CN108614254B - Laser radar - Google Patents
Laser radar Download PDFInfo
- Publication number
- CN108614254B CN108614254B CN201810916162.8A CN201810916162A CN108614254B CN 108614254 B CN108614254 B CN 108614254B CN 201810916162 A CN201810916162 A CN 201810916162A CN 108614254 B CN108614254 B CN 108614254B
- Authority
- CN
- China
- Prior art keywords
- laser
- module
- signal
- receiving
- scanning
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar, wherein the positions of a plurality of laser transmitters and a plurality of photoelectric detectors in the laser radar are fixed, and the laser pulses and laser pulse echo signals are scanned in the horizontal direction at the same time by rotating a scanning module.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar.
Background
With the continuous development of science and technology, various automobiles are widely applied to daily life and work of people, and great convenience is brought to the life of people.
In the field of intelligent automobiles, cameras, millimeter wave radars and laser radars are the most common three environmental perception sensors. The camera has the advantage of realizing a high-resolution image, but belongs to a passive sensor, is sensitive to the change of ambient light, and has high dependency on the algorithm on the accuracy of object identification; the millimeter wave radar has the advantage of all-weather work, namely, the millimeter wave radar can still normally work in severe weather with rain, snow, haze and dust, but the millimeter wave radar has lower angular resolution, has limited detection distance to non-metallic objects and cannot accurately sense pedestrians; the laser radar generally uses narrow-pulse nanosecond laser of an infrared band as a light source, determines the distance of an object by using flight time, scans and acquires point cloud information of the environment in centimeter magnitude through a scanning module, and can accurately model the environment around the vehicle.
However, although the existing coaxial mechanical rotary lidar can realize a 360 ° field angle in the horizontal direction and has a higher horizontal angular resolution, since it employs multiple pairs of laser transceiver modules, each pair of laser transceiver modules needs to be adjusted and aligned separately, which causes a problem of difficult installation and adjustment. In addition, in order to realize 360-degree scanning, the laser receiving and transmitting module rotates along with the motor, and the power supply module realizes the power supply function and signal transmission, so that a slip ring is needed, or wireless power supply and wireless signal transmission are adopted, the service life is limited on one hand, and the complexity of the laser radar is increased on the other hand.
Disclosure of Invention
In order to solve the above problems, the present invention provides a lidar which is low in complexity and low in cost.
In order to achieve the purpose, the invention provides the following technical scheme:
a lidar, the lidar comprising: the device comprises a time sequence control and measurement module, a laser transmitting module, a laser receiving module and a scanning module;
the laser emission module comprises a laser emitter, the laser emitter comprises n emission channels, n is a positive integer, and a light emitting unit is arranged in each emission channel; the laser receiving module comprises a photoelectric detector, the photoelectric detector comprises m receiving channels, m is a positive integer, m is n × i, i is a positive integer, the light emitting unit in each emitting channel corresponds to i receiving channels, and the receiving channels corresponding to the light emitting units are different;
the time sequence control and measurement module is used for generating laser emission time sequence signals, and the laser emission time sequence signals are used for controlling the n light-emitting units to sequentially emit laser pulses;
the time sequence control and measurement module is further used for generating a laser receiving time sequence signal, and the laser receiving time sequence signal is used for controlling the conduction of the i receiving channels corresponding to the light emitting units so as to receive laser pulse echo signals;
the time sequence control and measurement module is also used for generating a rotation control signal, and the rotation control signal is used for controlling the scanning module to perform rotation scanning;
the scanning module is used for scanning the laser pulse and the laser pulse echo signal in the horizontal direction at the same time, wherein a rotating shaft of the scanning module is defined to be in the vertical direction.
Preferably, in the laser radar, the laser emission module further includes: a drive circuit module and a collimating lens;
the driving circuit module drives the light emitting units in the n emitting channels to sequentially emit laser pulses according to the laser emitting time sequence signal;
the collimating lens is used for collimating the laser pulse.
Preferably, in the laser radar, the laser receiving module further includes: the circuit comprises a receiving lens, a trans-impedance amplifier, a gate, a time discrimination circuit and a peak holding circuit;
the receiving lens is used for receiving the laser pulse echo signal and transmitting the laser pulse echo signal to the i receiving channels corresponding to the light emitting units;
the gate is used for controlling the conduction of the i receiving channels corresponding to the light-emitting units according to the laser receiving time sequence signal;
the photoelectric detector is used for converting the laser pulse echo signal into a current signal;
the trans-impedance amplifier is used for converting the current signal into a voltage signal;
the time discrimination circuit is used for determining the arrival time of the laser pulse echo signal according to the voltage signal, and the arrival time represents the time when the laser radar receives the laser pulse echo signal;
the peak holding circuit is used for determining the peak value of the voltage signal according to the voltage signal.
Preferably, in the laser radar, the scanning module is a polygon mirror, the polygon mirror includes at least two reflecting surfaces, and each reflecting surface is parallel to the rotation axis of the scanning module.
Preferably, in the laser radar, the scanning module is a polygon mirror, the polygon mirror includes at least two reflecting surfaces, and the plurality of reflecting surfaces and an included angle between a rotation axis of the scanning module are distributed in an arithmetic series.
Preferably, in the above lidar, the lidar further comprises: a drive motor and an angle encoder;
the driving motor drives the scanning module to perform rotary scanning according to the rotary control signal;
the angle encoder is used for acquiring the rotation angle of the scanning module in real time and feeding the rotation angle back to the time sequence control and measurement module.
Preferably, in the above lidar, the lidar further comprises: a power management module;
the power management module is used for supplying power to the laser radar.
Preferably, in the above laser radar, the laser transmitter is an n-channel semiconductor laser.
Preferably, in the laser radar, the photodetector is an m-channel APD photodetector.
As can be seen from the above description, the present invention provides a laser radar including: the device comprises a time sequence control and measurement module, a laser transmitting module, a laser receiving module and a scanning module; the laser emission module comprises a laser emitter, the laser emitter comprises n emission channels, n is a positive integer, and a light emitting unit is arranged in each emission channel; the laser receiving module comprises a photoelectric detector, the photoelectric detector comprises m receiving channels, m is a positive integer, m is n × i, i is a positive integer, the light emitting units in each emitting channel correspond to the i receiving channels, and the receiving channels corresponding to the light emitting units are different.
The time sequence control and measurement module is used for generating laser emission time sequence signals, and the laser emission time sequence signals are used for controlling the n light-emitting units to sequentially emit laser pulses; the time sequence control and measurement module is further used for generating a laser receiving time sequence signal, and the laser receiving time sequence signal is used for controlling the conduction of the i receiving channels corresponding to the light emitting units so as to receive laser pulse echo signals; the time sequence control and measurement module is also used for generating a rotation control signal, and the rotation control signal is used for controlling the scanning module to perform rotation scanning; the scanning module is used for scanning the laser pulse and the laser pulse echo signal in the horizontal direction at the same time, wherein a rotating shaft of the scanning module is defined to be in the vertical direction.
According to the description, the positions of the laser transmitter and the photoelectric detector in the laser radar are fixed and unchanged, the laser pulse and the laser pulse echo signals are scanned in the horizontal direction simultaneously through the rotary scanning module, compared with the prior art, a slip ring is not needed any more, functional modules such as wireless power supply and wireless communication are not needed, the laser transmitter is adopted to transmit the laser pulse according to time sequence in a time-sharing mode, the photoelectric detector is divided into channels to receive the laser pulse echo signals, the number of signal processing modules is reduced, and the laser radar has the advantages of low cost, convenience in assembly and adjustment, compact structure, easiness in mass production and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another laser radar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another laser radar according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a scan module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another laser radar according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another laser radar according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a timing control and measurement module generating laser emission timing signals of four light-emitting units LD according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a principle between a multi-channel laser transmitter and a multi-channel photodetector according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention.
The laser radar includes: a time sequence control and measurement module 11, a laser emission module 12, a laser receiving module 13 and a scanning module 14.
The laser emitting module 12 includes a laser emitter 121, where the laser emitter 121 includes n emitting channels, n is a positive integer, and each emitting channel is provided with a light emitting unit; the laser receiving module 13 includes a photodetector 131, where the photodetector 131 includes m receiving channels, m is a positive integer, and m is n × i, i is a positive integer, the light emitting unit in each emitting channel corresponds to i receiving channels, and the receiving channels corresponding to each light emitting unit are different. For example, if the laser transmitter 121 includes 4 transmitting channels and the photodetector 131 includes 8 receiving channels, the 1 st transmitting channel corresponds to the 1 st and 2 nd receiving channels, the 2 nd transmitting channel corresponds to the 3 rd and 4 th receiving channels, the 3 rd transmitting channel corresponds to the 5 th and 6 th receiving channels, and the 4 th transmitting channel corresponds to the 7 th and 8 th receiving channels.
The timing control and measurement module 11 is configured to generate a laser emission timing signal, where the laser emission timing signal is used to control the n light emitting units to sequentially emit laser pulses.
The timing control and measurement module 11 is further configured to generate a laser receiving timing signal, where the laser receiving timing signal is used to control the conduction of i receiving channels corresponding to the light emitting units to receive a laser pulse echo signal.
The timing control and measurement module 11 is further configured to generate a rotation control signal, where the rotation control signal is used to control the scanning module 14 to perform rotation scanning.
The scanning module 14 is configured to perform horizontal scanning on the laser pulse and the laser pulse echo signal at the same time, where a rotation axis of the scanning module 14 is defined as a vertical direction.
As can be seen from the above description, in the laser radar, the positions of the laser emitter 121 and the photodetector 131 are fixed and unchanged, and the scanning of the laser pulse and the laser pulse echo signal in the horizontal direction is realized by rotating the scanning module 14, compared with the prior art, a slip ring is not needed, functional modules such as wireless power supply and wireless communication are not needed, the laser emitter 121 is adopted to emit the laser pulse according to the time sequence in a time-sharing manner, and the photodetector 131 receives the laser pulse echo signal in channels, so that the number of signal processing modules is reduced, and the laser radar has the advantages of low cost, convenience in installation and adjustment, compact structure, easiness in mass production and the like.
That is to say, the laser radar adopts the multi-channel laser emitter 121 and the multi-channel photodetector 131, and then matches with the corresponding sequential control logic, so that the positions of the laser emitter 121 and the photodetector 131 are fixed, and no additional functional module is needed, thereby further having the advantages.
Further, the laser emitter 121 includes, but is not limited to, an n-channel semiconductor laser, and it should be noted that, existing engineering samples of 4-channel band-driven laser arrays on the market can be rapidly produced in mass production.
Further, the photodetector 131 includes, but is not limited to, an m-channel APD photodetector, and it should be noted that, at present, an APD (avalanche photo diode) photodetector array of 16 channels in the market is mature, and can be well applied to the field of automobiles.
That is to say, the laser emitter 121 and the photodetector 131 adopted in the embodiment of the present invention do not need additional development cost, and the price of the product is low, so that the production cost of the laser radar provided by the present invention can be reduced.
It should be noted that the number and power of the channels of the laser transmitter 121 need to be determined comprehensively by combining the detection distance of the application scene, the vertical field angle, the eye safety standard, the device maturity, and other factors.
It should be noted that the number of channels of the photodetector 131 needs to be determined comprehensively by combining the detection distance of the application scene, the vertical field angle, the angular resolution, the device maturity, the cost, and other factors.
Further, as shown in fig. 2, the laser emitting module 12 further includes: a driving circuit module 122 and a collimating lens 123.
The driving circuit module 122 drives the light emitting units in the n emitting channels to sequentially emit laser pulses according to the laser emission timing sequence signal.
The collimating lens 123 is configured to perform a collimating process on the laser pulse.
Specifically, the driving circuit module 122 generates a current pulse after receiving the laser emission timing signal, so as to drive the corresponding light emitting unit to emit a laser pulse. Since the divergence angles of the laser pulses in the vertical direction and the horizontal direction generally cannot meet the requirements, and the divergence angle is generally large, about 10 ° × 25 °, at least one collimator lens 123 is provided to optically adjust the divergence angle of the output laser pulses so that the divergence angle of the collimated and adjusted laser pulses in the vertical direction matches the angle of view in the vertical direction, and the divergence angle in the horizontal direction is reduced as much as possible, typically in the order of mrad.
That is, the laser emitting module 12 is mainly used for emitting a laser beam with a certain vertical divergence angle and a smallest horizontal divergence angle to irradiate a target under the control of the timing control and measurement module 11.
It should be noted that, in the embodiment of the present invention, at least one optical device of the collimating lens 123 is included, and additional other optical devices may be added to adjust the optical parameters of the laser pulse.
As can be seen from the above description, the laser emitting module 12 has a simple structure, and can emit laser pulses meeting the requirements, thereby increasing the measurement accuracy of the laser radar.
Further, as shown in fig. 3, the laser receiving module 13 further includes: a receiving lens 132, a transimpedance amplifier 133, a gate 134, a time discriminating circuit 135, and a peak holding circuit 136.
The receiving lens 132 is configured to receive the laser pulse echo signal and transmit the laser pulse echo signal to i receiving channels corresponding to the light emitting units.
Specifically, the receiving lens 132 includes, but is not limited to, a lens, and is mainly used for transmitting the reflected laser pulse echo signal to a corresponding receiving channel in the photodetector 131. For example, a laser pulse emitted by the first light emitting unit, and a laser pulse echo signal reflected by the laser pulse needs to be transmitted to i receiving channels corresponding to the first light emitting unit.
The gate 134 is configured to control the i receiving channels corresponding to the light emitting units to be turned on according to the laser receiving timing signal.
Specifically, when the timing control and measurement module 11 controls the laser emission module 12 to emit a laser pulse, the gate 134 is controlled at the same time, so that all receiving channels corresponding to the light emitting units emitting the laser pulse are in a conducting state, and a laser pulse echo signal reflected by the laser pulse is received.
The photodetector 131 is configured to convert the laser pulse echo signal into a current signal.
The transimpedance amplifier 133 is configured to convert the current signal into a voltage signal.
Specifically, the transimpedance amplifier 133 converts the current signal into a voltage signal, and the conversion multiple thereof can be determined by the equivalent resistance of the transimpedance amplifier 133 itself.
The time discriminator circuit 135 is configured to determine an arrival time of the laser pulse echo signal according to the voltage signal, where the arrival time represents a time at which the laser radar receives the laser pulse echo signal.
Specifically, the timing control and measurement module 11 records a start time when driving the laser emission module 12 to emit a laser pulse, calculates a time difference between the start time and the arrival time after obtaining the arrival time, and processes the time difference to obtain a distance image.
The peak hold circuit 136 is used to determine the peak value of the voltage signal from the voltage signal.
Specifically, the peak represents the intensity of the laser pulse echo signal, that is, the timing control and measurement module 11 processes the obtained peak information to obtain an intensity image, and the intensity image represents reflectivity information.
As can be seen from the above description, in the laser radar, the positions of the multi-channel laser transmitter 121 and the multi-channel photodetector 131 are fixed, the laser transmitter 121 is used to transmit laser pulses according to time sequence in a time-sharing manner, and the photodetector 131 receives laser pulse echo signals in channels, so that a slip ring is not needed, functional modules such as wireless power supply and wireless communication are not needed, and the number of signal processing modules is greatly reduced.
Further, the scanning module 14 is a polygon mirror, which includes at least two reflective surfaces, and each reflective surface is parallel to the rotation axis of the scanning module.
Specifically, the polygon mirror comprises at least two reflecting surfaces, and is used for ensuring that the polygon mirror can scan laser pulses or laser pulse echo signals in the omnibearing rotating process, and each reflecting surface can scan multiple columns of pixels in a view field in the rotating process.
Or, the scanning module is the polygon mirror, the polygon mirror includes two at least plane of reflection, and is a plurality of the plane of reflection with contained angle between the rotation axis of scanning module becomes the arithmetic progression and distributes.
Specifically, as shown in fig. 4, if the polygon mirror includes N reflecting surfaces, and the difference between the included angles between each two adjacent reflecting surfaces and the rotation axis is Δ β, the included angle between the h-th reflecting surface (h ═ 1 to N) and the rotation axis is β (h) ═ 1 × Δ β.
The delta beta is determined according to the field angles of the laser transmitter and the photoelectric detector in the vertical direction, the scanning field angles between the adjacent reflecting surfaces can be spliced together, and the scanning device adopting the structure can expand the field angle of the laser radar in the vertical direction by N times.
It should be noted that the value of N needs to be determined by comprehensive consideration according to the application scenario.
As can be seen from the above description, the angles between the plurality of reflecting surfaces in the polygon mirror and the rotation axis of the scanning module are distributed in an arithmetic progression, so that the field angle of the laser radar in the vertical direction can be expanded, and the structure is simple.
Further, as shown in fig. 5, the laser radar further includes: a drive motor and an angle encoder 15.
Wherein, the driving motor drives the scanning module 14 to perform the rotation scanning according to the rotation control signal.
The angle encoder is configured to obtain a rotation angle of the scanning module 14 in real time, and feed back the rotation angle to the timing control and measurement module 11.
Specifically, the driving motor is mainly used for driving the scanning module 14 to rotate, and one frame of image can be scanned every 1/n of rotation. And the time sequence control and measurement module 11 controls the driving motor to rotate in real time according to the rotation angle.
It should be noted that the driving motor and the angle encoder 15 may be integrally provided, or may be two independent bodies, and then fixed by a mechanical structure.
As can be seen from the above description, in the embodiment of the present invention, by providing the driving motor and the angle encoder 15, the closed-loop feedback control is implemented, and the measurement accuracy of the laser radar can be improved.
Further, as shown in fig. 6, the laser radar further includes: a power management module 16.
The power management module 16 is configured to supply power to the lidar.
Specifically, the power management module 16 is configured to supply power to each module in the laser radar, so as to ensure that each module can work normally.
Based on the laser radar provided by the above embodiment of the present invention, a 4-channel laser transmitter and a 16-channel photodetector are described below, taking an example in which the laser transmission frequency is 20 KHz.
As shown in fig. 7, the timing control and measurement module generates laser emission timing signals of four light emitting units LD, which respectively emit laser pulses at a frequency of 20KHz, and are sequentially spaced by 1 us.
As shown in fig. 8, the timing control and measurement module sends 4 Start signals, the 4 Start signals are sequentially spaced by 1us, and the 4 Start signals control the driving circuit module to sequentially drive the four light emitting units to emit laser pulses.
When the light-emitting unit LD1 located in the 1 st emission channel emits laser pulse first, the time sequence control and measurement module records the starting time, the light spot is spread in the a area of the view field after passing through the collimating lens, the laser pulse echo signal of the laser pulse passes through the a1 area of the receiving field of view and then irradiates to the 1 st-4 th receiving channel of the photoelectric detector, the 4-way gating device gates the 1 st way at the same time, that is, the 1 st to 4 th receiving channels of the photoelectric detector are conducted to obtain 4 paths of laser pulse echo signals of the 1 st to 4 th receiving channels, the 1 st to 4 th receiving channels convert the laser pulse echo signals into current signals, the transimpedance amplifier converts the current signals into voltage signals, the time discrimination circuit generates 4 paths of Stop signals according to the voltage signals, and determining the arrival time of the laser pulse echo signal, and determining the peak value of the voltage signal by a peak holding circuit according to the voltage signal.
Furthermore, the time sequence control and measurement module calculates the time difference between the start time and the arrival time according to the start time and the arrival time, processes the time difference to obtain a distance image according to the time difference, and processes the distance image according to peak information to obtain an intensity image, wherein the intensity image represents reflectivity information. The distance image and the intensity image can well reflect parameter information such as the horizontal angle, the vertical angle, the detection distance, the reflection intensity and the like of the 4 paths of laser pulse echo signals.
Similarly, after the light emitting unit LD2 located in the 2 nd transmitting channel emits the laser pulse, the 5 th to 8 th receiving channels of the photodetector are turned on, and the 4 th laser pulse echo signals of the 5 th to 8 th receiving channels are obtained.
After the light emitting unit LD3 located in the 3 rd transmitting channel emits the laser pulse, the 9 th to 12 th receiving channels of the photodetector are turned on, and the 4 th laser pulse echo signals of the 9 th to 12 th receiving channels are obtained as well.
After the light emitting unit LD4 located in the 4 th transmitting channel emits the laser pulse, the 13 th to 16 th receiving channels of the photodetector are turned on, and 4 laser pulse echo signals of the 13 th to 16 th receiving channels are obtained.
Assuming that the number of the reflecting surfaces of the scanning device is K, the above process is repeated continuously in the rotation process of the scanning device under the driving of the driving motor, and when one reflecting surface of the plurality of reflecting surfaces finishes all scanning points (the driving motor rotates 360/K degrees), one frame of scanning is finished.
The maximum viewing angle in the horizontal direction is determined by the number of the reflecting surfaces of the scanning device, and if the number of the reflecting surfaces of the scanning device is K, the viewing angle F in the horizontal direction is less than or equal to 360/K degrees; the angular resolution R1 in the horizontal direction is determined by the emission frequency J of the light-emitting unit and the rotational speed L of the motor: r1 ═ 120L/J; the resolution R2 in the vertical direction is determined by the angle of view G in the vertical direction and the number m of reception channels: and R2 is G/m.
As can be seen from the above description, the laser radar according to the embodiment of the present invention has the advantages of fixed positions of the multiple laser transmitters and the multiple photoelectric detectors, and scanning of the laser pulses and the laser pulse echo signals in the horizontal direction by rotating the scanning module, and compared with the prior art, the laser radar does not need to use a slip ring, does not need to perform functional modules such as wireless power supply and wireless communication, and simultaneously adopts the laser transmitters to transmit the laser pulses at time intervals according to the time sequence, and the photoelectric detectors receive the laser pulse echo signals in channels to reduce the number of signal processing modules.
And only i signal processing modules are needed to realize simultaneous measurement of m paths of signals, so that the number of signal processing functional modules is greatly reduced, and further the cost is reduced.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A lidar, characterized in that the lidar comprises: the device comprises a time sequence control and measurement module, a laser transmitting module, a laser receiving module and a scanning module;
the laser emission module comprises a laser emitter, the laser emitter comprises n emission channels, n is a positive integer, and a light emitting unit is arranged in each emission channel; the laser receiving module comprises a photoelectric detector, the photoelectric detector comprises m receiving channels, m is a positive integer, m is n x i, i is a positive integer and is greater than 1, the light emitting units in each emitting channel correspond to the i receiving channels, and the receiving channels corresponding to the light emitting units are different;
the time sequence control and measurement module is used for generating laser emission time sequence signals, and the laser emission time sequence signals are used for controlling the n light-emitting units to sequentially emit laser pulses;
the time sequence control and measurement module is further used for generating a laser receiving time sequence signal, and the laser receiving time sequence signal is used for controlling the conduction of the i receiving channels corresponding to the light emitting units so as to receive laser pulse echo signals;
the time sequence control and measurement module is also used for generating a rotation control signal, and the rotation control signal is used for controlling the scanning module to perform rotation scanning;
the scanning module is used for scanning the laser pulse and the laser pulse echo signal in the horizontal direction at the same time, wherein a rotating shaft of the scanning module is defined to be in the vertical direction;
the scanning module is a polygon mirror, the polygon mirror comprises at least two reflecting surfaces, and the reflecting surfaces are distributed in an arithmetic progression with included angles between rotating shafts of the scanning module.
2. The lidar of claim 1, wherein the lasing module further comprises: a drive circuit module and a collimating lens;
the driving circuit module drives the light emitting units in the n emitting channels to sequentially emit laser pulses according to the laser emitting time sequence signal;
the collimating lens is used for collimating the laser pulse.
3. The lidar of claim 1, wherein the laser receive module further comprises: the circuit comprises a receiving lens, a trans-impedance amplifier, a gate, a time discrimination circuit and a peak holding circuit;
the receiving lens is used for receiving the laser pulse echo signal and transmitting the laser pulse echo signal to the i receiving channels corresponding to the light emitting units;
the gate is used for controlling the conduction of the i receiving channels corresponding to the light-emitting units according to the laser receiving time sequence signal;
the photoelectric detector is used for converting the laser pulse echo signal into a current signal;
the trans-impedance amplifier is used for converting the current signal into a voltage signal;
the time discrimination circuit is used for determining the arrival time of the laser pulse echo signal according to the voltage signal, and the arrival time represents the time when the laser radar receives the laser pulse echo signal;
the peak holding circuit is used for determining the peak value of the voltage signal according to the voltage signal.
4. The lidar of claim 1, wherein the scanning module is a polygon mirror comprising at least two reflective surfaces, each reflective surface being parallel to an axis of rotation of the scanning module.
5. The lidar of claim 1, further comprising: a drive motor and an angle encoder;
the driving motor drives the scanning module to perform rotary scanning according to the rotary control signal;
the angle encoder is used for acquiring the rotation angle of the scanning module in real time and feeding the rotation angle back to the time sequence control and measurement module.
6. The lidar of claim 1, further comprising: a power management module;
the power management module is used for supplying power to the laser radar.
7. The lidar of claim 1, wherein the laser transmitter is an n-channel semiconductor laser.
8. The lidar of claim 1, wherein the photodetector is an m-channel APD photodetector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810916162.8A CN108614254B (en) | 2018-08-13 | 2018-08-13 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810916162.8A CN108614254B (en) | 2018-08-13 | 2018-08-13 | Laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108614254A CN108614254A (en) | 2018-10-02 |
| CN108614254B true CN108614254B (en) | 2021-06-29 |
Family
ID=63666920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810916162.8A Active CN108614254B (en) | 2018-08-13 | 2018-08-13 | Laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108614254B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231606B (en) * | 2018-11-27 | 2022-10-11 | 蔚来控股有限公司 | Laser scanning device and laser radar device including the same |
| CN109597090B (en) * | 2018-12-13 | 2023-10-03 | 武汉万集信息技术有限公司 | Multi-wavelength laser radar ranging device and method |
| WO2020142921A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Optical detection module and distance measuring device |
| CN111670378A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Light emitting device, distance measuring device and mobile platform |
| CN110058248A (en) * | 2019-05-29 | 2019-07-26 | 南京芯视界微电子科技有限公司 | Laser radar apparatus |
| CN110470387B (en) * | 2019-08-09 | 2021-08-13 | 中国科学院光电技术研究所 | Single photon laser radar device based on multi-detector |
| CN110780278B (en) * | 2019-10-25 | 2020-12-29 | 深圳煜炜光学科技有限公司 | High-speed scanning long-distance laser radar and control method thereof |
| CN110703223B (en) * | 2019-11-07 | 2023-06-30 | 上海禾赛科技有限公司 | Adjusting method applied to laser radar and electronic equipment |
| CN113433564B (en) * | 2020-03-06 | 2023-05-23 | 上海禾赛科技有限公司 | Laser radar and method for ranging using laser radar |
| CN111983584A (en) * | 2020-07-17 | 2020-11-24 | 中国工程物理研究院应用电子学研究所 | MEMS galvanometer scanning control system of multi-shot mirror laser radar |
| CN111983585A (en) * | 2020-07-17 | 2020-11-24 | 中国工程物理研究院应用电子学研究所 | Multi-mirror scanning control system of multi-emission single-receiver laser radar |
| JP7420915B2 (en) * | 2020-12-03 | 2024-01-23 | 深▲せん▼市▲レイ▼神智能系統有限公司 | laser radar |
| CN213986839U (en) * | 2020-12-03 | 2021-08-17 | 深圳市镭神智能系统有限公司 | Laser radar |
| WO2022141634A1 (en) * | 2021-01-04 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Laser emitting device, laser ranging device and movable platform |
| CN116466324A (en) * | 2021-04-09 | 2023-07-21 | 华为技术有限公司 | Detection device and control method thereof |
| CN115201786A (en) * | 2021-04-09 | 2022-10-18 | 华为技术有限公司 | Synchronous control device and method for laser radar |
| JP2024515659A (en) * | 2021-04-30 | 2024-04-10 | 上海禾賽科技有限公司 | Optical detection device and vehicle, laser radar, and detection method |
| CN116794631A (en) * | 2022-03-14 | 2023-09-22 | 上海禾赛科技有限公司 | Laser radar control method, computer storage medium, and laser radar |
| CN114994639B (en) * | 2022-08-08 | 2022-11-15 | 四川吉埃智能科技有限公司 | Method for realizing sub-centimeter-level measurement precision by laser scanning radar |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277949A (en) * | 2014-07-21 | 2016-01-27 | 北京自动化控制设备研究所 | Three-dimensional imaging laser radar system |
| CN108227183A (en) * | 2018-02-09 | 2018-06-29 | 深圳市砝石激光雷达有限公司 | Rotary laser scanning means |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9470520B2 (en) * | 2013-03-14 | 2016-10-18 | Apparate International C.V. | LiDAR scanner |
| CN103954971B (en) * | 2014-05-22 | 2016-03-30 | 武汉大学 | Airborne color three dimension scanning laser radar |
| CN105699949B (en) * | 2015-12-29 | 2018-02-09 | 北京经纬恒润科技有限公司 | A kind of object detection method and device |
| CN106443635A (en) * | 2016-10-26 | 2017-02-22 | 上海博未传感技术有限公司 | Miniature laser radar system |
| CN107238838B (en) * | 2017-07-26 | 2019-11-05 | 北京经纬恒润科技有限公司 | A kind of road barricade object detecting method and mobile unit |
-
2018
- 2018-08-13 CN CN201810916162.8A patent/CN108614254B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277949A (en) * | 2014-07-21 | 2016-01-27 | 北京自动化控制设备研究所 | Three-dimensional imaging laser radar system |
| CN108227183A (en) * | 2018-02-09 | 2018-06-29 | 深圳市砝石激光雷达有限公司 | Rotary laser scanning means |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108614254A (en) | 2018-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108614254B (en) | Laser radar | |
| CN108627813B (en) | Laser radar | |
| KR102589319B1 (en) | Noise adaptive solid-state lidar system | |
| US10649072B2 (en) | LiDAR device based on scanning mirrors array and multi-frequency laser modulation | |
| KR101909327B1 (en) | Scanning lidar having optical structures that share a transmission receiving lens | |
| KR102235710B1 (en) | Scanning lidar having optical structures with transmission receiving single lens | |
| JP2020522717A (en) | Multiline radar | |
| CN108375762B (en) | Laser radar and working method thereof | |
| CN111954827B (en) | LIDAR measurement system using wavelength conversion | |
| CN109738880A (en) | A kind of laser radar system and laser ranging system | |
| WO2021128526A1 (en) | Optical path system, and laser radar | |
| CN112558105A (en) | Laser radar system and control method of laser radar system | |
| US20190094531A1 (en) | Focal region optical elements for high-performance optical scanners | |
| KR102578131B1 (en) | Lidar optical system | |
| US11237255B2 (en) | LiDAR system | |
| WO2020107250A1 (en) | Laser receiving circuit, distance measurement device, and mobile platform | |
| KR102154712B1 (en) | Lidar apparatus for vehicle | |
| US11448756B2 (en) | Application specific integrated circuits for LIDAR sensor and multi-type sensor systems | |
| CN113721220A (en) | Method for realizing two-dimensional optical scanning by single-degree-of-freedom rotation | |
| KR20180052379A (en) | Light emitting module and lidar module including the same | |
| Hallman et al. | On two-dimensional rangefinding using a∼ 1 nJ/∼ 100 ps laser diode transmitter and a CMOS SPAD matrix | |
| KR102527887B1 (en) | Optical system for lidar sensor | |
| WO2022126429A1 (en) | Ranging apparatus, ranging method, and movable platform | |
| CN114935742A (en) | Emitting module, photoelectric detection device and electronic equipment | |
| CN213986839U (en) | Laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Applicant after: Beijing Jingwei Hengrun Technology Co., Ltd Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Applicant before: Beijing Jingwei HiRain Technologies Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |