安防激光雷达研究进展

宋召奇; 朱精果; 解天鹏; 李锋; 姜成昊; 郭文举; 王春晓; 蒋衍

doi:doi:10.3788/LOP202158.0100002

激光与光电子学进展, 2021, 58 (1): 0100002, 网络出版: 2021-01-27

安防激光雷达研究进展下载： 1489次

Research Progress on Security LiDAR

宋召奇 ^1,2朱精果 ^1,*解天鹏 ^1,2李锋 ¹姜成昊 ¹郭文举 ¹王春晓 ¹蒋衍 ¹

作者单位

¹ 中国科学院微电子研究所,北京 100029

² 中国科学院大学,北京 100049

图 & 表

图 1. 应用场景。(a)周界防护^[9];(b)工业监控^[10];(c)入侵预警^[11];(d)文物保护^[12]

Fig. 1. Application scenarios. (a) Perimeter protection^[9]; (b) industrial monitoring^[10]; (c) intrusion warning^[11]; (d) cultural relic protection^[12]

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图 2. 森林场景下无人机搭载安防激光雷达探测入侵目标^[15]

Fig. 2. Drones equipped with security LiDAR for detecting intrusion target in forest scenario^[15]

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图 6. 传统机械式雷达的工作原理^[21]

Fig. 6. Working principle of traditional mechanical LiDAR^[21]

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图 7. SICK安全激光扫描仪系列^[22]

Fig. 7. SICK safety laser scanner series^[22]

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图 8. MEMS原理图。(a) MEMS激光雷达的工作原理^[24];(b) MEMS扫描镜^[25]

Fig. 8. Schematic of MEMS. (a) Working principle of MEMS LiDAR^[24]; (b) MEMS scanning mirror^[25]

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图 9. Flash激光雷达的工作原理^[21]

Fig. 9. Working principle of Flash LiDAR^[21]

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图 10. Flash激光雷达的工作场景及实验结果^[31]。(a)在电子计算机上进行实时跟踪并在云台上安装Flash激光雷达进行实验设置;(b)场景点云;(c)标有人物中心的场景强度视图;(d)标有人物中心的场景范围视图

Fig. 10. Working scenario and experimental results of Flash LiDAR^[31]. (a) Experimental setup with real-time tracking on PC and Flash LiDAR on pan-tilt head; (b) point cloud of scenario; (c) intensity view of scenario with person marked center; (d) range view of scenario with person marked center

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图 11. OPA工作原理^[33]

Fig. 11. Working principle of OPA^[33]

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图 12. Quanergy S3激光雷达原理^[34]

Fig. 12. Working principle of Quanergy S3 LiDAR^[34]

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图 13. 最大允许曝光量与波长的关系^[35]

Fig. 13. Relationship between maximum permissible exposure and wavelength^[35]

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图 14. 小型化激光雷达。(a) RealSense L515^[40]; (b) SICK安全激光雷达nanoScan3^[41]

Fig. 14. Miniaturized LiDAR. (a) RealSense L515^[40]; (b) SICK safety LiDAR nanoScan3^[41]

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图 15. 全差分主放大器芯片显微图^[42]

Fig. 15. Micrograph of fully differential main amplifier chip^[42]

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图 16. FMCW激光雷达工作流程图^[44]

Fig. 16. Working flow chart of FMCW LiDAR^[44]

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图 17. 相干固态激光雷达的工作原理图^[45]。(a)可发射和接收光学相控阵的固态激光雷达系统的原理图;(b)硬币顶部放置激光雷达系统芯片

Fig. 17. Working principle of coherent LiDAR^[45]. (a) Schematic of solid-state LiDAR system with transmittable and receivable optical phased array; (b) chip containing LiDAR system on top of dime

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图 18. 安防系统设备图^[50]。(a) Optosafe Opto-Q-Guard 系统;(b)电子设备监控

Fig. 18. Equipment diagram of security system^[50]. (a) Optosafe Opto-Q-Guard system; (b) electronic equipment monitoring

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图 19. 安防机器人。(a)装载激光雷达的智能巡检机器人^[52];(b) Orby-One跟踪机器人^[53]

Fig. 19. Security robots. (a) Intelligent inspection robot equipped with LiDAR^[52]; (b) Orby-One tracking robot^[53]

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表 1不同安防场景下的探测目标

Table1. Detecting targets in different security scenarios

Security scenario	Dectect object
Perimeter protection	People, animal, and weapon
Traffic control	People, car, animal, and rolling stone
Cultural relic protection	People
Airborne intrusion warning	UAV, bird, and people

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表 2传统激光雷达产品的指标

Table2. Product indicators of traditional security LiDAR

Company	Product model	Accuracy /mm	Angular resolution /(°)	Mass /kg	Size /(mm×mm×mm)	Cost /USD
Riegl	VZ-400i	5	0.0007 (horizontal) and0.0005 (vertical)	9.7	206×206×308	Over 10⁵
Optech	Galaxy T2000	8		27	340×340×250	Over 10⁶
Leica	ScanStation P50	3	0.0022	12.5	238×358×395	115240
Trimble	Trimble GX	7	0.003 (horizontal) and0.004 (vertical)	13	323×343×404	183300

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表 3国外主流安防激光雷达产品的指标^[16-18]

Table3. Product indicators of foreign mainstream security LiDAR^[16-18]

Company	Technological regime	Product model	Maximum measurement distance /m	Field of view /(°)	Mass /kg	Wavelength /nm	Cost /USD
SICK	Mechanical	outdoorScan3	4	275	1.15	850	4834
		nanoScan3	3	275	0.67	905
		TiM-S	25	270	0.25	850
		S300	3	270	1.20	905	2437
		S3000	7	190	3.30	905	4500
		TiM1xx	10	200	0.09	850	782
HOKUYO	Mechanical	UAM-05LP	20	270	0.80	905	1200
		UTM-30LX	60	270	0.37	905	4800
		UXM-30LX	30	190	0.80	905	4800
		UST-10LX	30	270	0.13	905	1600
		YVT-35LX	35 (horizontal) and 14(vertical)	210(horizontal) and40(vertical)	0.65	905	7500
Quanergy	Mechanical	M8	300@ρ=80%	360(horizontal) and20(vertical)	1.0	905	5000
Quanergy	OPA	S3-1	150@ρ=80%	120(horizontal) and10(vertical)	0.5	905	250
Ouster	Flash	OS0-32	55	95(vertical)	0.445	850	6000
		OS1-32	120	45(vertical)	0.445	850	8000
		OS2-32	240	25(vertical)	0.930	850	16000

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表 4国内主流安防激光雷达产品的指标^[19]

Table4. Product indicators of domestic mainstream security LiDAR^[19]

Company	Technological regime	Product model	Maximum measurement distance /m	Field of view /(°)	Mass /kg	Wavelength /nm	Cost /USD
Galaxy electronic	Mechanical	GL-11xx	30@ρ=10%	270	1.80	905
		GL-21xx	20@ρ=10%	180	1.00	905
		GL-41xx	260@ρ=10%	100	14.00	905
		GL-52xx	10@ρ=10%	300	0.75	905
LiShen inelligent system	Mechanical	CX16-151C	150@ρ=30%	360(horizontal) and20(vertical)	0.87	905	2800
	Mechanical	CX32-151A	150@ρ=30%	360(horizontal) and31(vertical)	1.50	905	8500
	MEMS	LS20C	200	120(horizontal) and20(vertical)		905	1500
	MEMS	LS21A	Over 200	60 (horizontal) and20(vertical)		1550	1500
Benewake	Mechanical	TF02	22@ρ=90%	3.0	0.052	905	162
	Mechanical	TF03	180@ρ=90%	0.5	0.077	905	229
	Flash	CE03-D	28@ρ=90%	240.0	0.356	850	1500
Lorentech	Flash	IT series	80@ρ=80%	60(horizontal) and45(vertical)	0.62	850
		IG series	40@ρ=80%	60(horizontal) and30(vertical)	0.38	850
		IM series	20@ρ=80%	30(horizontal) and20(vertical)	0.30	850

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表 5三种测距方案的对比

Table5. Comparison of three ranging schemes

Scheme	Measurement distance	Accuracy	Anti-interference	Power	Cost
TOF	Best	Worst	Worst	Worst	High
AMCW	Worst	Better	Better	Better	Medium
FMCW	Better	Best	Best	Best	High

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表 6四种扫描方式的对比

Table6. Comparison of four scanning schemes

Scanning scheme	Measurement distance	Accuracy	Cost	Size	Technological readiness level	Stability
Mechanical	Better	Better	High	Worst	Best	Worst
MEMS	Worst	Worst	Medium	Better	Better	Better
Flash	Worst	Worst	Low	Better	Better	Better
OPA	Worst	Worst	Low	Better	Worst	-

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表 7三种激光雷达光源的对比

Table7. Comparison of three light sources for LiDAR

Wavelength	Anti-interference	Eye- safety	Hype cycle	Cost
850 nm	Better	Worst	Worst	Better
950 nm	Better	Worst	Better	Better
1550 nm	Worst	Better	Worst	Worst

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宋召奇, 朱精果, 解天鹏, 李锋, 姜成昊, 郭文举, 王春晓, 蒋衍. 安防激光雷达研究进展[J]. 激光与光电子学进展, 2021, 58(1): 0100002. Song Zhaoqi, Zhu Jingguo, Xie Tianpeng, Li Feng, Jiang Chenghao, Guo Wenju, Wang Chunxiao, Jiang Yan. Research Progress on Security LiDAR[J]. Laser & Optoelectronics Progress, 2021, 58(1): 0100002.

安防激光雷达研究进展 下载： 1489次

图 1. 应用场景。(a)周界防护[9];(b)工业监控[10];(c)入侵预警[11];(d)文物保护[12]

Fig. 1. Application scenarios. (a) Perimeter protection[9]; (b) industrial monitoring[10]; (c) intrusion warning[11]; (d) cultural relic protection[12]

图 2. 森林场景下无人机搭载安防激光雷达探测入侵目标[15]

Fig. 2. Drones equipped with security LiDAR for detecting intrusion target in forest scenario[15]

图 6. 传统机械式雷达的工作原理[21]

Fig. 6. Working principle of traditional mechanical LiDAR[21]

图 7. SICK安全激光扫描仪系列[22]

Fig. 7. SICK safety laser scanner series[22]

图 8. MEMS原理图。(a) MEMS激光雷达的工作原理[24];(b) MEMS扫描镜[25]

Fig. 8. Schematic of MEMS. (a) Working principle of MEMS LiDAR[24]; (b) MEMS scanning mirror[25]

图 9. Flash激光雷达的工作原理[21]

Fig. 9. Working principle of Flash LiDAR[21]

图 10. Flash激光雷达的工作场景及实验结果[31]。(a)在电子计算机上进行实时跟踪并在云台上安装Flash激光雷达进行实验设置;(b)场景点云;(c)标有人物中心的场景强度视图;(d)标有人物中心的场景范围视图

Fig. 10. Working scenario and experimental results of Flash LiDAR[31]. (a) Experimental setup with real-time tracking on PC and Flash LiDAR on pan-tilt head; (b) point cloud of scenario; (c) intensity view of scenario with person marked center; (d) range view of scenario with person marked center

图 11. OPA工作原理[33]

Fig. 11. Working principle of OPA[33]

图 12. Quanergy S3激光雷达原理[34]

Fig. 12. Working principle of Quanergy S3 LiDAR[34]

图 13. 最大允许曝光量与波长的关系[35]

Fig. 13. Relationship between maximum permissible exposure and wavelength[35]

图 14. 小型化激光雷达。(a) RealSense L515[40]; (b) SICK安全激光雷达nanoScan3[41]

Fig. 14. Miniaturized LiDAR. (a) RealSense L515[40]; (b) SICK safety LiDAR nanoScan3[41]

图 15. 全差分主放大器芯片显微图[42]

Fig. 15. Micrograph of fully differential main amplifier chip[42]

图 16. FMCW激光雷达工作流程图[44]

Fig. 16. Working flow chart of FMCW LiDAR[44]

图 17. 相干固态激光雷达的工作原理图[45]。(a)可发射和接收光学相控阵的固态激光雷达系统的原理图;(b)硬币顶部放置激光雷达系统芯片

Fig. 17. Working principle of coherent LiDAR[45]. (a) Schematic of solid-state LiDAR system with transmittable and receivable optical phased array; (b) chip containing LiDAR system on top of dime

图 18. 安防系统设备图[50]。(a) Optosafe Opto-Q-Guard 系统;(b)电子设备监控

Fig. 18. Equipment diagram of security system[50]. (a) Optosafe Opto-Q-Guard system; (b) electronic equipment monitoring

图 19. 安防机器人。(a)装载激光雷达的智能巡检机器人[52];(b) Orby-One跟踪机器人[53]

Fig. 19. Security robots. (a) Intelligent inspection robot equipped with LiDAR[52]; (b) Orby-One tracking robot[53]

表 1不同安防场景下的探测目标

Table1. Detecting targets in different security scenarios

表 2传统激光雷达产品的指标

Table2. Product indicators of traditional security LiDAR

表 3国外主流安防激光雷达产品的指标[16-18]

Table3. Product indicators of foreign mainstream security LiDAR[16-18]

表 4国内主流安防激光雷达产品的指标[19]

Table4. Product indicators of domestic mainstream security LiDAR[19]

表 5三种测距方案的对比

Table5. Comparison of three ranging schemes

表 6四种扫描方式的对比

Table6. Comparison of four scanning schemes

表 7三种激光雷达光源的对比

Table7. Comparison of three light sources for LiDAR

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安防激光雷达研究进展下载： 1489次

图 1. 应用场景。(a)周界防护^[9];(b)工业监控^[10];(c)入侵预警^[11];(d)文物保护^[12]

Fig. 1. Application scenarios. (a) Perimeter protection^[9]; (b) industrial monitoring^[10]; (c) intrusion warning^[11]; (d) cultural relic protection^[12]

图 2. 森林场景下无人机搭载安防激光雷达探测入侵目标^[15]

Fig. 2. Drones equipped with security LiDAR for detecting intrusion target in forest scenario^[15]

图 6. 传统机械式雷达的工作原理^[21]

Fig. 6. Working principle of traditional mechanical LiDAR^[21]

图 7. SICK安全激光扫描仪系列^[22]

Fig. 7. SICK safety laser scanner series^[22]

图 8. MEMS原理图。(a) MEMS激光雷达的工作原理^[24];(b) MEMS扫描镜^[25]

Fig. 8. Schematic of MEMS. (a) Working principle of MEMS LiDAR^[24]; (b) MEMS scanning mirror^[25]

图 9. Flash激光雷达的工作原理^[21]

Fig. 9. Working principle of Flash LiDAR^[21]

图 10. Flash激光雷达的工作场景及实验结果^[31]。(a)在电子计算机上进行实时跟踪并在云台上安装Flash激光雷达进行实验设置;(b)场景点云;(c)标有人物中心的场景强度视图;(d)标有人物中心的场景范围视图

Fig. 10. Working scenario and experimental results of Flash LiDAR^[31]. (a) Experimental setup with real-time tracking on PC and Flash LiDAR on pan-tilt head; (b) point cloud of scenario; (c) intensity view of scenario with person marked center; (d) range view of scenario with person marked center

图 11. OPA工作原理^[33]

Fig. 11. Working principle of OPA^[33]

图 12. Quanergy S3激光雷达原理^[34]

Fig. 12. Working principle of Quanergy S3 LiDAR^[34]

图 13. 最大允许曝光量与波长的关系^[35]

Fig. 13. Relationship between maximum permissible exposure and wavelength^[35]

图 14. 小型化激光雷达。(a) RealSense L515^[40]; (b) SICK安全激光雷达nanoScan3^[41]

Fig. 14. Miniaturized LiDAR. (a) RealSense L515^[40]; (b) SICK safety LiDAR nanoScan3^[41]

图 15. 全差分主放大器芯片显微图^[42]

Fig. 15. Micrograph of fully differential main amplifier chip^[42]

图 16. FMCW激光雷达工作流程图^[44]

Fig. 16. Working flow chart of FMCW LiDAR^[44]

图 17. 相干固态激光雷达的工作原理图^[45]。(a)可发射和接收光学相控阵的固态激光雷达系统的原理图;(b)硬币顶部放置激光雷达系统芯片

Fig. 17. Working principle of coherent LiDAR^[45]. (a) Schematic of solid-state LiDAR system with transmittable and receivable optical phased array; (b) chip containing LiDAR system on top of dime

图 18. 安防系统设备图^[50]。(a) Optosafe Opto-Q-Guard 系统;(b)电子设备监控

Fig. 18. Equipment diagram of security system^[50]. (a) Optosafe Opto-Q-Guard system; (b) electronic equipment monitoring

图 19. 安防机器人。(a)装载激光雷达的智能巡检机器人^[52];(b) Orby-One跟踪机器人^[53]

Fig. 19. Security robots. (a) Intelligent inspection robot equipped with LiDAR^[52]; (b) Orby-One tracking robot^[53]

表 3国外主流安防激光雷达产品的指标^[16-18]

Table3. Product indicators of foreign mainstream security LiDAR^[16-18]

表 4国内主流安防激光雷达产品的指标^[19]

Table4. Product indicators of domestic mainstream security LiDAR^[19]