processing device for digital image processing and timing sequence occurrence. The high-frequency low-energy pulse laser emitting device is used for emitting high-frequency low-energy laser pulses and expanding bundles and shaping to reach a long distance; the photodiode array detector imaging device is used for receiving laser spots and background images reflected by a target and obtaining a distance value by adjusting integral time; the video amplifying and analog-digital converting device is used for converting photogenerated charges of the photodiode array detector imaging device into voltage and digitizing analog images through a analog-digital converter; the digital processing device for digital image processing and timing sequence occurrence is used for preprocessing digital images input by the video amplifying and analog-digital converting device and extracting the target. According to the passive imaging system, high-performance passive imaging and the distance measuring function are combined.
Description
Technical field
The invention belongs to laser imaging and ranging technology field, especially a kind of passive imaging system and distance-finding method thereof with distance measurement function.
Background technology
For the integrating capacitor of finding range, transistor resource, (10ns-10 μ s), realizes gate control function integration to received signal can to realize very short window integral time.
Currently marketed laser range finder is non-imaging stadimeter, adopts the very little laser beam irradiation of the angle of divergence to form laser measurement point on target, utilizes point probe to receive the laser signal from reflection or the scattering of measurement point, by inverting, obtains target range.The laser-light spot size forming to time in target due to Ear Mucosa Treated by He Ne Laser Irradiation is very little, thereby causes target-seeking difficulty, the very difficult run-home of laser beam when distant object find range, particularly little target.
For head it off, laser range finder is aided with finder telescope, and observer can find measured target by telescope.But, telescope-type stadimeter only just can be effectively target-seeking in the situation that ambient light illumination is suitable, when the low-light (level) situations such as night are next cannot be effectively target-seeking, and when ambient light illumination is higher or optical maser wavelength is that human eye is when invisible, human eye is difficult to find the laser measurement point in target, conventionally finder telescope and laser range finder are calibrated and demarcated for this reason, by the cross groove on finder telescope, choose measurement point, but this can cause telescopic range finder impact very sensitive.
In addition, a kind of stadimeter (patent of invention ZL02814430.9) with sighting device has been invented by Lycra earth system exploitation incorporated company.This stadimeter adopts visible light beam to irradiate target, forms measurement point in target, observes measurement point effectively receive the signal realize target range finding from target to ensure optical receiving system by sighting device.But under low-light (level) environment during object ranging, the sighting device of this stadimeter still cannot be effectively target-seeking.
For target-seeking problem under low-light (level) environment, (the application for a patent for invention number: 201010293433.2) of a kind of hand-held round-the-clock laser imaging distance measurer has been invented by BJ University of Aeronautics & Astronautics, comprise laser imaging subsystem and laser ranging subsystem, wherein, laser imaging subsystem realizes effective detection of target under low-light (level) environment, the realize target range finding of laser ranging subsystem.This laser imaging stadimeter is mainly to adopt laser imaging subsystem to substitute finder telescope, still with cross groove, carry out run-home, therefore, identical with traditional telescope-type laser range finder in essence, still impact sensitivity, and laser beam is difficult to distance small target to form effective measurement point.
In sum, the laser-beam divergence angle of laser range finder is very little at present, and when range finding, the laser measurement point in target is smaller, thereby, for distant object, during especially little object ranging, there is the problem of target-seeking difficulty.
The present invention is mainly for aforesaid laser imaging subsystem and laser ranging subsystem, and concrete diagram is shown in accompanying drawing 2, solve current impact wherein laser ranging be based on flight time (TOF) principle, and it is as follows to affect the principal element of finding range:
1. system field of view of receiver is larger, can introduce more ground unrest, causes signal to noise ratio snr to reduce, thereby affects measuring distance scope;
2. photomultiplier also can be introduced larger noise, impact range finding;
3. for measuring distant object, adopt the low-frequency pulsed laser of high-energy, its volume heaviness and cost are high;
4., if range finding is used same receiving optics with imaging and passive imaging, therefore range measurement system receiving area can be restricted.
Therefore, in the urgent need to having a kind of have range finding and the electro-optical system of two kinds of functions of imaging and passive imaging, can the above-mentioned problem of mentioning of fine solution aspect two of range finding and imaging and passive imagings, such as finding range diminishes, SNR reduction, the response time is grown etc.
Summary of the invention
(1) technical matters that will solve
In view of this, fundamental purpose of the present invention is to provide a kind of passive imaging system and distance-finding method thereof with distance measurement function, to solve well existing laser imaging subsystem and laser ranging subsystem in the problem aspect range finding and two of imaging and passive imagings.
(2) technical scheme
For the aspect achieving the above object, the invention provides a kind of passive imaging system with distance measurement function, this system comprises the digital processing unit that the low-yield pulse laser emitter of high frequency, photoelectron diode array detector imaging device, video amplifier and analog-digital commutator and Digital Image Processing and sequential occur, wherein: the low-yield pulse laser emitter of high frequency, be used for launching the pulse of high frequency low-energy laser, and expand shaping to reach remote; Photoelectron diode array detector imaging device, for receiving the laser facula and the background image that are reflected back by target, and obtains distance value integral time by adjusting; Video amplifier and analog-digital commutator, for the photogenerated charge of photoelectron diode array detector imaging device is converted to voltage, and process analog to digital converter is by analog image digitizing; The digital processing unit that Digital Image Processing and sequential occur, for carrying out pre-service and target extraction to the digital picture of video amplifier and analog-digital commutator input.
In such scheme, the low-yield pulse laser emitter of this high frequency comprises pulsed laser 104 and laser emission optical system 1041, wherein: pulsed laser 104 is for generation of the pulse of high frequency low-energy laser; Laser emission optical system 1041 for the collimation of improving laser to obtain desirable telemeasurement effect.
In such scheme, this photoelectron diode array detector imaging device comprises photoelectron diode array detector 102 and imaging optical system 101; Wherein: photoelectron diode array detector 102 is for faint optical signal is converted to electric signal, and then obtain the distance value of image and respective objects; Imaging optical system 101, for receiving faint optical signal and converging to detector surface, increases the capture area of detector.
In such scheme, this photoelectron diode array detector 102 comprises row address selection circuit 1025, column address selection circuit 1026, address date multiplexer 1024, read-out control unit 1027, APD diode 1021, gated integrator 1022 and Q/V charge voltage change-over circuit 1023, wherein: row address selects circuit 1025 for selecting the line number of photodiode array detector, column address selects circuit 1026 for selecting the columns of photodiode array detector, and the two is in conjunction with certain detector cells in selected detector array; Address date multiplexer 1024 is realized the function of address bus and data bus for timesharing; Read-out control unit 1027 is for reading the control circuit of array and subarray detector signal; APD diode 1021 transfers electric signal to for receiving faint light; Gated integrator 1022 is for adjusting integral time; Q/V charge voltage change-over circuit 1023 is for being converted to voltage by the photogenerated charge of diode.
In such scheme, this video amplifier and analog-digital commutator 111 are for realizing video amplifier and AD conversion to video analog signal, finally by analog image digitizing, and the digital picture obtaining is exported to the digital processing unit 108 that Digital Image Processing and sequential occur.
In such scheme, the digital processing unit 108 that this Digital Image Processing and sequential occur comprises for the laser spot detection processing unit 110 of normal image processing, apart from monitoring means 109 and clock generator 103, wherein: laser spot detection processing unit 110 is for receiving detection image, and with given threshold value comparison, to determine whether target echo exists; Apart from monitoring means 109, be used for judging that according to obtaining image target has or not and then control clock generator 103 and produce the integration window shifted signal of coarse positioning and fine positioning, comprises shifted signal 0ff or off
f; Clock generator 103, is used to provide apart from the control signal of monitoring means 109 and the control signal of image-generating unit, and according to target, has or not to adjust the Gated integration time of detector.
In such scheme, the control signal of distance monitoring means 109 and the control signal of image-generating unit that this clock generator 103 provides comprise: the exomonental start signal of the low-energy pulsed laser 104 of high frequency, the no signal that is connected with of photodiode 1021 and integrator 1022, wherein photodiode 1021 and integrator 1022 is connected with no signal for realizing integration, generation gate control function.
For another aspect achieving the above object, the invention provides a kind of distance-finding method of the passive imaging system with distance measurement function based on described, this distance-finding method comprises coarse positioning and two steps of fine positioning, is fine positioning after first coarse positioning, specifically comprises:
One, the coarse positioning stage, the light pulse being reflected back by target is corresponding electric charge through photodiode converts, and by integrator integration, in schedule time value, be F, from transponder pulse to the off-set value off that starts integration, time window, wherein, off<1/f and F<1/f; By integrated signal and first predetermined threshold comparison, as long as integrated signal is lower than threshold value, the step iteration of integration, comparison is carried out, adopt the new off-set value of time window, the relatively previous off-set value off of its value increases F, once integrated signal exceedes predetermined threshold, the coarse positioning distance value of target is definite, and correspondence is off by time F and off-set value
g;
Its two, fine positioning stage, first Preset Time value F, off-set value off
fequal off
g; By integrated signal and second predetermined threshold comparison, need only integrated signal lower than threshold value, the step of integration, comparison repeats, and adopts the new off-set value of time window, and it is worth relatively previous off-set value off
fincrease d, wherein, d<F, and off
g<off
f<off
g+ F; When iteration is for the first time less than second threshold value, continue iteration, until be greater than second threshold value; If iteration is greater than second threshold value for the first time, iteration finishes.
In such scheme, described schedule time value F and being determined by the general distance value of target to starting the off-set value off of integration from transponder pulse, off-set value recruitment d is determined by positioning precision.
In such scheme, the described coarse positioning stage.By integrated signal and first predetermined threshold relatively before, to target return signal integration; According to minimum signal and integral number of times that target is estimated, tentatively determine first threshold value and second threshold value.
(3) beneficial effect
From technique scheme, can find out, compared with imaging system simple combination, the present invention has following beneficial effect with laser range finder:
1, by gated integrator, adjust and replace integral time TOF to realize range finding, therefore can adopt single detector system (optical system and detector) to realize range finding and imaging function.
2, owing to having saved TOF laser ranging, do not adopt APD detector, and avoid using broad band amplifier system, the channel noise that makes to find range is little;
3, adopt gated integrator function, the effectively impact of the scattering of filtering atmosphere, thus can proofread and correct because atmosphere strong scattering is inaccurate to object ranging;
4, adopt and adjust the range finding of gated integrator function, replace TOF range finding, therefore can use low-yield high-frequency pulse laser instrument, avoid use cost high, bulky low frequency high-energy laser;
5, adopt identical optical receiving system and detector, realize the combination of high-performance imaging and passive imaging and distance measurement function.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the passive imaging system with distance measurement function provided by the invention;
Fig. 2 is the schematic diagram of the electro-optical system of traditional laser stadimeter and the simple combination of passive imaging system, it is existing laser imaging ranging technology, for contrasting with the passive imaging system with distance measurement function provided by the invention shown in Fig. 1, be convenient to the advantage of understanding improvements of the present invention and bringing;
Fig. 3 (a) is the coarse positioning stage time series pattern schematic diagram that the passive imaging system with distance measurement function provided by the invention is found range to realization of goal;
Fig. 3 (b) is the fine positioning stage time series pattern schematic diagram that the passive imaging system with distance measurement function provided by the invention is found range to realization of goal;
Fig. 4 is the relation curve schematic diagram of passive imaging system detection of a target ultimate range and the Laser emission frequency with distance measurement function provided by the invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Refer to shown in Fig. 1, this passive imaging system with distance measurement function provided by the invention, comprise the digital processing unit that the low-yield pulse laser emitter of high frequency, photoelectron diode array detector imaging device, video amplifier and analog-digital commutator and Digital Image Processing and sequential occur, wherein:
The low-yield pulse laser emitter of high frequency, for launching the pulse of high frequency low-energy laser, and expands shaping to reach remote;
Photoelectron diode array detector imaging device, for receiving the laser facula and the background image that are reflected back by target, and obtains distance value integral time by adjusting;
Video amplifier and analog-digital commutator, for the photogenerated charge of photoelectron diode array detector imaging device is converted to voltage, and process analog to digital converter is by analog image digitizing;
The digital processing unit that Digital Image Processing and sequential occur, for carrying out pre-service and target extraction to the digital picture of video amplifier and analog-digital commutator input.
Wherein, the low-yield pulse laser emitter of this high frequency comprises pulsed laser 104 and laser emission optical system 1041, pulsed laser 104 is for generation of the pulse of high frequency low-energy laser, laser emission optical system 1041 for the collimation of improving laser to obtain desirable telemeasurement effect.
This photoelectron diode array detector imaging device comprises photoelectron diode array detector 102 and imaging optical system 101; Wherein, photoelectron diode array detector 102 is for being converted to electric signal by faint optical signal, and then obtaining the distance value of image and respective objects, imaging optical system 101, for receiving faint optical signal and converging to detector surface, increases the capture area of detector.
This photoelectron diode array detector 102 comprises row address selection circuit 1025, column address selection circuit 1026, address date multiplexer 1024, read-out control unit 1027, APD diode 1021, gated integrator 1022 and Q/V charge voltage change-over circuit 1023, wherein row address selects circuit 1025 for selecting the line number of photodiode array detector, column address selects circuit 1026 for selecting the columns of photodiode array detector, and the two is in conjunction with certain detector cells in selected detector array; Address date multiplexer 1024 is realized the function of address bus and data bus for timesharing, read-out control unit 1027 is for reading the control circuit of array and subarray detector signal, APD diode 1021 transfers electric signal to for receiving faint light, gated integrator 1022 is for adjusting integral time, and Q/V charge voltage change-over circuit 1023 is pressed for the photogenerated charge of diode being converted to Shen.
Video amplifier and analog-digital commutator 111, for video analog signal being realized to video amplifier and AD conversion, finally by analog image digitizing, and are exported to the digital picture obtaining the digital processing unit 108 of Digital Image Processing and sequential generation;
The digital processing unit 108 that this Digital Image Processing and sequential occur comprises for the laser spot detection processing unit 110 of normal image processing, apart from monitoring means 109 and clock generator 103, wherein laser spot detection processing unit 110 is for receiving detection image, and with given threshold value comparison, to determine whether target echo exists; Apart from monitoring means 109, be used for judging that according to obtaining image target has or not and then control clock generator 103 and produce the integration window shifted signal of coarse positioning and fine positioning, comprises shifted signal off or off
f; Clock generator 103, is used to provide apart from the control signal of monitoring means 109 and the control signal of image-generating unit, and according to target, has or not to adjust the Gated integration time of detector.These control signals are respectively: the exomonental start signal of the low-energy pulsed laser 104 of high frequency, photodiode 1021 and integrator 1022 be connected with no signal (this is connected signal and is used for realizing integration, produces gate control function).
In this device, owing to adopting find range the integral time of adjusting detector, so imaging is that the laser ranging receiving unit of therefore describing in Fig. 2 comprises range detector 205 with a part with range finding, and amplifying circuit 2051 and filtering circuit 2052, what optics receiving unit 206 all became need not.Distance calculation module, is also substituted by aforesaid coarse positioning and fine positioning method, and signal integration, comparison operation method can realize at digital processing element.This device adopts same detection system, and the sensitivity of high detection system can be provided by increasing the size of receiving optics.
In this device, photoelectron diode array detector 102, its integrator 1022 is for gate control function, only to target integration and to not integration of scene, can be for realizing distance measurement function.Therefore calculating distance is no longer to be determined by the flight time (TOF), and wherein, the mistiming that the flight time is carved into target echo time of reception during by Laser emission determines.
Fig. 3 shows the step of distance-finding method of the present invention, to the coarse positioning stage time series pattern schematic diagram (a) of realization of goal range finding, to the fine positioning stage time series pattern schematic diagram (b) of realization of goal range finding.
One, target rough localization method step is as follows:
For example, the pulsewidth of the pulsed laser of being determined by system is 10ns, and repetition frequency f is less than the value (being upper frequency limit) of certain restriction, for avoiding transponder pulse and the received pulse of system overlapping.Wherein, upper frequency limit is to calculate according to the maximum measuring distance of Fig. 4.As shown in Figure 4, measuring distance is 10km, and the time window that its corresponding repetition frequency higher limit is the known integration of 20kHz. is F, and its frequency values equals Laser emission frequency, F<1/f.
For synchronizeing with the moment of the pulse arrival detector being reflected back by target, integration window need to be opened in advance, then, when sensing circuit, starts to realize integration.The width F of time window, is determined by the distance value Dis of corresponding target localization, in addition, distance value is from initial point, and by determining to the off-set value that starts the integration moment from transponder pulse, off<1/f.Finally, the width F of integration window and off-set value off, the corresponding distance value from initial point is Dis.For example, integration window width 13.4 μ s, respective distances scope 2km.Off-set value is 20 μ s, and the corresponding distance from initial point is 3km.Therefore, distance range 3-5km corresponding to integration window.According to the rreturn value of target, come determine be or not in this distance range.If target drops in this distance range, such as being 4km, target return signal starts integration, and is detected.That is to say, target coarse positioning is at 3-5km, and as shown in Fig. 3 (a), target return signal starts integration in integration window.On the contrary, hypothetical target distance is 6km, and target return signal just can not be detected.
If target return signal is not detected, mean, detectable signal is less than predetermined threshold value.By adjusting the off-set value of integration window time, the charge signal of photodiode converts is carried out to integration the threshold value comparison with setting, this step repeats, until integrated signal value exceedes setting threshold, wherein integration window need to be offset F (be new off value equal front off value add F sum) to make respective distances value be the position from the distance 5km of initial point O, i.e. new distance range 5-7km corresponding to integration window.For determining the continuity of this distance range and next distance range, we make two continuous integration window have a little overlapping.Integration window off-set value is F-δ F, and δ F is 1% of F value.Repeat said process, until to realization of goal coarse positioning.
Its two, in the coarse positioning stage, time window is by ' slightly ' window and off-set value off
gcomposition; In the fine positioning stage, time window is on ' slightly ' window basis, to be offset continuously off
f, wherein new off
fvalue equals front off
fvalue adds d sum.Integration window equals F or is slightly less than F, and this location algorithm on the one hand, can, to non-echo signal in scene without integration, only obtain the distance value of target; On the other hand, optimize the overall performance of range measurement system, comprise SNR etc.This algorithm, to target localization, depends on the continuous off-set value of integration window.In reality, when integrated signal is greater than predetermined threshold, target return signal only there will be at several time windows, and is greater than pulse time-of-flight when postponing d, and target return signal suddenly disappears, and the integration window time can only be offset in ' slightly ' window, wherein off
g<off
f<off
g+ F.Positioning precision determines by the time offset value d of integration window, and distance value is by the precision that increases integration window time offset value d or 1.5m/10ns and draw.Time window F is 6.68 μ s, respective distances scope 1km, and off-set value is 1.33 μ s, corresponding advance range value is 200m.That is, 5 off-set values just can enough cover the distance range of 1km, and distance accuracy is 200m.For example, coarse positioning result, target is within the scope of 3-5km, and time window F is 6.68 μ s, respective distances scope 1km, off-set value is 1.33 μ s, and corresponding advance range value is 200m, and these can be determined.If target range is 3.5km, target return signal occurs being detected at the 3rd time window so, and disappears at the 4th time window.The distance range that is target accurate measurement is 3.4-3.6km.
The present invention, photoelectron diode array detector 102, its array is comprised of 256 row × 320 row, the material employing of this detector and the material of laser lighting consistent wavelength.Wherein, silicon, being suitable for surveying wavelength is 0.4 μ m-1.1 μ m laser; Antimony chromium mercury CdHgTe, being suitable for surveying wavelength is 0.4 μ m-1.5 μ m laser; Indium gallium Arsenic InGaAs, being suitable for surveying wavelength is 0.4 μ m-2.5 μ m laser.And the integrator in each sensing circuit of this detector array, the size of its integrating capacitor is suitable, to adapt to the restriction of imaging and passive imaging.For realizing range finding, integrator 1022, by taking necessary transistor resource, realizes that very short (10ns-10 μ is the unlatching in integration window cycle s), and finally realizes gate control function, only target echo is carried out to integration.
The present invention, the control signal of the sensing circuit of photoelectron diode array detector 102, is produced by clock generator 103, and accurate control lag or off-set value off or off
fbe used for the integrator to target return signal integration window realize control; By photodiode 1021 and the no signal that is connected with of integrator 1022, realize gate control function, also by clock generator 103, provided; This makes low-yield, high-frequency pulse pulsed laser 104 just can meet system requirements.
The present invention, size and the position of target imaging in photoelectron diode array detector 102 is random, by controlling row, selects circuit 1025 and column select circuit 1026 to select the address of row and row, can obtain the detector of target place subarray.And, can bring up to very high (reaching 20kHz) by laser instrument repetition frequency, only read our area-of-interest.The whole observation visual field of imaging and passive imaging detector is divided into some sub-visual fields, is equivalent to some sub-probe units of detector array.Under given visual field, if single visual field is very little, the photon noise producing is negligible, can survey so very weak signal, realizes far laser facula is surveyed.Subarray sensing circuit can make the image of small size (tens pixels) read frame speed, and very high (50 μ s-100 μ s).But the size of subarray detector can be greater than the size of traditional laser ranging detector conventionally, range finding transmitting and the balance of receiving cable aspect are had a greatly reduced quality.
In sum, reading subarray size is 32 row × 10 row, obtains the about several ms of range information.Therefore the adjustable subarray of space size, provides following advantage:
1, reduce the photon noise of background, improved the sensitivity of laser spot detection and range finding;
2, simplified the design that receives eyepiece;
3, reduce noise and the circuit bandwidth of related circuit, improved gain sensitivity.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. one kind has the passive imaging system of distance measurement function, it is characterized in that, this system comprises the digital processing unit that the low-yield pulse laser emitter of high frequency, photoelectron diode array detector imaging device, video amplifier and analog-digital commutator and Digital Image Processing and sequential occur, wherein:
The low-yield pulse laser emitter of high frequency, for launching the pulse of high frequency low-energy laser, and expands shaping to reach remote;
Photoelectron diode array detector imaging device, for receiving the laser facula and the background image that are reflected back by target, and obtains distance value integral time by adjusting;
Video amplifier and analog-digital commutator, for the photogenerated charge of photoelectron diode array detector imaging device is converted to voltage, and process analog to digital converter is by analog image digitizing;
The digital processing unit that Digital Image Processing and sequential occur, for carrying out pre-service and target extraction to the digital picture of video amplifier and analog-digital commutator input.
2. the passive imaging system with distance measurement function according to claim 1, is characterized in that, the low-yield pulse laser emitter of this high frequency comprises pulsed laser (104) and laser emission optical system (1041), wherein:
Pulsed laser (104) is for generation of the pulse of high frequency low-energy laser;
Laser emission optical system (1041) for the collimation of improving laser to obtain desirable telemeasurement effect.
3. the passive imaging system with distance measurement function according to claim 1, is characterized in that, this photoelectron diode array detector imaging device comprises photoelectron diode array detector (102) and imaging optical system (101); Wherein:
Photoelectron diode array detector (102) is for faint optical signal is converted to electric signal, and then obtains the distance value of image and respective objects;
Imaging optical system (101), for receiving faint optical signal and converging to detector surface, increases the capture area of detector.
4. the passive imaging system with distance measurement function according to claim 3, it is characterized in that, this photoelectron diode array detector (102) comprises row address selection circuit (1025), column address selection circuit (1026), address date multiplexer (1024), read-out control unit (1027), APD diode (1021), gated integrator (1022) and Q/V charge voltage change-over circuit (1023), wherein:
Row address selects circuit (1025) for selecting the line number of photodiode array detector, column address selects circuit (1026) for selecting the columns of photodiode array detector, and the two is in conjunction with certain detector cells in selected detector array;
Address date multiplexer (1024) is realized the function of address bus and data bus for timesharing;
Read-out control unit (1027) is for reading the control circuit of array and subarray detector signal;
APD diode (1021) transfers electric signal to for receiving faint light;
Gated integrator (1022) is for adjusting integral time;
Q/V charge voltage change-over circuit (1023) is for being converted to voltage by the photogenerated charge of diode.
5. the passive imaging system with distance measurement function according to claim 1, it is characterized in that, this video amplifier and analog-digital commutator (111) are for realizing video amplifier and AD conversion to video analog signal, finally by analog image digitizing, and the digital picture obtaining is exported to the digital processing unit (108) that Digital Image Processing and sequential occur.
6. the passive imaging system with distance measurement function according to claim 1, it is characterized in that, the digital processing unit (108) that this Digital Image Processing and sequential occur comprises for the laser spot detection processing unit (110) of normal image processing, apart from monitoring means (109) and clock generator (103), wherein:
Laser spot detection processing unit (110) is for receiving detection image, and with given threshold value comparison, to determine whether target echo exists;
Apart from monitoring means (109), be used for judging that according to obtaining image target has or not and then control the integration window shifted signal of clock generator (103) generation coarse positioning and fine positioning, comprises shifted signal off or offf;
Clock generator (103), is used to provide apart from the control signal of monitoring means (109) and the control signal of image-generating unit, and according to target, has or not to adjust the Gated integration time of detector.
7. the passive imaging system with distance measurement function according to claim 6, it is characterized in that, the control signal of the distance monitoring means (109) that this clock generator (103) provides and the control signal of image-generating unit comprise: the exomonental start signal of the low-energy pulsed laser of high frequency (104), photodiode (1021) and integrator (1022) be connected with no signal, wherein photodiode (1021) and integrator (1022) is connected with no signal for realizing integration, generation gate control function.
8. a distance-finding method for the passive imaging system with distance measurement function based on described in any one in claim 1 to 7, is characterized in that, this distance-finding method comprises coarse positioning and two steps of fine positioning, is fine positioning after first coarse positioning, specifically comprises:
One, the coarse positioning stage, the light pulse being reflected back by target is corresponding electric charge through photodiode converts, and by integrator integration, in schedule time value, be F, from transponder pulse to the off-set value off that starts integration, time window, wherein, off<1/f and F<1/f; By integrated signal and first predetermined threshold comparison, as long as integrated signal is lower than threshold value, the step iteration of integration, comparison is carried out, adopt the new off-set value of time window, the relatively previous off-set value off of its value increases F, once integrated signal exceedes predetermined threshold, the coarse positioning distance value of target is definite, and correspondence is off by time F and off-set value
g;
Its two, fine positioning stage, first Preset Time value F, off-set value off
fequal off
g; By integrated signal and second predetermined threshold comparison, need only integrated signal lower than threshold value, the step of integration, comparison repeats, and adopts the new off-set value of time window, and it is worth relatively previous off-set value off
fincrease d, wherein, d<F, and off
g<off
f<off
g+ F; When iteration is for the first time less than second threshold value, continue iteration, until be greater than second threshold value; If iteration is greater than second threshold value for the first time, iteration finishes.
9. distance-finding method according to claim 8, is characterized in that, described schedule time value F and being determined by the general distance value of target to starting the off-set value off of integration from transponder pulse, and off-set value recruitment d is determined by positioning precision.
10. distance-finding method according to claim 8, is characterized in that, the described coarse positioning stage.By integrated signal and first predetermined threshold relatively before, to target return signal integration; According to minimum signal and integral number of times that target is estimated, tentatively determine first threshold value and second threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410040445.2A CN103760567B (en) | 2014-01-27 | 2014-01-27 | A kind of passive imaging system with distance measurement function and distance-finding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410040445.2A CN103760567B (en) | 2014-01-27 | 2014-01-27 | A kind of passive imaging system with distance measurement function and distance-finding method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103760567A true CN103760567A (en) | 2014-04-30 |
| CN103760567B CN103760567B (en) | 2016-06-15 |
Family
ID=50527834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410040445.2A Active CN103760567B (en) | 2014-01-27 | 2014-01-27 | A kind of passive imaging system with distance measurement function and distance-finding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103760567B (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983981A (en) * | 2013-10-11 | 2014-08-13 | 北京理工大学 | Three-dimensional compressed imaging method and device based on phase position distance measurement principle |
| CN104880155A (en) * | 2015-06-05 | 2015-09-02 | 苏州市建设工程质量检测中心有限公司 | Long-distance reference laser displacement sensor and distance measurement method thereof |
| CN106506996A (en) * | 2016-11-11 | 2017-03-15 | 山东大学 | A kind of short-wave infrared imaging system illuminated based on linear array laser and its method of work |
| CN108351403A (en) * | 2016-03-03 | 2018-07-31 | 密克罗奇普技术公司 | Ultrasonic wave proximity sensing peripheral equipment based on core independence peripheral equipment |
| CN108399754A (en) * | 2018-03-09 | 2018-08-14 | 上海畅停信息科技有限公司 | A kind of Vehicular intelligent detection method in shared berth lock |
| CN108627754A (en) * | 2017-03-17 | 2018-10-09 | 中国科学院大连化学物理研究所 | A kind of micro-nano-scale surface photogenerated charge imaging system and method |
| CN108700649A (en) * | 2016-02-29 | 2018-10-23 | 赛峰电子与防务公司 | Equipment for detecting laser facula |
| CN108700647A (en) * | 2015-12-29 | 2018-10-23 | 泰勒斯公司 | Utilize the method for telemetering and system of imager |
| CN109074073A (en) * | 2016-03-03 | 2018-12-21 | 优步技术公司 | Planar beam of radiation, light detection and ranging system |
| CN109313345A (en) * | 2016-03-03 | 2019-02-05 | 4D知识产权有限责任公司 | Method and apparatus for Image Acquisition and the active pulse 4D photographic device of analysis |
| CN109791205A (en) * | 2016-10-03 | 2019-05-21 | 齐诺马蒂赛股份有限公司 | For the method from the exposure value of the pixel unit in imaging array subduction bias light and for the pixel unit of this method |
| WO2019148475A1 (en) * | 2018-02-03 | 2019-08-08 | Shenzhen Genorivision Technology Co. Ltd. | Methods and systems with dynamic gain determination |
| CN110187354A (en) * | 2014-12-22 | 2019-08-30 | 谷歌有限责任公司 | Method, system and the computer-readable medium of simulated range |
| CN111033315A (en) * | 2017-08-08 | 2020-04-17 | 国立大学法人静冈大学 | Distance image measuring device and distance image measuring method |
| CN111164457A (en) * | 2018-09-07 | 2020-05-15 | 深圳市大疆创新科技有限公司 | Laser ranging module, device and method and mobile platform |
| US10739442B2 (en) | 2017-02-03 | 2020-08-11 | Sensors Unlimited, Inc. | Pulsing laser spot tracking and decoding |
| WO2021015796A1 (en) * | 2019-07-25 | 2021-01-28 | Didi Research America, Llc | Low noise frontends for lidar receiver and methods for controlling the same |
| CN113260874A (en) * | 2018-11-20 | 2021-08-13 | 感觉光子公司 | Method and system for spatially distributed gating |
| CN113544544A (en) * | 2019-03-01 | 2021-10-22 | 布鲁克曼科技株式会社 | Distance image capturing device and distance image capturing method implemented by distance image capturing device |
| WO2023155093A1 (en) * | 2022-02-17 | 2023-08-24 | 华为技术有限公司 | Detection apparatus and detection method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2279197A (en) * | 1993-06-16 | 1994-12-21 | Seikosha Kk | Distance measuring device |
| JPH07198845A (en) * | 1993-12-28 | 1995-08-01 | Nec Corp | Distance and image measuring apparatus |
| CN101027574A (en) * | 2004-07-06 | 2007-08-29 | 迪米斯戴尔工程有限责任公司 | Determining range in 3D imaging systems |
| CN103261912A (en) * | 2010-07-29 | 2013-08-21 | 威凯托陵科有限公司 | Apparatus and method for measuring the distance and/or intensity characteristics of objects |
-
2014
- 2014-01-27 CN CN201410040445.2A patent/CN103760567B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2279197A (en) * | 1993-06-16 | 1994-12-21 | Seikosha Kk | Distance measuring device |
| JPH07198845A (en) * | 1993-12-28 | 1995-08-01 | Nec Corp | Distance and image measuring apparatus |
| CN101027574A (en) * | 2004-07-06 | 2007-08-29 | 迪米斯戴尔工程有限责任公司 | Determining range in 3D imaging systems |
| CN103261912A (en) * | 2010-07-29 | 2013-08-21 | 威凯托陵科有限公司 | Apparatus and method for measuring the distance and/or intensity characteristics of objects |
Non-Patent Citations (2)
| Title |
|---|
| 姜海娇等: "激光雷达的测距特性及其测距精度研究", 《中国激光》 * |
| 许凯达等: "激光距离选通成像技术及其组合应用模式综述", 《红外技术》 * |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983981A (en) * | 2013-10-11 | 2014-08-13 | 北京理工大学 | Three-dimensional compressed imaging method and device based on phase position distance measurement principle |
| CN110187354B (en) * | 2014-12-22 | 2023-02-21 | 谷歌有限责任公司 | Method, system and computer readable medium for simulating distances |
| CN110187354A (en) * | 2014-12-22 | 2019-08-30 | 谷歌有限责任公司 | Method, system and the computer-readable medium of simulated range |
| CN104880155A (en) * | 2015-06-05 | 2015-09-02 | 苏州市建设工程质量检测中心有限公司 | Long-distance reference laser displacement sensor and distance measurement method thereof |
| CN108700647A (en) * | 2015-12-29 | 2018-10-23 | 泰勒斯公司 | Utilize the method for telemetering and system of imager |
| CN108700647B (en) * | 2015-12-29 | 2022-01-04 | 泰勒斯公司 | Telemetry method and system using imager |
| CN108700649A (en) * | 2016-02-29 | 2018-10-23 | 赛峰电子与防务公司 | Equipment for detecting laser facula |
| CN109074073B (en) * | 2016-03-03 | 2020-09-01 | Uatc有限责任公司 | Planar beam, optical detection and ranging system |
| US10873738B2 (en) | 2016-03-03 | 2020-12-22 | 4D Intellectual Properties, Llc | Multi-frame range gating for lighting-invariant depth maps for in-motion applications and attenuating environments |
| CN109313345A (en) * | 2016-03-03 | 2019-02-05 | 4D知识产权有限责任公司 | Method and apparatus for Image Acquisition and the active pulse 4D photographic device of analysis |
| US12096121B2 (en) | 2016-03-03 | 2024-09-17 | 4D Intellectual Properties, Llc | Precision reflectivity and ambient light removal for a geiger mode/single photon active sensor system |
| US11838626B2 (en) | 2016-03-03 | 2023-12-05 | 4D Intellectual Properties, Llc | Methods and apparatus for an active pulsed 4D camera for image acquisition and analysis |
| CN108351403B (en) * | 2016-03-03 | 2023-08-25 | 密克罗奇普技术公司 | Ultrasonic proximity sensing peripheral based on core independent peripheral |
| CN109074073A (en) * | 2016-03-03 | 2018-12-21 | 优步技术公司 | Planar beam of radiation, light detection and ranging system |
| US11477363B2 (en) | 2016-03-03 | 2022-10-18 | 4D Intellectual Properties, Llc | Intelligent control module for utilizing exterior lighting in an active imaging system |
| CN108351403A (en) * | 2016-03-03 | 2018-07-31 | 密克罗奇普技术公司 | Ultrasonic wave proximity sensing peripheral equipment based on core independence peripheral equipment |
| CN109313345B (en) * | 2016-03-03 | 2021-05-28 | 4D知识产权有限责任公司 | Method and device for an active pulsed 4D camera device for image acquisition and analysis |
| CN109791205A (en) * | 2016-10-03 | 2019-05-21 | 齐诺马蒂赛股份有限公司 | For the method from the exposure value of the pixel unit in imaging array subduction bias light and for the pixel unit of this method |
| CN109791205B (en) * | 2016-10-03 | 2023-04-04 | 齐诺马蒂赛股份有限公司 | Method for subtracting background light from exposure values of pixel cells in an imaging array and pixel cell for use in the method |
| CN106506996A (en) * | 2016-11-11 | 2017-03-15 | 山东大学 | A kind of short-wave infrared imaging system illuminated based on linear array laser and its method of work |
| CN106506996B (en) * | 2016-11-11 | 2019-03-08 | 山东大学 | A kind of short-wave infrared imaging system and its working method based on linear array laser illumination |
| US10739442B2 (en) | 2017-02-03 | 2020-08-11 | Sensors Unlimited, Inc. | Pulsing laser spot tracking and decoding |
| CN108627754A (en) * | 2017-03-17 | 2018-10-09 | 中国科学院大连化学物理研究所 | A kind of micro-nano-scale surface photogenerated charge imaging system and method |
| CN108627754B (en) * | 2017-03-17 | 2020-06-30 | 中国科学院大连化学物理研究所 | Micro-nano scale surface photo-generated charge imaging system and method |
| CN111033315A (en) * | 2017-08-08 | 2020-04-17 | 国立大学法人静冈大学 | Distance image measuring device and distance image measuring method |
| WO2019148475A1 (en) * | 2018-02-03 | 2019-08-08 | Shenzhen Genorivision Technology Co. Ltd. | Methods and systems with dynamic gain determination |
| TWI791758B (en) * | 2018-02-03 | 2023-02-11 | 中國大陸商深圳源光科技有限公司 | Methods and systems with dynamic gain determination |
| CN108399754A (en) * | 2018-03-09 | 2018-08-14 | 上海畅停信息科技有限公司 | A kind of Vehicular intelligent detection method in shared berth lock |
| CN108399754B (en) * | 2018-03-09 | 2020-11-03 | 上海畅停信息科技有限公司 | Intelligent detection method for vehicles in shared parking spot lock |
| CN111164457A (en) * | 2018-09-07 | 2020-05-15 | 深圳市大疆创新科技有限公司 | Laser ranging module, device and method and mobile platform |
| CN111164457B (en) * | 2018-09-07 | 2023-04-14 | 深圳市大疆创新科技有限公司 | Laser ranging module, device and method and mobile platform |
| CN113260874A (en) * | 2018-11-20 | 2021-08-13 | 感觉光子公司 | Method and system for spatially distributed gating |
| CN113544544A (en) * | 2019-03-01 | 2021-10-22 | 布鲁克曼科技株式会社 | Distance image capturing device and distance image capturing method implemented by distance image capturing device |
| US11280888B2 (en) | 2019-07-25 | 2022-03-22 | Beijing Voyager Technology Co., Ltd. | Low noise frontends for LiDAR receiver and methods for controlling the same comprising a multiplexing circuit for selectively connecting each photodetector to a shared amplifier |
| WO2021015796A1 (en) * | 2019-07-25 | 2021-01-28 | Didi Research America, Llc | Low noise frontends for lidar receiver and methods for controlling the same |
| WO2023155093A1 (en) * | 2022-02-17 | 2023-08-24 | 华为技术有限公司 | Detection apparatus and detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103760567B (en) | 2016-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103760567A (en) | Passive imaging system with distance measuring function and distance measuring method thereof | |
| Pawlikowska et al. | Single-photon three-dimensional imaging at up to 10 kilometers range | |
| EP1962107B1 (en) | High-speed laser ranging system including a fiber laser | |
| CN104483676B (en) | A kind of 3D/2D scannerless laser radars complex imaging device | |
| CN101776760A (en) | Laser three-dimensional imaging device based on single-photon detector | |
| CN101839981B (en) | Method and device for acquiring laser imaging echo waveform and level characteristics | |
| CN203909297U (en) | Laser range finder based on high-speed single-photon detection | |
| CN101788667B (en) | Light amplification type three-dimensional imaging method and system | |
| Zhang et al. | Three-dimensional imaging Lidar system based on high speed pseudorandom modulation and photon counting | |
| CN106772426B (en) | System for realizing remote laser high-sensitivity single photon imaging | |
| CN107907885A (en) | A kind of Underwater Target Detection device based on single-photon counting method | |
| KR20220118398A (en) | LIDAR system including receiver based on Geiger mode avalanche photodiode with pixel with multiple return function | |
| CN102043155A (en) | Airborne staring imaging three-dimensional gated imaging control data splicing method and system | |
| US20220099814A1 (en) | Power-efficient direct time of flight lidar | |
| US20240159903A1 (en) | Data processing method for lidar and lidar | |
| Gordon et al. | Advanced 3D imaging lidar concepts for long range sensing | |
| WO2014025428A2 (en) | Light ranging with moving sensor array | |
| Shu et al. | Multi-channel photon counting three-dimensional imaging laser radar system using fiber array coupled Geiger-mode avalanche photodiode | |
| Yu et al. | High-precision 3D imaging of underwater coaxial scanning photon counting Lidar based on spatiotemporal correlation | |
| Liu et al. | Research on a flash imaging lidar based on a multiple-streak tube | |
| Shen et al. | Self-gating single-photon time-of-flight depth imaging with multiple repetition rates | |
| Li et al. | DTOF image LiDAR with stray light suppression and equivalent sampling technology | |
| CN201611390U (en) | Optical amplification three dimensional imaging system | |
| WO2018226124A1 (en) | Optical device for determining distances to an object | |
| CN114019521A (en) | Area array laser radar multimode data acquisition method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |