Small-view-field scanning laser radar and method based on correlated imaging

Abstract

The invention is suitable for the field of target imaging detection, and provides a small-view-field scanning laser radar and method based on correlated imaging, and the small-view-field scanning laser radar based on correlated imaging comprises a transmitting device and a receiving device. The emitting device is used for emitting detection light to irradiate a to-be-detected field of view where a to-be-detected target is located; the receiving device is used for receiving target light generated after the detection light irradiates the to-be-detected target and detecting the received target light; a light path of the detection light or the target light is provided with a modulation member, the modulation member is used for modulating the detection light so that the detection light generates a plurality of modulation speckles, and the plurality of modulation speckles irradiate each sub-view field forming the to-be-detected view field. According to the invention, the modulation part is used for modulating the detection light, and the problem that the cost of the existing correlated imaging-based laser radar is increased because the detector in the existing correlated imaging-based laser radar is required to have a relatively high dynamic range is solved.

Description

Technical Field

[0001] The invention belongs to the field of target imaging detection and provides a small-field-of-view scanning laser radar and a method based on correlation imaging. Background Art

[0002] "Correlation imaging" is an imaging method based on the second-order coherence of the light field and using a single-pixel detector, also known as "ghost imaging" or "single-pixel imaging". Since only a single-pixel detector without spatial resolution is needed to image an object, correlation imaging has the advantages of a wide range of application wavelengths and anti-scattering.

[0003] In the existing laser radar based on correlation imaging on the market, in the correlation imaging system, if the emitted speckle covers the entire detection field of view, the light intensity collected by the single-pixel detector is relatively strong. Although the signal-to-noise ratio is high, the fluctuation is relatively low, which requires the detector in the laser radar based on correlation imaging to have a higher dynamic range, which increases the cost of the laser radar. Therefore, there is an urgent need to design a laser radar based on correlation imaging. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a small field of view scanning laser radar based on correlation imaging, aiming to solve the problem that the laser radar based on correlation imaging in the prior art requires the detector therein to have a higher dynamic range, which increases the cost of the laser radar.

[0005] The embodiment of the present invention is implemented as follows: a small-field-of-view scanning laser radar based on correlation imaging, wherein the small-field-of-view scanning laser radar based on correlation imaging includes a transmitting device and a receiving device;

[0006] The transmitting device is used to transmit the detection light to illuminate the field of view to be measured where the target to be measured is located;

[0007] The receiving device is used to receive the target light generated after the detection light irradiates the target to be detected, and detect the received target light;

[0008] A modulator is provided in the optical path of the detection light or the target light, and the modulator is used to modulate the detection light so that the detection light generates a plurality of modulated speckles, and the plurality of modulated speckles are respectively irradiated to each sub-field of view constituting the field of view to be measured;

[0009] Alternatively, the modulator is used to modulate the target light, and the target light modulated multiple times corresponds to different sub-fields of view from the field of view to be measured.

[0010] Another object of an embodiment of the present invention is to provide a small field of view scanning method based on correlation imaging, which is used for the small field of view scanning laser radar based on correlation imaging as described above, and the method comprises the following steps:

[0011] Emitting detection light to illuminate the field of view to be measured where the target to be measured is located;

[0012] receiving target light generated after the detection light irradiates the target to be detected, and detecting the received target light;

[0013] In the above steps, the detection light is modulated by a modulator so that the detection light generates a plurality of modulated speckles, and the plurality of modulated speckles are respectively irradiated to each sub-field of view constituting the field of view to be measured; or, the target light is modulated by a modulator and then detected by a receiving device, and the target light modulated multiple times corresponds to different sub-fields of view of the field of view to be measured.

[0014] The small field of view scanning laser radar based on associated imaging provided by the embodiment of the present invention can first modulate a series of modulated speckles through a set modulation element, sequentially illuminate each sub-field of view constituting the field of view to be measured, and then detect the modulated speckles reflected by the target to be measured through a receiving device to achieve small field of view scanning or detection; or can choose to modulate the target light formed by the detection light reflected by the target to be measured through the modulation element, specifically modulate the image of the target to be measured formed by the modulation element, and modulate each sub-field of view in the image of the target to be measured, and the receiving device detects each modulated sub-field of view; it can maintain a high intensity fluctuation while increasing the optical power received by the detector, thereby improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of a small-field-of-view scanning laser radar based on correlation imaging provided by an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of the structure of another small-field-of-view scanning laser radar based on correlation imaging provided by an embodiment of the present invention;

[0017] Figure 3 Schematic diagram of the principle of a small-field-of-view scanning laser radar based on correlation imaging in an embodiment of the present invention;

[0018] Figure 4 It is a schematic diagram of the principle of another small-field-of-view scanning laser radar based on correlation imaging in an embodiment of the present invention;

[0019] Figure 5 Schematic diagram of the principle of small field of view scanning in an embodiment of the present invention;

[0020] Figure 6 A workflow diagram of a small field of view scanning method based on correlation imaging provided by an embodiment of the present invention;

[0021] Figure 7 A flowchart of another small field of view scanning method based on correlation imaging provided in an embodiment of the present invention.

[0022] In the attached drawings: 100 - emitting device; 1 - light source; 2 - emitting element; 3 - modulating element; 200 - receiving device; 4 - receiving element; 5 - single pixel detector; 6 - light collecting device. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] It can be understood that the terms "first", "second", etc. used in the present application can be used in this article to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0025] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0026] like Figure 1 , Figure 2 , which is a structural diagram of a small-field-of-view scanning laser radar based on correlation imaging provided by an embodiment of the present invention, including a transmitting device 100 and a receiving device 200;

[0027] The transmitting device 100 is used to transmit detection light to illuminate the field of view to be measured where the target to be measured is located;

[0028] The receiving device 200 is used to receive the target light generated after the detection light irradiates the target to be detected, and detect the received target light;

[0029] A modulator 3 is provided in the optical path of the detection light or the target light, and the modulator 3 is used to modulate the detection light so that the detection light generates a plurality of modulated speckles, and the plurality of modulated speckles are respectively irradiated to each sub-field of view constituting the field of view to be measured;

[0030] Alternatively, the modulator 3 is used to modulate the target light, and the target light modulated multiple times corresponds to different sub-fields of view from the field of view to be measured.

[0031] In the embodiment of the present invention, the laser radar can either first modulate a series of modulated speckles through the provided modulator 3, sequentially illuminate each sub-field of view constituting the field of view to be measured, and then detect the modulated speckles reflected by the target to be measured through the receiving device 200, thereby realizing small field of view scanning or detection; or can select to modulate the target light formed by the detection light reflected by the target to be measured through the modulator 3, specifically, modulate the image of the target to be measured formed by the modulator, and modulate each sub-field of view in the image of the target to be measured, and the receiving device 200 detects each modulated sub-field of view; while increasing the optical power received by the detector, it can maintain a high intensity fluctuation, thereby improving the detection accuracy.

[0032] In one embodiment of the present invention, the modulator 3 may be frosted glass, a spatial light modulator (SLM) or a digital micro-mirror array (DMD), etc.; the modulation of the detection light or the image of the target to be detected by the modulator 3 may be known; for frosted glass, modulation may be achieved using a pre-calibrated method; the modulation of light by the SLM or DMD is controllable, and by inputting different control signals, the SLM or DMD modulates the light differently.

[0033] In one implementation scenario of this example, Figure 3 As shown, after the modulator 3 modulates the detection light multiple times, a series of modulated speckles generated correspond to different sub-fields of view of the target to be measured, are reflected as target light, and are received and detected by the receiving device 200. Specifically, the modulated speckles irradiated on the target to be measured are represented as I i (x), where i is the i-th modulation, x represents the spatial coordinate, and the light intensity value collected by the single-pixel detector 5 included in the receiving device 200 is represented as S i , then after N modulations, the image (x) of the target to be measured can be reconstructed by the association algorithm:

[0034]

[0035] where δS i =S i - <s>represents the fluctuation of light intensity collected by the single pixel detector 5, <s>is the average light intensity value collected by the single pixel detector 5 after N modulations. i (x) is often Hadamard speckle, Fourier speckle or random speckle, etc.

[0036] It can be seen that in the correlation imaging system, what is important is whether the single-pixel detector 5 in the receiving device 200 can accurately detect the fluctuation of the light signal, rather than the signal intensity itself. If the emitted modulated speckle covers the entire field of view to be measured, the light intensity collected by the single-pixel detector 5 is relatively strong, and although the signal-to-noise ratio is high, the light intensity fluctuation is relatively low.

[0037] Therefore, this embodiment does not cover the entire field of view to be measured by emitting modulated speckles, but emits corresponding modulated speckles for illumination respectively, corresponding to each sub-field of view in the entire field of view to be measured. In this way, the single-pixel detector 5 in the receiving device 200 collects light with high intensity and high light intensity fluctuation. That is, this embodiment creatively combines the advantages of associated imaging and small field of view scanning, and provides a new target detection method.

[0038] In another implementation scenario of this example, Figure 4 As shown, after the receiving device 200 receives the target light, the modulation step of the modulator 3 includes: the detection light emitted by the transmitting device 100 is irradiated on the target to be measured; the receiving device 200 receives the target light reflected by the target to be measured, and images it on the modulator 3 for modulation; the modulated target light is collected by the receiving device 200, and the total light intensity of the target light to be measured passing through the modulator 3 is collected, and reconstructed and calculated by the above-mentioned association algorithm. Similarly, if the modulated speckle of the modulator 3 fills the field of view to be measured, the light intensity collected by the single-pixel detector 5 is relatively strong and the fluctuation is relatively low. In this example, according to the different setting positions of the modulator 3, the laser radar can be arranged in a first modulation mode and a post-modulation mode. Which mode to use in actual application can be flexibly selected and is not limited to this.

[0039] In another embodiment, the entire field of view to be detected is divided into M sub-fields of view to achieve small field of view scanning; Figure 5 As shown, it is a schematic diagram showing the principle of the above-mentioned small field of view scanning:

[0040] Taking the modulation mode as an example, the entire field of view to be detected is divided into M sub-fields of view, namely: sub-field of view 1, sub-field of view 2, sub-field of view 3, and finally sub-field of view M; each sub-field of view is detected with modulated speckle, and the modulated speckle in each sub-field of view can be changed according to the design; for example, after the detection of sub-field of view 1 is completed, the next sub-field of view (i.e., sub-field of view 2) is switched to use small field of view speckle for illumination. Repeat this process until the M sub-fields of view are detected. The small field of view modulated speckle can be Hadamard speckle, Fourier speckle, or random speckle, etc. It should be noted that, according to actual needs, the area of ​​each sub-field of view (i.e., the corresponding sub-field of view angle) can be unequal or equal, and the modulation resolution and modulation times of each sub-field of view can also be unequal. Figure 5 In the figure, the white part indicates that there is light exposure, and the black part indicates that there is no light exposure.

[0041] In the above embodiment, the small field of view scanning laser radar based on correlation imaging creatively combines the imaging principle of single pixel imaging and the imaging principle of small field of view scanning, so that when detecting the target to be measured, it can maintain a high light intensity fluctuation while increasing the light power received by the receiving device, thereby improving the accuracy of target detection; and the structure of modulated speckle modulation is relatively simple.

[0042] In another embodiment, the modulation member 3 is connected to a controller, and the controller controls the movement of the modulation member 3 .

[0043] In this embodiment, when performing pre-modulation or post-modulation, the modulation of the detection light and the target light can be achieved by moving the modulation element 3, and then different modulation speckles are modulated to form a series of modulation speckles, which are respectively irradiated to different sub-fields of the field of view to be measured, thereby realizing the scanning of the target to be measured.

[0044] In an example of the present embodiment, when the modulation element 3 adopts frosted glass, the frosted glass can be set in a supporting ring, and the outer ring of the frosted glass is connected to a linear motor, and the linear motor is controlled by the controller to drive the frosted glass to move, thereby realizing the switching of the frosted glass modulation pattern; the detection light generates different modulation speckles after irradiating different modulation patterns; and the modulation element adopts SLM or DMD, and the controller can be replaced by a control device equipped with the SLM or DMD itself; the controller in the present embodiment can be a computer or a conventional programmable logic controller, and the present embodiment does not make any specific restrictions.

[0045] In another embodiment, Figure 1 As shown, the transmitting device 100 at least includes a light source 1 and a transmitting element 2. The transmitting element 2 is arranged on the optical path of the detection light emitted by the light source 1. The transmitting element 2 can emit the detection light to the field of view to be measured.

[0046] The optical path of the detection light emitted by the light source 1 in this embodiment refers to: the path passed by the detection light emitted by the light source 1, not a physical path, and optical path is an optical term well known in the art; similarly, the optical path of the detection light and the optical path of the target light both refer to the path passed by the light beam.

[0047] In an example of this embodiment, the light source 1 can be a laser, and the laser can be a pulsed laser for emitting pulsed laser. The light source 1 can include a collimator or a beam expander to collimate or expand the laser. The emitting element 2 can use an emitting lens that has a converging effect on light. The emitting lens is used to emit the light modulated by the modulator 3 to illuminate the target to be measured. It can be a single lens or a lens group. Afterwards, the light reflected by the target to be measured is collected by the receiving element of the receiving device 200, and converged and detected. The light source 1 can also be other luminous bodies, which can be selected according to the design requirements, and the present embodiment is not limited to this.

[0048] In another embodiment, the emitting device 100 further includes an adjusting member (not shown in the figure), which is disposed on the detection light path between the light source 1 and the emitting member 2 and is used to adjust the detection light; the adjusting member is a collimator or a beam expander.

[0049] In this embodiment, the adjustment member is arranged to converge and expand the detection light emitted by the light source 1 to improve the light efficiency of the detection light and reduce the additional loss in the light propagation process. In some scenarios, if the light source 1 adopts a laser, or directly adopts a laser optical fiber, a collimator can be selected as an adjustment member, which can not only improve the light efficiency, but also facilitate the selection of the collimator and the laser.

[0050] In another embodiment, the two above-mentioned modulators can be arranged in the optical path of the detection light and the target light, wherein one of the modulators acts as a reflector and the other modulator has a movable stroke. The modulation function and the specific implementation principle are the same as above and will not be described in detail in this embodiment.

[0051] In another embodiment, the receiving device 200 includes a receiving element 4 and a single-pixel detector 5, wherein the receiving element 4 is used to receive the target light generated after the detection light irradiates the target to be measured, and the single-pixel detector 5 is arranged on the optical path of the target light emitted by the receiving element 4, and the single-pixel detector 5 is used to receive and detect the target light emitted by the receiving element 4.

[0052] In this embodiment, the single-pixel detector 5 can be used to detect the target light. Compared with using a detector with a wider detection range, the use of the single-pixel detector 5 can reduce the overall design cost of the laser radar.

[0053] In an example of this embodiment, the receiving element 4 may be a receiving lens with a converging effect, and the receiving lens is used to collect the light reflected by the target and converge it onto the single-pixel detector 5. The receiving lens may be a single lens, a lens group or a Fresnel lens, etc. The single-pixel detector 5 may be a photodiode, a photomultiplier tube or an avalanche photodiode, etc.

[0054] In another preferred embodiment, Figure 2 As shown, the receiving device 200 further includes a light collecting device 6, which is used to collect the target light emitted by the modulator 3, and the light collecting device 6 is one of a lens, a lens group, a fiber optic light cone, and a concentrator.

[0055] In this embodiment, the light collecting device 6 can cooperate with the modulating element 3 to be used for small field scanning of associated imaging; taking the following modulation mode as an example:

[0056] Specifically, the laser emitted by the light source 1 irradiates the emitting lens, which then diverges and irradiates the laser onto the target to be measured; the receiving element 4 collects the target light reflected by the target to be measured and images it onto the modulator 3, which performs known and controllable modulation on the image of the target to be measured. The modulator 3 only irradiates a small sub-field of view in the image of the target to be measured each time, and after the modulation of the sub-field of view is completed, the sub-field of view is changed for modulation; the light collecting device 6 converges the target light emitted by the modulator 3, and the single-pixel detector 5 detects it. When calculating and reconstructing through the association algorithm, each sub-field of view is calculated and reconstructed according to the modulated speckle and the light intensity value obtained by the single-pixel detector 5, and the reconstruction results of all sub-fields of view are arranged in sequence to form the reconstruction results of all fields of view to be measured.

[0057] In order to better implement the above-mentioned small field of view scanning laser radar based on correlation imaging, in one embodiment, a small field of view scanning method based on correlation imaging is also provided, which is used for the above-mentioned small field of view scanning laser radar based on correlation imaging, and the method includes the following steps:

[0058] Emitting detection light to illuminate the field of view to be measured where the target to be measured is located;

[0059] receiving target light generated after the detection light irradiates the target to be detected, and detecting the received target light;

[0060] In the above steps, the detection light is modulated by the modulator 3 so that the detection light generates a plurality of modulated speckles, and the plurality of modulated speckles are respectively irradiated to each sub-field of view constituting the field of view to be measured; or, the target light is modulated by the modulator 3 and then detected by the receiving device, and the target light modulated multiple times corresponds to different sub-fields of view of the field of view to be measured.

[0061] In this embodiment, a first modulation mode and a second modulation mode are included;

[0062] like Figure 6 As shown, the first modulation mode includes:

[0063] S102: emitting detection light to illuminate the field of view to be measured where the target to be measured is located;

[0064] S104: modulating the detection light by means of a modulation element 3 so that the detection light generates a plurality of modulation speckles, and the plurality of modulation speckles are respectively irradiated to each sub-field of view constituting the field of view to be measured;

[0065] S106: receiving target light generated after the detection light irradiates the target to be detected, and detecting the received target light.

[0066] In the above embodiment, the multiple modulated speckles are modulated in sequence by a modulator, and the multiple modulated speckles are respectively irradiated to each sub-field of view, which is also performed in sequence. Of course, when the detection light is designed to have N beams, the modulator can also be provided with N. In this case, the number of sub-fields of view of the entire field of view to be measured can be divided into M / N. Similarly, multiple single-pixel detectors 5 are provided for detection. However, this implementation scenario will increase the design cost of the device and can only be used as an option of this embodiment.

[0067] like Figure 7 As shown, the post-modulation modes include:

[0068] S202: emitting detection light to illuminate the field of view to be measured where the target to be measured is located;

[0069] S204: receiving target light generated after the detection light irradiates the target to be detected;

[0070] S206: The target light is modulated by a modulator and then detected by the receiving device 200, and the target light modulated multiple times corresponds to different sub-fields of view of the field to be measured.

[0071] It should be noted that there is no difference between the above two modes, and they can be flexibly selected according to needs during design, and this embodiment is not limited to this.

[0072] In a preferred embodiment, the method further comprises:

[0073] Obtain the spatial coordinates of the modulator 3 each time it is modulated;

[0074] Collect the light intensity value of the target light received by the single pixel detector 5 after each modulation of the modulator 3;

[0075] The spatial coordinates and the light intensity value of the target light are calculated by a correlation algorithm to reconstruct an image of the target to be measured;

[0076] The image Image(x) of the target to be measured reconstructed by the association algorithm satisfies:

[0077]

[0078] Where, the modulated speckle is represented by I i (x), where i is the i-th modulation, x represents the spatial coordinate, δS i =S i - <s>represents the intensity fluctuation of the target light received by the single-pixel detector 5, <s>is the average light intensity value collected by the single pixel detector 5 after N modulations.

[0079] In this embodiment, a small field of view scanning method based on correlation imaging is used, and a series of modulated speckles are modulated to sequentially illuminate each sub-field of view of the target to be measured, and then received and detected by the receiving device 200; while increasing the optical power received by the receiving device 200, a high light intensity fluctuation can be maintained, thereby improving the accuracy of target detection.

[0080] In the first example, when the detection light is modulated by the modulator 3, the modulation speckle of each modulation is different;

[0081] In the second example, the modulated speckle is Hadamard speckle, Fourier speckle or random speckle. Using a variety of modulated speckles can better adapt to different types of targets to be measured, achieve better reflection effects, improve the accuracy and flexibility of illuminating the target to be measured, and thus improve the accuracy and flexibility of detection.

[0082] In the third example, the small field of view scanning method based on correlated imaging can also be applied to single-pixel camera imaging devices; in this single-pixel detection scenario where no distance is required, the light source 1 can be a non-pulse source such as laser, LED, sunlight, etc.; and it can also be applied to pre-modulation mode and post-modulation mode.

[0083] In this way, not only can the cost of the design of the modulator be reduced, but also the cost of the light source 1 of the transmitting device 100 can be reduced, so that the equipment is used in single-pixel detection scenarios without distance requirements. The overall equipment design cost is low and can meet the design requirements. The application scenarios are wide, which is more convenient for the application and promotion of laser radar in multiple fields, and provides the market with better quality and more selective products.

[0084] In the fourth example, the modulated speckle is formed by modulating the detection light before irradiating the target to be measured; specifically, the following method can be used: Figure 3 The small field of view scanning laser radar based on correlation imaging shown in the figure divides the entire field of view to be detected into M sub-fields of view, namely: sub-field of view 1, sub-field of view 2, sub-field of view 3, and finally sub-field of view M; modulates the detection light in sequence, and makes the modulated speckle generated after modulation detect each sub-field of view in sequence, and the modulated speckle in each sub-field of view can be changed according to the design; for example, after the detection of sub-field of view 1 is completed, the next sub-field of view (i.e., sub-field of view 2) is switched to illuminate with the small field of view speckle. Repeat this process until the detection of M sub-fields of view is completed. Wherein M is a constant, and is a constant value greater than or equal to 2.

[0085] In the fifth example, the modulated speckle is formed by modulating the target light reflected by the target to be measured after the receiving element receives the target light; specifically, the following method can be used: Figure 4 The small field of view scanning laser radar based on correlation imaging shown in the figure comprises a transmitting device 100 and a receiving device 200, wherein the transmitting device 100 is used to transmit detection light to illuminate the field of view to be measured where the target to be measured is located; the receiving device 200 is used to receive the target light generated after the detection light illuminates the target to be measured, and detect the received target light;

[0086] The specific detection of the target to be measured includes: the detection light emitted by the transmitting device 100 is irradiated on the target to be measured; the receiving device 200 receives the target light reflected by the target to be measured, and forms an image of the target to be measured on the modulating element 3, and modulates each sub-field of view in the image of the target to be measured in turn through the modulating element; the modulated speckle of each sub-field of view after modulation is collected by the receiving device, and the total light intensity of the modulated speckle is collected, and reconstructed and calculated through the above-mentioned correlation algorithm to form a complete field of view to be measured composed of each sub-field of view, that is, a complete image of the target to be measured.

[0087] In the above-mentioned embodiment of the present invention, a small field of view scanning laser radar based on correlation imaging is provided, and based on the small field of view scanning laser radar based on correlation imaging, a small field of view scanning method based on correlation imaging is provided. The small field of view scanning laser radar based on correlation imaging, through the modulation element 3 set, cooperates with the single-pixel detector 5 of the receiving device 200, and utilizes the small field of view scanning principle to perform small field of view speckle modulation on the detection light or the target light. The generated modulated speckles are multiple, corresponding to each sub-field of view of the field of view to be measured, respectively, and the optical power and light intensity fluctuations are improved at the same time. The correlation algorithm is used for reconstruction to obtain or restore the image of the target to be measured. In this way, not only the modulation speed is fast, but also the design cost of the equipment is low, and the light intensity fluctuation can be improved under the premise of ensuring the image quality.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.< / s> < / s> < / s> < / s>

Claims

1. A small field of view scanning laser radar based on correlation imaging, characterized in that: The small-field-of-view scanning laser radar based on correlation imaging includes a transmitting device and a receiving device; The transmitting device is used to transmit the detection light to illuminate the field of view to be measured where the target to be measured is located; The receiving device is used to receive the target light generated after the detection light irradiates the target to be detected, and detect the received target light; A modulator is provided in the optical path of the detection light or the target light, and the modulator is used to modulate the detection light so that the detection light generates a plurality of modulated speckles, and the plurality of modulated speckles are respectively irradiated to each sub-field of view constituting the field of view to be measured; Alternatively, the modulator is used to modulate the target light, and the target light modulated multiple times corresponds to different sub-fields of view from the field of view to be measured.

2. The small field of view scanning laser radar based on correlation imaging according to claim 1, characterized in that: The modulation member is connected to a controller, and the controller controls the movement of the modulation member.

3. The small field of view scanning laser radar based on correlation imaging according to claim 1, characterized in that: The emitting device at least comprises a light source and an emitting element. The emitting element is arranged on the optical path of the detection light emitted by the light source, and the emitting element can emit the detection light to the field of view to be measured.

4. The small field of view scanning laser radar based on correlation imaging according to claim 3, characterized in that: The emitting device further comprises an adjusting member, which is arranged on the optical path of the detection light between the light source and the emitting member and is used to adjust the detection light; the adjusting member is a collimator or a beam expander.

5. The small field of view scanning laser radar based on correlation imaging according to claim 1, characterized in that: The receiving device comprises a receiving element and a single pixel detector. The receiving element is used to receive the target light generated after the detection light irradiates the target to be detected. The single-pixel detector is arranged on the optical path of the target light emitted by the receiving element, and the single-pixel detector is used to receive and detect the target light emitted by the receiving element.

6. The small field of view scanning laser radar based on correlation imaging according to claim 5, characterized in that: The receiving device further comprises a light collecting device, and the light collecting device is used for collecting the target light emitted by the modulating element.

7. A small field of view scanning method based on correlation imaging, characterized in that: For a small field of view scanning laser radar based on correlation imaging as described in any one of claims 1 to 6, the method comprises the following steps: Emitting detection light to illuminate the field of view to be measured where the target to be measured is located; receiving target light generated after the detection light irradiates the target to be detected, and detecting the received target light; In the above steps, the detection light is modulated by a modulator so that the detection light generates a plurality of modulated speckles, and the plurality of modulated speckles are respectively irradiated to each sub-field of view constituting the field of view to be measured; or, the target light is modulated by a modulator and then detected by a receiving device, and the target light modulated multiple times corresponds to different sub-fields of view of the field of view to be measured.

8. The small field of view scanning method based on correlation imaging according to claim 7, characterized in that: The method further comprises: Obtain the spatial coordinates of the modulator each time it is modulated; Collect the light intensity value of the target light received by the single pixel detector after each modulation of the modulator; The spatial coordinates and the light intensity value of the target light are calculated by a correlation algorithm to reconstruct an image of the target to be measured; The image Image(x) of the target to be measured reconstructed by the association algorithm satisfies: Where, the modulated speckle is represented by I i (x), where i is the i-th modulation, x represents the spatial coordinate, δS i =S i - <s>represents the intensity fluctuation of the target light received by the single-pixel detector, <s> It is the average light intensity value collected by the single pixel detector after N modulations.< / s> < / s> <s> <s> 9. According to the small field scanning method based on correlation imaging as claimed in claim 7 or 8, when the detection light is modulated by a modulation element, the modulation speckle of each modulation is different.

10. The small field of view scanning method based on correlation imaging according to claim 9, characterized in that: The modulated speckle is Hadamard speckle, Fourier speckle or random speckle. < / s> < / s>

Images