CN105824029A - Multi-line laser radar - Google Patents
Multi-line laser radar Download PDFInfo
- Publication number
- CN105824029A CN105824029A CN201610303450.7A CN201610303450A CN105824029A CN 105824029 A CN105824029 A CN 105824029A CN 201610303450 A CN201610303450 A CN 201610303450A CN 105824029 A CN105824029 A CN 105824029A
- Authority
- CN
- China
- Prior art keywords
- laser
- array
- control system
- echo
- pick
- 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
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
-
- 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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a multi-line laser radar. The multi-line laser radar comprises a laser emission array for emitting multi-channel of laser beams, a laser receiving array for receiving multi-channel of return laser beams reflected by a target object, a return laser beam sampling device for utilizing a time division multiplexing mode to sample the multi-channel of return laser beams and output the sampled data flow, a control system which is connected with the laser emission array, the laser receiving array and the return laser beam sampling device and is used for controlling working of the laser emission array and the laser receiving array and determining the measured data according to the sampled data flow, and an output device for outputting the measured data. For the multi-line laser radar, the return laser beam sampling device utilizes the time division multiplexing mode to sample the multi-channel of return laser beams and then processes the multi-channel of return laser beams in real time through the control system, so that the timeless of the measuring process can be improved.
Description
Technical field
The present invention relates to technical field of laser detection, particularly relate to a kind of multi-line laser radar.
Background technology
" radar " is the electronic installation of a kind of position utilizing electromagnetic wave detection target, is mainly used in detecting the kinematic parameters such as the distance of target, speed, Angle Position.Radar includes ultrasonic radar, microwave radar and laser radar.Laser radar is to utilize laser light wave to complete detection mission.Traditional laser radar is applied to one-point measurement more.When multi-thread measurement, measuring speed does not reaches requirement, it is impossible to meet requirement of real-time.
Summary of the invention
Based on this, it is necessary to provide a kind of real-time more much higher line laser radar.
A kind of multi-line laser radar, including: Laser emission array, it is used for launching multi-path laser；Laser pick-off array, for receiving the multi-path laser echo reflected by target object；Echo samples device, is used for using time division multiplexing mode sample described multi-path laser echo export sampled data stream；Control system, is connected with described Laser emission array, described laser pick-off array and described echo samples device respectively；Described control system is for being controlled the work of described Laser emission array and described laser pick-off array, and determines measurement data according to described sampled data stream；And output device, it is used for exporting described measurement data.
Wherein in an embodiment, described echo samples device is analog digital conversion echo samples device；Described control system includes waveform screening system and time division multiplex Digital Signal Processing array；Described waveform screening system meets the echo of predetermined waveform condition for filtering out from described sampled data stream and the selection result is exported to described time division multiplex Digital Signal Processing array；Described time division multiplex Digital Signal Processing array is for the time interval information processed according to described the selection result the range information determining target object according to described time interval information.
Wherein in an embodiment, the sample frequency of described echo samples device is the sample frequency of gigabit per second time sample stage.
Wherein in an embodiment, described control system also includes reception power assessments system, automatic power control system and the Laser emission control system being sequentially connected with；Described reception power assessments system calculates the performance number of echo for the selection result according to described waveform screening system；Described automatic power control system is for being calculated power compensating value according to described performance number；Described Laser emission control system is for being controlled the transmitting power of described Laser emission array according to described power compensating value.
Wherein in an embodiment, also include: launch collimating optical system, be arranged on the emergent light side of described Laser emission array, for the multi-path laser of described Laser emission array emitter is collimated；And laser pick-off focusing system, it is arranged on the incident illumination side of described laser pick-off array, for each road return laser beam reflected by target object is focused.
Wherein in an embodiment, described multi-line laser radar includes fixed part, rotating part and rotating mechanism；Connected by rotating mechanism between described fixed part and described rotating part；Described Laser emission array, described transmitting collimating optical system, described laser pick-off focusing system, described laser pick-off array, described echo samples device are all fixedly installed on described rotating part；Described control system includes FPGA master control system and FPGA data integrated system；Described FPGA master control system is arranged on described rotating part；Described FPGA data integrated system is arranged on described fixed part；Described output device is arranged on described fixed part, and is connected with described FPGA data integrated system；Described fixed part is additionally provided with rotation angle measuring system；Described rotation angle measurement system is connected with described FPGA data integrated system, for measuring the rotation angle information of rotating part；Described FPGA master control system is for determining measurement data according to described sampled data stream and exporting to described FPGA data integrated system；Described FPGA data integrated system is used for receiving described rotation angle information and described measurement data, and exports to described output device after generating the measurement data of band angle.
Wherein in an embodiment, described rotational structure is provided with wireless communication system, for realizing the communication connection between described FPGA master control system and described FPGA data integrated system.
Wherein in an embodiment, described rotating part also includes support；Described Laser emission array and described laser pick-off array are separately fixed at the both sides of described support and are separated by described support.
Wherein in an embodiment, also include transmitting light path system and the receiving light path system being arranged on described rotating part；Described transmitting light path system is arranged between described Laser emission array and described transmitting collimating optical system；Described transmitting light path system is for controlling the direction injection along the emergent light being parallel to described Laser emission array of the described multi-path laser；Described receiving light path system is arranged between described laser pick-off array and described laser pick-off focusing system；Described receiving light path system is for controlling the incident direction output along described return laser beam of the described multi-path laser echo to described laser pick-off array.
Wherein in an embodiment, described transmitting collimating optical system includes that camera lens launched by collimation；Described laser pick-off focusing system includes focusing on reception camera lens；Camera lens launched by described collimation and described focusing receives camera lens and is each attached on arc-shaped curved surface.
Above-mentioned multi-line laser radar, Laser emission array can be simultaneously emitted by multi-path laser, and laser pick-off array is for receiving the multi-path laser echo reflected by target object.Echo samples device by time division multiplexing mode to laser pick-off array received to multi-path laser echo sample, and export after sampled data stream determines measurement data for control system and exported by output device.Above-mentioned multi-line laser radar, echo samples device is processed in real time by control system after being sampled by time division multiplexing mode, is conducive to improving the real-time of measurement process.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the multi-line laser radar in an embodiment；
Fig. 2 is the structured flowchart of the control system in Fig. 1；
Fig. 3 is the structured flowchart of the multi-line laser radar in another embodiment；
Fig. 4 is the concrete structure schematic diagram of the multi-line laser radar in an embodiment；
Fig. 5 is the top view of Fig. 4；
Fig. 6 is transmitting light path and the schematic diagram of receiving light path of the multi-line laser radar in Fig. 4；
Fig. 7 is the structural representation launching collimating optical system in Fig. 4；
Fig. 8 is the structural representation of the laser pick-off focusing system in Fig. 4.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 is the structured flowchart of the multi-line laser radar in an embodiment.This multi-line laser radar includes Laser emission array 110, laser pick-off array 120, echo samples device 130, control system 140 and output device 150.
Laser emission array 110 is used for launching multi-path laser.Wherein, the laser that Laser emission array 110 is launched is pulse laser.Laser emission array 110 includes the generating laser of multiple array arrangement.
Laser pick-off array 120 is then for receiving the multipath pulse laser reflected by target object.Laser pick-off array 120 includes the laser pickoff of multiple array arrangement equally.The quantity of laser pickoff is identical with the quantity of generating laser.In other examples, the arrangement mode of Laser emission array 110 and laser pick-off array 120 can be set according to actual needs.
Echo samples device 130 is connected with laser pick-off array 120.Echo samples device 130 is sampled for the return laser beam using time division multiplexing mode to receive laser pick-off array 120, and generates output after sampled data stream.Carried out the sampling of multi-path laser echo by time division multiplexing mode, sampling efficiency can be effectively improved, and be conducive to improving the real-time of measurement process.The sample frequency of echo samples device 130 is GSPS (GigabitSamplesPerSecond, gigabit the most per second time sampling) level, so that the sampled data stream obtained is GSPS DBMS stream (can also be referred to as high-speed sample data stream).In the present embodiment, echo acquirement device 130 is ADC sampling apparatus (analog digital conversion sampling apparatus), and the data stream that it collects is the high-speed data-flow that 600000 echo-signals are per second.This data stream is the data stream after 8bitADC quantifies.
Control system 140 is connected with Laser emission array 110, laser pick-off array 120 and echo samples device 130 respectively.Control system 140 is for being controlled the duty of Laser emission array 110, laser pick-off array 120 and echo samples device 130.Further, control system 140 is additionally operable to determine measurement data according to sampled data stream.Specifically, control system 140 can be passed through FPGA (Field-ProgrammableGateArray, field programmable gate array) and realizes.Control system 140 includes waveform screening system 142 and time division multiplex Digital Signal Processing array (time division multiplex DSP array) 144, as shown in Figure 2.Waveform screening system 142 is for filtering out the echo meeting predetermined waveform condition from sampled data stream.Predetermined waveform condition can be the Parameter Conditions such as the peak value of waveform, phase place.Specifically, waveform screening system 142 internal memory contains predetermined waveform template.Therefore, the waveform in sampled data stream is mated by waveform screening system 142 with predetermined waveform template, judges whether the waveform in sampled data stream meets predetermined waveform condition according to matching degree.Waveform screening system 142 transmits to time division multiplex DSP array 144 after the sequence of data points comprising the waveform meeting predetermined waveform condition being extracted.Time division multiplex DSP array 144 is built-up by fpga logic resource and multiplier, so that the data filtered out are carried out a series of multiplication and interative computation, to obtain representing the time interval information of range information.Time division multiplex DSP array 144 also can combine other auxiliary information package and send after being converted to range information according to the time interval information obtained.The computing formula that time interval information is converted to range information is as follows:
D=T*Ca/2.
Wherein, D represents that distance, Ca represent light spread speed in air, T express time interval information, respectively reaches the absolute value of the difference in the moment of maximum with template degree of association for echo and reference signal.By being transmitted with other auxiliary information such as point sequences number, fading channel value and checking information etc. by the range information obtained, be conducive to improving stability and the safety of data transmission procedure.In other examples, in echo samples device 130 can also be integrated in control system 140.
Output device 150 is for the measurement data output of control system 140 output.In the present embodiment, output device 150 is output interface.In other examples, output device 150 can be display device, directly by measurement data display output.
Above-mentioned multi-line laser radar, Laser emission array 110 can be simultaneously emitted by multi-path laser, and laser pick-off array 120 is for receiving the multi-path laser echo reflected by target object.Echo samples device 130 is sampled by the multi-path laser echo that laser pick-off array 120 is received by time division multiplexing mode and is exported sampled data stream and determines measurement data for control system 140 and exported by output device 150.Above-mentioned multi-line laser radar, echo samples device 130 is processed in real time by control system 140 after being sampled by time division multiplexing mode, is conducive to improving the real-time of measurement process.Meanwhile, control system 140 uses time division multiplex DSP array that data are carried out calculating process, can improve the real-time of measurement process further.
In one embodiment, control system 140 also includes reception power assessments system 145, automatic power control system 147 and the Laser emission control system 149 being sequentially connected with, as shown in Figure 2.Receive power assessments system 145 to be connected with waveform screening system 142, for carrying out echo power value calculating according to the selection result of waveform screening system 142.Automatic power control system (AGC) 147 is for calculating power compensating value according to calculated performance number.Laser emission control system 149 is then for adjusting transmitting power back-off attenuation according to this power compensating value, make the backward energy obtained next time just in the power bracket expected, thus obtain the echo-signal with preferable signal to noise ratio, thus be conducive to improving the accuracy measured.
Fig. 3 is the structured flowchart of the multi-line laser radar in another embodiment.This multi-line laser radar includes rotating part 200, fixed part 300 and rotating mechanism 400.Rotating part 200 is connected with fixed part 300 by rotating mechanism 400.Wherein, rotating part 200 includes interconnective Range Measurement System 210 and FPGA master control system 220.Fixed part 300 then includes interconnective angle measurement system 310, FPGA data integrated system 320 and output device 330.FPGA master control system 220 and FPGA data integrated system 320 form the control system of multi-line laser radar.The wireless communication system 410 of band energy it is provided with in rotating mechanism 400.FPGA master control system 220 is communicatively coupled with FPGA data integrated system 320 by wireless communication system.
Above-mentioned multi-line laser radar, FPGA master control system 220 is connected and is arranged on rotating part 200, FPGA data integrated system 320 and angle measurement system 310, output device 330 and connects and be arranged on fixed part 300 with Range Measurement System 210.FPGA master control system 220 is communicatively coupled with FPGA data integrated system 320 by the wireless communication system 410 in rotating mechanism 400, thus forms the control system of multi-line laser radar.By the FPGA master control system 220 in control system and FPGA data integrated system 320 are separately provided and are separately positioned on rotating part 200 and fixed part 300, the stability of beneficially raising system.
In the present embodiment, Range Measurement System 210 includes Laser emission array 212, launches collimating optical system 214, laser pick-off focusing system 216 and laser pick-off array 218.Laser emission array 212 and laser pick-off array 218 are connected with FPGA master control system 220 respectively.Laser emission array 212 is used for launching multipath pulse laser (4 tunnels, 8 tunnels, 16 tunnels, 32 tunnels, 64 tunnels).The way of multi-path laser can be arranged as required to, as being arranged to even number road.Launch collimating optical system 214 and be arranged on the emergent light side of Laser emission array 212.Launch collimating optical system 214 to collimate for the multi-path laser that Laser emission array 212 is launched.Laser pick-off focusing system 216 is arranged on the incident illumination side of laser pick-off array 218.Laser pick-off focusing system 216 exports to laser pick-off array 218 after being focused each road return laser beam reflected by target object.Laser pick-off array 218 is for receiving the multi-path laser echo after laser pick-off focusing system 216 focuses on.By incident illumination is focused, and emergent light is collimated, be conducive to improving the degree of accuracy measured.FPGA master control system 210 is for being controlled Laser emission array 212 and laser pick-off array 218.The multi-path laser echo that FPGA master control system 210 is additionally operable to according to receiving determines measurement data (range information).The work process of FPGA master control system 210 in the aforementioned embodiment it is stated that, do not repeat.
Angle measurement system 310 is for measuring and export the anglec of rotation of rotating part 200 to FPGA data integrated system 320.Angle measurement system 310 can use high-precision rotary angle measurement system commonly used in the art to realize.FPGA data integrated system 320 measures angle information and the range information of FPGA master control system 220 output of system 310 output for receiving angle, thus is exported by output device 330 after generating the measurement data of band angle.Output device 330 can be multi-path laser ranging data output interface, it is also possible to for the display device that can intuitively show.
Fig. 4 is the concrete structure schematic diagram of the multi-line laser radar in an embodiment, and Fig. 5 is the top view of Fig. 4.In the present embodiment, rotating part 200 includes support 230.Laser emission array 212 and laser pick-off array 218 are separately fixed at the both sides of support 230 and are separated by support 230.Further, the multiple generating lasers in Laser emission array 212 and the multiple laser pickoffs in laser pick-off array 218 are all vertically spaced along support 230.In the present embodiment, the stent cover at multiple generating lasers and multiple laser pickoff place is arc-shaped curved surface.Angle between emergent light and the incident illumination of laser pick-off array 218 of Laser emission array 212 is 90 degree.Range Measurement System 210 also includes launching light path system and receiving light path system.Launch light path system be arranged on Laser emission array 212 and launch between collimating optical system 214.Launch light path system for controlling multi-path laser along the emergent light direction injection being parallel to Laser emission array 212.Specifically, launch light path system and include the first optical lens 242 and the second optical lens 244.First optical lens 242 and the second optical lens 244 be arranged in parallel, and are 45 degree of angles with the emergent light of Laser emission array 212.Meanwhile, the reflecting surface of the first optical lens 242 and the second optical lens 244 is arranged towards Laser emission array 212.Receiving light path system is then arranged between laser pick-off focusing system 216 and laser pick-off array 218.Receiving light path system is for controlling the multi-path laser reflection direction output along return laser beam to laser pick-off array 218.Specifically, receiving light path system includes the 3rd optical lens 252 and the 4th optical lens 254.3rd optical lens 252 and the 4th optical lens 254 be arranged in parallel, and are 45 degree of angles with the incident illumination of laser pick-off array 218.The reflecting surface of the 3rd lens 252 and the 4th optical lens 254 is arranged towards laser pick-off array 218.The schematic diagram such as Fig. 6 launching light path and receiving light path shows.The laser of the multiple laser transmitter projects in Laser emission array 212 incides, after being contained in the first optical glass 242 before Laser emission array 212 and reflecting 90 °, the second optical glass 244 being arranged on before the first optical glass 242.After the second optical glass 244 reflects 90 °, incide transmitting collimating optical system 214, after launching collimating optical system 214 collimation, be directly incident on target object (or detecting object).Laser pick-off focusing system 216 is incided after detecting object reflects, the 3rd optical glass 252 is incided after laser pick-off focusing system 216 focuses on, after the 3rd optical glass 252 reflects 90 °, incide the 4th optical glass 254, after the 4th optical glass 254 reflects 90 °, incide laser pick-off array 218.In the present embodiment, first optical glass the 242, second optical glass the 244, the 3rd optical glass 252 and the 4th optical glass 254 are common full optical glass.
In the present embodiment, launching collimating optical system 214 is big visual field colimated light system.Launch collimating optical system 214 and include that camera lens (not shown) launched by multiple collimation.Multiple collimations are launched camera lens and are arranged on arc-shaped curved surface, and the radius of arc-shaped curved surface is 200mm.Laser pick-off focusing system 216 includes that multiple focusing receives camera lens (not shown).Multiple reception camera lenses that focus on are arranged on arcwall face, and the radius of arc-shaped curved surface is 200mm.In the present embodiment, the arc that collimation transmitting camera lens is constituted is identical with focusing on the center of circle receiving the arc that camera lens is constituted, and all in the range of 30 degree of central angle.Launch the 3rd lens J5, the second lens J3 and the first lens J1 that collimating optical system 214 also includes sequentially coaxially arranging along the emergent light direction of Laser emission array 212, as shown in Figure 7.Seeing Fig. 7, Laser emission array 212 includes No. 16 generating laser F1～F16.No. 16 laser instrument F1～F16 are fixed on laser support W.Laser support W is arc stent.In the present embodiment, the first lens J1 is positive meniscus lens, and the curved surface of the first lens J1 protrudes towards generating laser.Second lens J3 is diverging meniscus lens, and the curved surface of the second lens J3 is towards the injection direction bending of generating laser.3rd lens J5 is positive meniscus lens, and the curved surface of the 3rd lens J5 is towards the injection direction bending of generating laser.M1, M2, M3, M4, M5, M6 are the minute surface of J1, J3, J5 lens respectively.In the present embodiment, plus lens refers to the center thickness lens more than degree thicker than the edges of lens, and minus lens refers to the lens that the center thickness of lens is thick less than edge.Negative sign represents the direction of propagation along light, is as the criterion with the intersection point of sphere and primary optical axis, and the centre of sphere of sphere is at this point with a left side, then radius of curvature is negative, otherwise, the centre of sphere is at this point with the right side, then radius of curvature is just.Design parameter may be designed as: the radius of minute surface M1 is 15.6mm, minute surface M2 radius 58.33mm, and minute surface M3 radius is 14.011mm, and minute surface M4 radius is 7.508mm, and minute surface M5 radius is-156.575mm, and minute surface M6 radius is-19.31mm.The inner radius of arc stent W is-200.058mm.Wherein, between minute surface M1 to minute surface M2, thickness of glass is 7.33mm, and Refractive Index of Material is 1.49, Abbe number is 55.3, aperture is 31.7mm.The thickness of minute surface M2 to minute surface M3 is 2mm, and material is air.The glass thickness of minute surface M3 to minute surface M4 is 3.59mm, and the refractive index 1.59 of material, Abbe number are 30.9, aperture is 23mm.The thickness of minute surface M4 to minute surface M5 is 13.57mm, and material is air.The glass thickness of minute surface M5 to minute surface M6 is 21.3mm, and the refractive index 1.50 of material, Abbe number are 56.41, aperture is 19mm.The inside arc identity distance of minute surface M6 to laser support W is from for 31.168mm.Above-mentioned parameter is only a concrete example, as required each parameter can be carried out accommodation in other examples.
Laser pick-off focusing system 216 also includes the 4th lens J2, the 5th lens J4 and the 6th lens J6 sequentially coaxially arranged along incident direction, as shown in Figure 8.Seeing Fig. 8, laser pick-off array 218 includes No. 16 laser pickoff P1～P16.No. 16 laser instrument P1～P16 are fixed on laser support W.Laser support W is arc stent.The structure of laser pick-off focusing system 216 is identical with the structure launching colimated light system 214, does not repeats.
The simple in construction of above-mentioned multi-line laser radar, stability are preferable, and disclosure satisfy that requirement of real-time.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a multi-line laser radar, it is characterised in that including:
Laser emission array, is used for launching multi-path laser；
Laser pick-off array, for receiving the multi-path laser echo reflected by target object；
Echo samples device, is used for using time division multiplexing mode sample described multi-path laser echo export sampled data stream；
Control system, is connected with described Laser emission array, described laser pick-off array and described echo samples device respectively；Described control system is for being controlled the work of described Laser emission array and described laser pick-off array, and determines measurement data according to described sampled data stream；And
Output device, is used for exporting described measurement data.
Multi-line laser radar the most according to claim 1, it is characterised in that described echo samples device is analog digital conversion echo samples device；Described control system includes waveform screening system and time division multiplex Digital Signal Processing array；Described waveform screening system meets the echo of predetermined waveform condition for filtering out from described sampled data stream and the selection result is exported to described time division multiplex Digital Signal Processing array；Described time division multiplex Digital Signal Processing array is for the time interval information processed according to described the selection result the range information determining target object according to described time interval information.
Multi-line laser radar the most according to claim 2, it is characterised in that the sample frequency of described echo samples device is the sample frequency of gigabit per second time sample stage.
Multi-line laser radar the most according to claim 2, it is characterised in that described control system also includes reception power assessments system, automatic power control system and the Laser emission control system being sequentially connected with；Described reception power assessments system calculates the performance number of echo for the selection result according to described waveform screening system；Described automatic power control system is for being calculated power compensating value according to described performance number；Described Laser emission control system is for being controlled the transmitting power of described Laser emission array according to described power compensating value.
Multi-line laser radar the most according to claim 1, it is characterised in that also include:
Launch collimating optical system, be arranged on the emergent light side of described Laser emission array, for the multi-path laser of described Laser emission array emitter is collimated；And
Laser pick-off focusing system, is arranged on the incident illumination side of described laser pick-off array, for being focused each road return laser beam reflected by target object.
Multi-line laser radar the most according to claim 5, it is characterised in that described multi-line laser radar includes fixed part, rotating part and rotating mechanism；Connected by rotating mechanism between described fixed part and described rotating part；
Described Laser emission array, described transmitting collimating optical system, described laser pick-off focusing system, described laser pick-off array, described echo samples device are all fixedly installed on described rotating part；Described control system includes FPGA master control system and FPGA data integrated system；Described FPGA master control system is arranged on described rotating part；Described FPGA data integrated system is arranged on described fixed part；
Described output device is arranged on described fixed part, and is connected with described FPGA data integrated system；Described fixed part is additionally provided with rotation angle measuring system；Described rotation angle measurement system is connected with described FPGA data integrated system, for measuring the rotation angle information of rotating part；Described FPGA master control system is for determining measurement data according to described sampled data stream and exporting to described FPGA data integrated system；Described FPGA data integrated system is used for receiving described rotation angle information and described measurement data, and exports to described output device after generating the measurement data of band angle.
Multi-line laser radar the most according to claim 6, it is characterised in that be provided with wireless communication system on described rotational structure, for realizing the communication connection between described FPGA master control system and described FPGA data integrated system.
Multi-line laser radar the most according to claim 6, it is characterised in that described rotating part also includes support；Described Laser emission array and described laser pick-off array are separately fixed at the both sides of described support and are separated by described support.
Multi-line laser radar the most according to claim 8, it is characterised in that also include transmitting light path system and the receiving light path system being arranged on described rotating part；
Described transmitting light path system is arranged between described Laser emission array and described transmitting collimating optical system；Described transmitting light path system is for controlling the direction injection along the emergent light being parallel to described Laser emission array of the described multi-path laser；
Described receiving light path system is arranged between described laser pick-off array and described laser pick-off focusing system；Described receiving light path system is for controlling the incident direction output along described return laser beam of the described multi-path laser echo to described laser pick-off array.
Multi-line laser radar the most according to claim 5, it is characterised in that described transmitting collimating optical system includes that camera lens launched by collimation；Described laser pick-off focusing system includes focusing on reception camera lens；Camera lens launched by described collimation and described focusing receives camera lens and is each attached on arc-shaped curved surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610303450.7A CN105824029B (en) | 2016-05-10 | 2016-05-10 | Multi-line laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610303450.7A CN105824029B (en) | 2016-05-10 | 2016-05-10 | Multi-line laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105824029A true CN105824029A (en) | 2016-08-03 |
| CN105824029B CN105824029B (en) | 2018-09-04 |
Family
ID=56529176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610303450.7A Active CN105824029B (en) | 2016-05-10 | 2016-05-10 | Multi-line laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105824029B (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106226757A (en) * | 2016-08-31 | 2016-12-14 | 深圳市速腾聚创科技有限公司 | Three-dimensional laser radar |
| CN106291575A (en) * | 2016-10-25 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar range-measurement system and method |
| CN106501791A (en) * | 2016-11-18 | 2017-03-15 | 深圳市速腾聚创科技有限公司 | Phased-array laser radar and phased-array laser radar control method |
| CN107153194A (en) * | 2016-12-30 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN107153193A (en) * | 2016-12-29 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN107153185A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107153184A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107153202A (en) * | 2016-12-21 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | The control method of multi-line laser radar system and multi-line laser radar system |
| CN107153195A (en) * | 2016-12-30 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN107505621A (en) * | 2017-10-10 | 2017-12-22 | 北京佳光科技有限公司 | A kind of Laser Detecting Set and laser radar system |
| CN107544072A (en) * | 2017-08-15 | 2018-01-05 | 北京理工大学 | A kind of precision distance measurement system and method for preset waveform matching |
| CN107576954A (en) * | 2017-09-15 | 2018-01-12 | 中科和光（天津）应用激光技术研究所有限公司 | A kind of transmitting collimater based on laser radar |
| CN108254735A (en) * | 2016-12-29 | 2018-07-06 | 鸿富锦精密工业（深圳）有限公司 | Laser ranging system |
| CN108375773A (en) * | 2018-02-10 | 2018-08-07 | 高若谦 | A kind of multi-channel laser radar three-dimensional point cloud measuring system and measurement method |
| WO2018176972A1 (en) * | 2017-04-01 | 2018-10-04 | 北科天绘（苏州）激光技术有限公司 | Laser radar device and channel gating method thereof |
| CN109765543A (en) * | 2019-03-15 | 2019-05-17 | 北京未感科技有限公司 | A kind of multipath reception laser radar |
| CN109884651A (en) * | 2019-04-03 | 2019-06-14 | 深圳市镭神智能系统有限公司 | A kind of laser radar scanning method and laser radar |
| CN110187324A (en) * | 2018-02-21 | 2019-08-30 | Ibeo汽车系统有限公司 | Method and apparatus for optical distance measurement |
| CN110412544A (en) * | 2019-08-23 | 2019-11-05 | 上海禾赛光电科技有限公司 | Laser transmitting system and laser radar including the laser transmitting system |
| CN111077507A (en) * | 2018-10-19 | 2020-04-28 | 浙江舜宇智能光学技术有限公司 | Multi-line laser radar, manufacturing method thereof and light path adjusting method |
| CN111142087A (en) * | 2020-01-15 | 2020-05-12 | 航天南湖电子信息技术股份有限公司 | Small distributed digital beam forming system |
| 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 |
| CN111562587A (en) * | 2019-02-14 | 2020-08-21 | 宁波舜宇车载光学技术有限公司 | Radar device and transmitting terminal thereof |
| CN112327274A (en) * | 2018-06-08 | 2021-02-05 | 上海禾赛科技股份有限公司 | Laser radar |
| CN113625247A (en) * | 2021-10-11 | 2021-11-09 | 北京一径科技有限公司 | Control method and device and laser radar |
| CN114265079A (en) * | 2021-12-23 | 2022-04-01 | 西南交通大学 | Time division multiplexing Doppler velocity measurement system adopting erbium-doped fiber amplifier |
| CN114839393A (en) * | 2022-05-20 | 2022-08-02 | 中国工程物理研究院流体物理研究所 | Arc-shaped divergent array speed measurement probe and speed measurement method |
| CN115201843A (en) * | 2022-09-16 | 2022-10-18 | 成都量芯集成科技有限公司 | Phase ranging structure and method based on multi-frequency light emission |
| US11543503B2 (en) | 2017-06-07 | 2023-01-03 | Hesai Technology Co., Ltd. | Multi-line laser radar |
| US11592553B2 (en) | 2016-04-20 | 2023-02-28 | Suteng Innovation Technology Co., Ltd | Distance measurement system and method using lidar waveform matching |
| US11650297B2 (en) | 2017-11-10 | 2023-05-16 | Suteng Innovation Technology Co., Ltd. | LIDAR devices |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101688774A (en) * | 2006-07-13 | 2010-03-31 | 威力登音响公司 | High definition lidar system |
| WO2011146523A2 (en) * | 2010-05-17 | 2011-11-24 | Velodyne Acoustics, Inc. | High definition lidar system |
| CN205749898U (en) * | 2016-05-10 | 2016-11-30 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
-
2016
- 2016-05-10 CN CN201610303450.7A patent/CN105824029B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101688774A (en) * | 2006-07-13 | 2010-03-31 | 威力登音响公司 | High definition lidar system |
| WO2011146523A2 (en) * | 2010-05-17 | 2011-11-24 | Velodyne Acoustics, Inc. | High definition lidar system |
| CN205749898U (en) * | 2016-05-10 | 2016-11-30 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
Cited By (41)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11592553B2 (en) | 2016-04-20 | 2023-02-28 | Suteng Innovation Technology Co., Ltd | Distance measurement system and method using lidar waveform matching |
| CN106226757B (en) * | 2016-08-31 | 2019-07-16 | 深圳市速腾聚创科技有限公司 | Three-dimensional laser radar |
| CN106226757A (en) * | 2016-08-31 | 2016-12-14 | 深圳市速腾聚创科技有限公司 | Three-dimensional laser radar |
| CN106291575A (en) * | 2016-10-25 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar range-measurement system and method |
| CN106501791A (en) * | 2016-11-18 | 2017-03-15 | 深圳市速腾聚创科技有限公司 | Phased-array laser radar and phased-array laser radar control method |
| CN107153202A (en) * | 2016-12-21 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | The control method of multi-line laser radar system and multi-line laser radar system |
| CN107153202B (en) * | 2016-12-21 | 2020-08-28 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar system and control method thereof |
| WO2018121009A1 (en) * | 2016-12-29 | 2018-07-05 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN107153193A (en) * | 2016-12-29 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN108254735A (en) * | 2016-12-29 | 2018-07-06 | 鸿富锦精密工业（深圳）有限公司 | Laser ranging system |
| US10746855B2 (en) | 2016-12-29 | 2020-08-18 | Suteng Innovation Technology Co., Ltd. | Multi-line laser radar and multi-line laser radar control method |
| CN107153195A (en) * | 2016-12-30 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| CN107153194A (en) * | 2016-12-30 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar and multi-line laser radar control method |
| WO2018176972A1 (en) * | 2017-04-01 | 2018-10-04 | 北科天绘（苏州）激光技术有限公司 | Laser radar device and channel gating method thereof |
| CN107153184A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107153185A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| US11543503B2 (en) | 2017-06-07 | 2023-01-03 | Hesai Technology Co., Ltd. | Multi-line laser radar |
| CN107544072B (en) * | 2017-08-15 | 2021-02-09 | 北京理工大学 | High-precision distance measurement system and method with preset waveform matching |
| CN107544072A (en) * | 2017-08-15 | 2018-01-05 | 北京理工大学 | A kind of precision distance measurement system and method for preset waveform matching |
| CN107576954A (en) * | 2017-09-15 | 2018-01-12 | 中科和光（天津）应用激光技术研究所有限公司 | A kind of transmitting collimater based on laser radar |
| CN107505621A (en) * | 2017-10-10 | 2017-12-22 | 北京佳光科技有限公司 | A kind of Laser Detecting Set and laser radar system |
| US11650297B2 (en) | 2017-11-10 | 2023-05-16 | Suteng Innovation Technology Co., Ltd. | LIDAR devices |
| CN108375773A (en) * | 2018-02-10 | 2018-08-07 | 高若谦 | A kind of multi-channel laser radar three-dimensional point cloud measuring system and measurement method |
| CN110187324A (en) * | 2018-02-21 | 2019-08-30 | Ibeo汽车系统有限公司 | Method and apparatus for optical distance measurement |
| CN110187324B (en) * | 2018-02-21 | 2023-07-14 | 微视公司 | Method and apparatus for optical distance measurement |
| CN112327274A (en) * | 2018-06-08 | 2021-02-05 | 上海禾赛科技股份有限公司 | Laser radar |
| CN112327269A (en) * | 2018-06-08 | 2021-02-05 | 上海禾赛科技股份有限公司 | Laser radar |
| 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 |
| CN111077507A (en) * | 2018-10-19 | 2020-04-28 | 浙江舜宇智能光学技术有限公司 | Multi-line laser radar, manufacturing method thereof and light path adjusting method |
| CN111562587A (en) * | 2019-02-14 | 2020-08-21 | 宁波舜宇车载光学技术有限公司 | Radar device and transmitting terminal thereof |
| CN111562587B (en) * | 2019-02-14 | 2023-12-05 | 宁波舜宇车载光学技术有限公司 | Radar device and transmitting end thereof |
| CN109765543A (en) * | 2019-03-15 | 2019-05-17 | 北京未感科技有限公司 | A kind of multipath reception laser radar |
| CN109765543B (en) * | 2019-03-15 | 2020-10-23 | 北京未感科技有限公司 | Multi-path receiving laser radar |
| CN109884651A (en) * | 2019-04-03 | 2019-06-14 | 深圳市镭神智能系统有限公司 | A kind of laser radar scanning method and laser radar |
| CN110412544A (en) * | 2019-08-23 | 2019-11-05 | 上海禾赛光电科技有限公司 | Laser transmitting system and laser radar including the laser transmitting system |
| CN111142087A (en) * | 2020-01-15 | 2020-05-12 | 航天南湖电子信息技术股份有限公司 | Small distributed digital beam forming system |
| CN113625247A (en) * | 2021-10-11 | 2021-11-09 | 北京一径科技有限公司 | Control method and device and laser radar |
| CN114265079A (en) * | 2021-12-23 | 2022-04-01 | 西南交通大学 | Time division multiplexing Doppler velocity measurement system adopting erbium-doped fiber amplifier |
| CN114839393A (en) * | 2022-05-20 | 2022-08-02 | 中国工程物理研究院流体物理研究所 | Arc-shaped divergent array speed measurement probe and speed measurement method |
| CN115201843A (en) * | 2022-09-16 | 2022-10-18 | 成都量芯集成科技有限公司 | Phase ranging structure and method based on multi-frequency light emission |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105824029B (en) | 2018-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105824029A (en) | Multi-line laser radar | |
| CN204044359U (en) | A kind of two-dimensional scan formula laser ranging system | |
| CN110488247B (en) | Two-dimensional MEMS scanning galvanometer laser radar system | |
| CN107643516A (en) | A kind of 3-D scanning laser radar based on MEMS micromirror | |
| CN205749898U (en) | Multi-line laser radar | |
| US7259838B2 (en) | Optical beam separation element, measuring apparatus and method of measuring | |
| CN109031244A (en) | A kind of laser radar coaxial optical system and laser radar | |
| CN208672797U (en) | A kind of laser radar coaxial optical system and laser radar | |
| CN109196378A (en) | Optical system for remote sensing receiver | |
| CN204044360U (en) | A kind of scanning type laser distance measuring equipment with light splitting piece | |
| CN106291510A (en) | A kind of laser radar optical system based on time flight method | |
| CN108693516B (en) | Device and method for rapidly measuring performance of laser ranging system | |
| CN103901435A (en) | Full-fiber optical path full-waveform laser radar system | |
| CN206411262U (en) | Multi-beam scanning apparatus | |
| CN105403169B (en) | A kind of laser profile device and collecting method for data acquisition | |
| CN108931783B (en) | Device and method for measuring performance of laser ranging system with high precision | |
| CN103575705A (en) | Turbidity meter and measuring method for turbidity of water | |
| CN209264948U (en) | A kind of laser radar coaxially received and dispatched | |
| CN109870707B (en) | Pyramid-shaped laser synchronous scanning imaging device for underwater vehicle | |
| CN102928831A (en) | Laser measuring bare engine system | |
| CN106249247A (en) | A kind of semiconductor laser range optical system and diastimeter | |
| CN108710118A (en) | A kind of laser radar | |
| CN109164465A (en) | Coaxial optical system based on the micro-pulse lidar measurement cloud level | |
| CN207318708U (en) | A kind of 3-D scanning laser radar based on MEMS micromirror | |
| CN102445695A (en) | Non-aiming laser cable height measuring device and measuring method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |