CN103983980A - Design method of variable-resolution laser three-dimensional imaging array - Google Patents

Abstract

The invention relates to a design method of a variable-resolution laser three-dimensional imaging array and belongs to the technical field of laser three-dimensional array imaging. According to the method, a plurality of circular photoelectric detectors are selected to form an annular three-dimensional imaging array structure, wherein each annular detector array comprises N detectors, the detectors of the same annular detector array are the same, and the detectors of different annular detector arrays are different; in the same ring, every two adjacent detectors are tangent with each other, and the circle centers of the N detectors are located on the same ring; the detectors of every two adjacent annular detector arrays are tangent one to one correspondingly. A calculation formula of parameters of the detectors of the annular three-dimensional imaging array is provided, a target can be sampled by the obtained imaging array in a spatial variable-resolution mode, and thus the advantages of a large field of view and the high resolution are both taken into consideration.

Description

A kind of variable resolution laser three-dimensional imaging array design methodology

Technical field

The present invention relates to a kind of variable resolution laser three-dimensional imaging array design methodology, belong to laser three-D array image-forming technical field.

Background technology

Compared with conventional two-dimensional image sensor, laser three-D array image-forming not only can provide target strength picture, and the range information of target can also be provided, therefore more abundant, accurate to the description of target.Meanwhile, it is strong that laser three-D array image-forming also has antijamming capability, and therefore resolution advantages of higher can be widely used in the fields such as machine vision, picture control, intelligent navigation.At present laser three-D array image-forming mode comprises two kinds of scanning and non-scannings, although wherein scan mode can high-resolution imaging, scanning mechanism system for restricting is integrated and imaging efficiency is lower; The imaging of face battle array mainly relies on measure-alike detector to target imaging, although imaging efficiency is higher, but imaging resolution is definite value, conventionally be not all area-of-interest for the image in visual field, therefore constant resolution imaging can cause the redundancy of data, fails effectively to utilize effective picture dot of highly-sensitive detector array.

Summary of the invention

The object of the invention is in order to solve problem set forth above, a kind of variable resolution laser three-dimensional imaging array design methodology has been proposed, can be according to modular design index the topology layout to detector and parameter thereof be optimized design, thereby complete variable resolution laser three-dimensional imaging.

A kind of variable resolution laser three-dimensional imaging array design methodology, is achieved through the following technical solutions:

Step 1, selects multiple circular light electric explorers, forms annular three-dimensional imaging array, and concrete structure is:

Annular three-dimensional imaging array comprises the annular detector array of multiple concentrics, and each annular detector array comprises N detector, and the detector of same annular detector array is identical, the detector difference of each annular detector array.In same ring, adjacent two detectors are tangent, and the center of circle of N detector is positioned on same annulus.The detector of adjacent two annular detector arrays is corresponding tangent one by one.

Step 2, the parameter detector of the annular three-dimensional imaging array described in step 1 meets following formula:

Wherein, f is receiving optics focal length, r _maxfor annular three-dimensional imaging array structure maximum radius, for the field angle of annular three-dimensional imaging array, D ₁for single detector diameter in the first ring of annular three-dimensional imaging array, R is target range, and l is object space resolution, and M is annular three-dimensional imaging array number of rings, the detector number that N is every ring, represent upwards respectively, round r downwards ₀for blind hole radius, q is interannular growth factor, r ₁for first ring detector place annular radii, D _ibe single detector diameter in i ring, r _ibe i ring detector place annular radii, P _r' (t) be the received power of single detector in first ring, the pulse energy that E (t) is optical transmitting system, τ _rfor echo pulsewidth, ρ _rfor the unrestrained emission ratio of target, A _tfor the irradiated area at target place, D _rfor the receiving system bore of annular three-dimensional imaging array, η _dfor the detection efficiency of annular three-dimensional imaging array, T _afor one way atmosphere transmission coefficient, T _ofor the optical system efficiency of echo reception.

The parameter detector that design obtains is required to meet boundary condition P _r' (t)>=P _rmin.Wherein, P _rminfor the minimum detectable power of single detector.

Beneficial effect

A kind of variable resolution laser three-dimensional imaging array design methodology that the present invention proposes can be inputted by simple parameter, obtains a set of complete parameter detector, reduces the design cycle; The present invention adopts space-variant system mode to sample to target, takes into account large visual field and high resolving power advantage.

Brief description of the drawings

Fig. 1 is detector array architecture figure of the present invention;

Fig. 2 is panel detector structure Parameter Map of the present invention;

Fig. 3 is parametric solution process flow diagram of the present invention;

Fig. 4 is the solution procedure figure of the embodiment of the present invention;

Fig. 5 is canonical parameter detector array architecture figure in the specific embodiment of the invention.

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.

As shown in Figure 1, a kind of variable resolution laser three-dimensional imaging array of the present invention is realized by the detector array of design annular arrangement, and as shown in Figure 2, parameter comprises detector array architecture parameter: first ring diameter detector D ₁, the second ring diameter detector D ₂, i ring diameter detector D _i, M ring diameter detector D _m, blind hole radius r ₀, first ring detector place radius r ₁, the second ring detector place radius r ₂,, i ring detector place radius r _i, M ring detector place radius r _m, structure maximum radius r _max.As shown in Figure 3, design parameter setting as shown in Figure 4, is described below method for solving:

The first step: input modular design index.

Modular design index comprises, object space resolution l, target range R, field angle structure maximum radius r _max.

Second step: set initial parameter.

Setting initial parameter is arbitrarily blind hole radius r ₀, r ₀<r _max.

The 3rd step: conditions setting.

Boundary condition is the minimum detectable power P of detector _rmin.

The 4th step: form target component.

Target component comprises the number of rings M of detector array, the number N that every ring comprises detector.

The 5th step: process optimization.

Process optimization is the process of asking for to target component, and concrete steps are as follows:

Step 5.1, asks for receiving optics focal distance f

At known parameters r _max, basis on utilize following formula to ask for

Step 5.2, asks for detector first ring diameter detector D ₁

By the result substitution following formula in step 5.1, can try to achieve D ₁

$D_1=\frac{f\&CenterDot;l}{R}$

Step 5.3, asks for the number N that every ring detector comprises, and considers actual conditions, should round up:

Step 5.4, asks for interannular growth factor q

Step 5.5, asks for the number of rings M of detector array, considers actual conditions, should round downwards:

Step 5.6, asks for the power of the detector of innermost ring

The 6th step: judge whether target component meets design objective

By the P ' r (t) trying to achieve and minimum detectable power P _rminrelatively, if coincidence boundary condition P _r' (t)>=P _rmin, enter the 7th step, if do not meet boundary condition, by changing blind hole radius r ₀reenter step 5.3, until meet boundary condition.

The 7th step: export structure parameter.

The parameter substitution following formula of trying to achieve by above step can be in the hope of i ring diameter detector D _iand i ring detector place annular radii r _i:

$r_1=\frac{r_0}{1-\sin (\mathrm{\&pi;}/N)}$

$\left\{\begin{array}{c}{D}_i=D_i\&CenterDot;q^{i-1}\\ r_i=r_1\&CenterDot;q^{i-1}\end{array}\right.,i\&le;M$

Final export structure parameter comprises: receiving system focal distance f, number of rings M, the detector number N that every ring comprises, interannular growth factor q, blind hole radius r ₀, i ring diameter detector D _i, i encircles detector place annular radii r _i, from trying to achieve the structural parameters of whole detector array.

It is as follows that the present embodiment is established initial input parameter:

R＝200m， l＝10mm，r _max＝100mm，r ₀＝0.5mm，λ＝905nm，E _t＝100mJ，D _r＝50mm，T _o＝0.9，T _a＝0.7，ρ _r＝0.6，P _rmin＝3nW。

Through above-mentioned solving, the parameter of detector array is as follows:

f＝336mm，M＝29，N＝40，q＝1.17，r ₀＝1mm，r ₁＝1.1mm,r _i＝1.1×1.2 ^i-1(i＝2,3,…,30)，D ₁＝0.17mm，D _i＝0.17×1.27 ^i-1(i＝2,3,…,30)。

By this structural generation detector array architecture as shown in Figure 5.

These are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (2)

1. a variable resolution laser three-dimensional imaging array design methodology, is characterized in that: select multiple circular light electric explorers, form annular three-dimensional imaging array, concrete structure is:

Annular three-dimensional imaging array comprises the annular detector array of multiple concentrics, and each annular detector array comprises N detector, and the detector of same annular detector array is identical, the detector difference of each annular detector array; In same ring, adjacent two detectors are tangent, and the center of circle of N detector is positioned on same annulus; The detector of adjacent two annular detector arrays is corresponding tangent one by one;

The parameter detector of described annular three-dimensional imaging array meets following formula:

Wherein, f is receiving optics focal length, r _maxfor annular three-dimensional imaging array structure maximum radius, for the field angle of annular three-dimensional imaging array, D ₁for single detector diameter in the first ring of annular three-dimensional imaging array, R is target range, and l is object space resolution, and M is annular three-dimensional imaging array number of rings, the detector number that N is every ring, represent upwards respectively, round r downwards ₀for blind hole radius, q is interannular growth factor, r ₁for first ring detector place annular radii, D _ibe single detector diameter in i ring, r _ibe i ring detector place annular radii, P _r' (t) be the received power of single detector in first ring, the pulse energy that E (t) is optical transmitting system, τ _rfor echo pulsewidth, ρ _rfor the unrestrained emission ratio of target, A _tfor the irradiated area at target place, D _rfor the receiving system bore of annular three-dimensional imaging array, η _dfor the detection efficiency of annular three-dimensional imaging array, T _afor one way atmosphere transmission coefficient, T _ofor the optical system efficiency of echo reception.

2. a kind of variable resolution laser three-dimensional imaging array design methodology according to claim 1, is characterized in that: the parameter detector that design obtains is required to meet boundary condition P _r' (t)>=P _rmin; Wherein, P _rminfor the minimum detectable power of single detector.