CN109884652A - Pulse laser driver and delay calibration method, laser radar and distance measuring method - Google Patents
Pulse laser driver and delay calibration method, laser radar and distance measuring method Download PDFInfo
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- CN109884652A CN109884652A CN201910159484.7A CN201910159484A CN109884652A CN 109884652 A CN109884652 A CN 109884652A CN 201910159484 A CN201910159484 A CN 201910159484A CN 109884652 A CN109884652 A CN 109884652A
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Abstract
The present invention relates to field of laser device technology, in particular disclose a kind of pulse laser driver and delay calibration method, laser radar and distance measuring method, wherein, pulse laser driver includes: delayer, for exporting the control signal by delay upon receiving the control signal, the time that delayer receives control signals to control signal of the output by delay is the first delay；Pulse laser actuator body, for generating current pulse signal after the control signal by delay that reception delay device exports, delayer receives control signals to pulse laser actuator body and generates the time of current pulse signal as the second delay；Controller, for obtain second delay and according to second delay adjustment first delay, make it is adjusted second delay with preset always be delayed it is equal.The influence that the present invention program can overcome the factors such as temperature, supply voltage to be delayed pulse laser driver, and obtain laser radar range distance do not influenced by factors such as temperature, supply voltages, error-free.
Description
Technical field
The present invention relates to field of laser device technology, specially a kind of pulse laser driver and delay calibration method, laser
Radar and distance measuring method.
Background technique
Laser radar technique based on photon flight time (Time of Flight, TOF) may be implemented real-time, high-precision
Degree, high-resolution distance measurement function, therefore it is applied to laser radar, 3D imaging, 3D sensor, 3D detection system more and more widely
The fields such as system, automatic Pilot, gesture identification, machine vision.
Laser radar based on TOF is made of transmitting terminal and receiving end.Transmitting terminal can produce pulse modulated laser signal.
Receiving end is detected from the reflected optical signal of target object, and calculated according to the time of photon flight target object away from
From.
In the transmitting terminal of laser radar, due to the non-ideal effects of laser driver chip, from open signal to output light
There are the delays of nanosecond for signal, and delay can change with the variation of the factors such as temperature, supply voltage.This delay can lead to sharp
Optical radar distance measurement result generates indefinite error.If being applied to 3D detection system, the quality that can lead to 3D rendering is affected.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State a kind of pulse laser driver, a kind of delay calibration method of pulse laser driver, a kind of the swashing for ranging of problem
Optical radar and a kind of distance measuring method of laser radar.
According to an aspect of the invention, there is provided a kind of pulse laser driver, comprising: delayer, for receiving
Output is by the control signal being delayed after controlling signal, and the delayer reception control signal is to output by delay
The control signal time be first delay；Pulse laser actuator body is connect with the delayer, for receiving
The described of the delayer output generates current pulse signal after the control signal of delay, and the delayer receives institute
It states control signal and generates the time of the current pulse signal to the pulse laser actuator body as the second delay；Control
Device is connect with the delayer and the pulse laser actuator body respectively, for obtaining second delay and according to institute
State the second delay adjustment it is described first delay, make it is adjusted it is described second delay with preset always be delayed it is equal.
Optionally, the controller includes time-to-digit converter, and the input terminal of the time-to-digit converter connects respectively
Connect the input terminal of the delayer, the output end of the pulse laser actuator body, the output of the time-to-digit converter
End is connected with the control terminal of the delayer, and the time-to-digit converter is for obtaining second delay, by described second
Time-delay conversion is digital coding, according to digital coding adjustment first delay.
Optionally, the controller further includes processor, and the processor is separately connected the time-to-digit converter
The control terminal of output end and the delayer, for receiving the digital coding of the time-to-digit converter output, by institute
It states after digital coding reduces by a preset reference code and is sent to the control terminal of the delayer.
According to another aspect of the present invention, a kind of delay calibration method of pulse laser driver, the method are provided
Include: output upon receiving the control signal by the control signal being delayed, receives the control signal to output by prolonging
When the control signal time be first delay；Receiving the generation electric current arteries and veins after the control signal of delay
Signal is rushed, the control signal is received and is delayed to the time for generating the current pulse signal for second；Described second is obtained to prolong
When and according to it is described second delay adjustment it is described first delay, make it is adjusted it is described second delay with preset always be delayed it is equal.
It is optionally, described to obtain second delay and according to the second delay adjustment first delay specifically:
Second delay is obtained, is digital coding by second time-delay conversion, is prolonged according to digital coding adjustment described first
When.
Optionally, the method also includes: by the digital coding reduce a preset reference code.
In accordance with a further aspect of the present invention, a kind of laser radar is provided, ranging, including transmitting unit, reception list are used for
Member and computing unit；The transmitting unit includes pulse laser driver and laser, and the pulse laser driver is upper
The pulse laser driver stated, the laser are connect with the pulse laser driver, for being believed according to the current impulse
Number transmitting laser pulse is to ranging object；The receiving unit is used to receive the laser arteries and veins returned by the ranging object reflection
Punching；The computing unit is connect with the transmitting unit, the receiving unit respectively, for obtaining ranging time, the ranging
Time is the time that the delayer receives that the control signal receives the laser pulse to the receiving unit, by the survey
Default total delay is reduced away from the time, according to the distance of the ranging time calculating said ranging object of reduction.
According to another aspect of the invention, a kind of distance measuring method of laser radar is provided, comprising: control signal receiving
Afterwards output by delay the control signal, receive it is described control signal to output through delay the control signal when
Between for first delay；Receive it is described generate current pulse signal after the control signal of delay, receive the control
Signal is delayed to the time for generating the current pulse signal for second；Obtain second delay and according to second delay
Adjust it is described first delay, make it is adjusted it is described second delay with preset always be delayed it is equal；According to the current pulse signal
Emit laser pulse to ranging object；Receive the laser pulse returned by the ranging object reflection；Obtain ranging time, institute
Stating ranging time is to receive the control signal to the time for receiving the laser pulse, the ranging time is reduced described pre-
If total delay, according to the distance of the ranging time calculating said ranging object of reduction.
It is optionally, described to obtain second delay and according to the second delay adjustment first delay specifically:
Second delay is obtained, is digital coding by second time-delay conversion, is prolonged according to digital coding adjustment described first
When.
Optionally, the method also includes: by the digital coding reduce a preset reference code.
The present invention provides a kind of pulse laser driver and delay calibration method, help to overcome temperature, supply voltage
Etc. the influence that is delayed to pulse laser driver of factors.The present invention also provides a kind of laser radar and distance measuring methods, facilitate
Obtain ranging distance do not influenced by factors such as temperature, supply voltages, error-free.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the circuit block diagram of first embodiment of the invention pulse laser driver；
Fig. 2 shows the circuits of first embodiment of the invention pulse laser driver middle arteries impulse CD-ROM driver ontology 102
Figure；
Fig. 3 shows the circuit block diagram of second embodiment of the invention pulse laser driver；
Fig. 4 shows the circuit block diagram of third embodiment of the invention pulse laser driver；
Fig. 5 shows the flow chart of the delay calibration method of fourth embodiment of the invention pulse laser driver；
Fig. 6 shows the structural block diagram of fifth embodiment of the invention laser radar；
Fig. 7 shows the structural block diagram of transmitting unit 601 in fifth embodiment of the invention laser radar；
Fig. 8 shows the flow chart of the distance measuring method of sixth embodiment of the invention laser radar.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
Completely it is communicated to those skilled in the art.
Fig. 1 is the circuit block diagram of first embodiment of the invention pulse laser driver.As shown in Figure 1, the pulse laser
Driver includes delayer 101, pulse laser actuator body 102 and controller 103.
Delayer 101 is for control signal of the output by delay upon receiving the control signal.Delayer 101 receives control
The time of control signal of the signal to output by delay is the first delay namely the delay of delayer 101.In the present embodiment,
Delayer 101 is programmable delay circuit, and delay can be adjusted in a certain range according to control word.
Pulse laser actuator body 102 is connect with delayer 101, and the process for exporting in reception delay device 101 is prolonged
When control signal after generate current pulse signal.Delayer 101 receives control signals to the production of pulse laser actuator body 102
The time of raw current pulse signal is the second delay namely total delay of delayer 101 and pulse laser actuator body 102.
Fig. 2 is the circuit diagram of first embodiment of the invention pulse laser driver middle arteries impulse CD-ROM driver ontology 102.Such as
Shown in Fig. 2, pulse laser actuator body 102 is formed by level Four inverter series.In the present embodiment, due to temperature, power supply electricity
The influence of the factors such as pressure, the delay of pulse laser actuator body 102 are fluctuated above and below 0.5 nanosecond, such as 0.3 to 0.7 nanosecond.
Controller 103 is connect with delayer 101 and pulse laser actuator body 102 respectively, for obtaining the second delay
And according to second the first delay of delay adjustment, make the second delay adjusted with preset always be delayed it is equal, namely according to acquisition
The delay of delayer 101 and total delay adjustment delayer 101 of pulse laser actuator body 102, makes total delay adjusted
With it is default be always delayed it is equal.The default value being always delayed can be arranged according to the actual situation.In the present embodiment, default total delay is set
For 1 nanosecond.When initial, the delay of pulse laser actuator body 102 was 0.5 nanosecond, then the delay that delayer 101 is arranged is
0.5 nanosecond, making always to be delayed was 1 nanosecond.If the delay of pulse laser actuator body 102 becomes 0.6 and receives due to temperature change
Second, causing always to be delayed became for 1.1 nanoseconds.At this point, controller 103 will adjust delayer 101, its delay is set to become for 0.4 nanosecond, always
Delay was still 1 nanosecond.
In embodiments of the present invention, by controlling to adjust the delay of delayer, make the control letter for receiving transmitting laser pulse
Number to output current pulse signal delay it is invariable, help to overcome the factors such as temperature, supply voltage to drive to pulse laser
The influence of dynamic device delay.
Fig. 3 is the circuit block diagram of second embodiment of the invention pulse laser driver.As shown in figure 3, the pulse laser
Driver includes delayer 301, pulse laser actuator body 302 and time-to-digit converter 303.
The input terminal of time-to-digit converter 303 is separately connected the input terminal of delayer 301, pulse laser actuator body
302 output end.The output end of time-to-digit converter 303 is connected with the control terminal of delayer 301.Time-to-digit converter
303 for obtaining the second delay, is digital coding by the second time-delay conversion, according to the first delay of digital coding adjustment.This implementation
In example, the step-length of time-to-digit converter 303 was 0.1 nanosecond.Default total delay for 1 nanosecond, time-to-digit converter 303
Output digital coding or output code be 10, i.e. 1 nanosecond is divided by 0.1 nanosecond of step-length.If total delay became for 1.1 nanoseconds, when
Between the output code of digital quantizer 303 become 11.At this point, delayer 301 will change its delay, make always to be delayed still for 1 nanosecond.
Fig. 4 is the circuit block diagram of third embodiment of the invention pulse laser driver.As shown in figure 4, the pulse laser
Driver includes delayer 401, pulse laser actuator body 402, time-to-digit converter 403 and processor 404.
Processor 404 is separately connected the output end of time-to-digit converter 403 and the control terminal of delayer 401, for connecing
The digital coding that time-to-digit converter 403 exports is received, is sent to delayer 401 after digital coding is reduced by a preset reference code
Control terminal.In the present embodiment, the delay of pulse laser actuator body 402 is or so 0.5 nanosecond, and default total delay is received for 1
Second, the step-length of time-to-digit converter 403 was 0.1 nanosecond.Preset reference code is 10, that is, is equal to default total delay and passes through time number
The digital coding that word converter 403 is converted.When initial, the delay of delayer 401 and pulse laser actuator body 402 is
0.5 nanosecond, total delay were 1 nanosecond.Total delay for 1 nanosecond, the output code of time-to-digit converter 403 are 10.Processor
404 receive coding 10 after subtracted preset reference code 10, exports coding 0.For coding 0, delayer 401 will not change it certainly
Body delay.If the delay of pulse laser actuator body 402 became for 0.6 nanosecond due to the fluctuation of supply voltage, then total delay becomes
For 1.1 nanoseconds, the output code of time-to-digit converter 403 becomes 11, and processor 404 subtracts exports coding after preset reference code 10
1, after delayer 401 receives coding 1, its own is delayed and reduces by 0.1 nanosecond, i.e., it is delayed from 0.5 nanosecond becoming for 0.4 nanosecond,
The sum of 0.4 nanosecond of delay and 0.6 nanosecond of delay of pulse laser actuator body 402 of delayer 401 were 1 nanosecond, i.e., always prolong
When be still 1 nanosecond.
Fig. 5 is the flow chart of the delay calibration method of fourth embodiment of the invention pulse laser driver.As shown in figure 5,
Method includes the following steps:
Step S501: control signal of the output by delay upon receiving the control signal receives control signals to output warp
The time for crossing the control signal of delay is the first delay.
This step can be executed by the delayer in previous embodiment pulse laser driver.
Step S502: current pulse signal is generated after receiving the control signal by delay, receives control signals to production
The time of raw current pulse signal is the second delay.
This step can be executed by the pulse laser actuator body in previous embodiment pulse laser driver.
Step S503: obtain second delay simultaneously according to second delay adjustment first delay, make it is adjusted second delay with
It is default be always delayed it is equal.
This step can be by the controller or second embodiment pulse laser in aforementioned first embodiment pulse laser driver
The time-to-digit converter and processor in time-to-digit converter or 3rd embodiment pulse laser driver in driver
It executes.
In embodiments of the present invention, by controlling to adjust the delay of delayer, make the control letter for receiving transmitting laser pulse
Number to output current pulse signal delay it is invariable, help to overcome the factors such as temperature, supply voltage to drive to pulse laser
The influence of dynamic device delay.
In some embodiments, the second delay is obtained and according to second the first delay of delay adjustment specifically: obtain second
Second time-delay conversion is digital coding by delay, according to the first delay of digital coding adjustment.This step can be by aforementioned second,
Time-to-digit converter in three embodiment pulse laser drivers executes.
In some embodiments, this method further include: digital coding is reduced by a preset reference code.This step can be by aforementioned
Processor in 3rd embodiment pulse laser driver executes.
Fig. 6 is the structural block diagram of fifth embodiment of the invention laser radar.As shown in fig. 6, laser radar 60 includes transmitting
Unit 601, receiving unit 602 and computing unit 603.
Fig. 7 is the structural block diagram of transmitting unit 601 in fifth embodiment of the invention laser radar.As shown in fig. 7, transmitting is single
Member 601 includes pulse laser driver 6011 and laser 6012.In the present embodiment, pulse laser driver 6011 is aforementioned the
Three embodiment pulse laser drivers.In some embodiments, pulse laser driver 6011 is also possible to aforementioned first, second
Embodiment pulse laser driver.Laser 6012 is connect with pulse laser driver 6011, for being driven according to pulse laser
The current pulse signal that device 6011 exports emits laser pulse to ranging object.
It please also refer to shown in Fig. 6.Receiving unit 602 is used to receive the laser pulse returned by ranging object reflection.
Computing unit 603 is connect with transmitting unit 601, receiving unit 602 respectively, for obtaining ranging time, when ranging
Between for delayer 401 receive control signals to the time that receiving unit 602 receives laser pulse, ranging time is reduced default total
Delay calculates the distance of ranging object according to the ranging time of reduction.In the present embodiment, ranging time was 11 nanoseconds, was subtracted pre-
If always 1 nanosecond of delay, 10 obtained nanoseconds are photon flight time, the distance that can calculate ranging object is 1.5 meters.Alternatively,
The corresponding digital coding of ranging time is 110, subtracts preset reference code 10 and obtains coding 100, is scaled 10 nanosecond of time, is calculated
The distance of ranging object is 1.5 meters.In some embodiments, computing unit 603 can be inside receiving unit 602.
In embodiments of the present invention, the time for obtaining the control signal that laser radar issues transmitting laser pulse is anti-to receiving
The time is subtracted fixed delay and obtains correct photon flight time, helps to obtain by the time for the laser pulse being emitted back towards
Ranging distance do not influenced by factors such as temperature, supply voltages, error-free.
Fig. 8 is the flow chart of the distance measuring method of sixth embodiment of the invention laser radar.As shown in figure 8, this method includes
Following steps:
Step S801: control signal of the output by delay upon receiving the control signal receives control signals to output warp
The time for crossing the control signal of delay is the first delay.
This step can be executed by the delayer in previous embodiment pulse laser driver.
Step S802: current pulse signal is generated after receiving the control signal by delay, receives control signals to production
The time of raw current pulse signal is the second delay.
This step can be executed by the pulse laser actuator body in previous embodiment pulse laser driver.
Step S803: obtain second delay simultaneously according to second delay adjustment first delay, make it is adjusted second delay with
It is default be always delayed it is equal.
This step can be by the controller or second embodiment pulse laser in aforementioned first embodiment pulse laser driver
The time-to-digit converter and processor in time-to-digit converter or 3rd embodiment pulse laser driver in driver
It executes.
Step S804: laser pulse is emitted to ranging object according to current pulse signal.
This step can be executed by the transmitting unit in aforementioned 5th embodiment laser radar.
Step S805: the laser pulse returned by ranging object reflection is received.
This step can be executed by the receiving unit in aforementioned 5th embodiment laser radar.
Step S806: obtaining ranging time, and ranging time is to receive control signals to the time for receiving laser pulse, will survey
Default total delay is reduced away from the time, the distance of ranging object is calculated according to the ranging time of reduction.
This step can be executed by the computing unit in aforementioned 5th embodiment laser radar.
In embodiments of the present invention, the time for obtaining the control signal that laser radar issues transmitting laser pulse is anti-to receiving
The time is subtracted fixed delay and obtains correct photon flight time, helps to obtain by the time for the laser pulse being emitted back towards
Ranging distance do not influenced by factors such as temperature, supply voltages, error-free.
In some embodiments, the second delay is obtained and according to second the first delay of delay adjustment specifically: obtain second
Second time-delay conversion is digital coding by delay, according to the first delay of digital coding adjustment.This step can be by aforementioned second,
Time-to-digit converter in three embodiment pulse laser drivers executes.
In some embodiments, this method further include: digital coding is reduced by a preset reference code.This step can be by aforementioned
Processor in 3rd embodiment pulse laser driver executes.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (10)
1. a kind of pulse laser driver characterized by comprising
Delayer, for exporting the control signal by delay upon receiving the control signal, described in the delayer receives
The time for controlling the control signal of the signal to output by delay is the first delay；
Pulse laser actuator body is connect with the delayer, for receiving the described by prolonging of the delayer output
When the control signal after generate current pulse signal, the delayer receives the control signal and drives to the pulse laser
The time that dynamic device ontology generates the current pulse signal is the second delay；
Controller is connect with the delayer and the pulse laser actuator body respectively, for obtaining second delay
And according to it is described second delay adjustment it is described first delay, make it is adjusted it is described second delay with preset always be delayed it is equal.
2. pulse laser driver according to claim 1, which is characterized in that the controller includes time-to-digital converter
Device, the input terminal of the time-to-digit converter are separately connected the input terminal of the delayer, the pulse laser driver sheet
The output end of body, the output end of the time-to-digit converter are connected with the control terminal of the delayer, and the time figure turns
Second time-delay conversion is digital coding for obtaining second delay by parallel operation, adjusts institute according to the digital coding
State the first delay.
3. pulse laser driver according to claim 2, which is characterized in that the controller further includes processor, institute
It states processor and is separately connected the output end of the time-to-digit converter and the control terminal of the delayer, when for receiving described
Between digital quantizer export the digital coding, will the digital coding reduce a preset reference code after be sent to the delay
The control terminal of device.
4. a kind of delay calibration method of pulse laser driver, which is characterized in that the described method includes:
The control signal of the output by delay upon receiving the control signal receives the control signal to output by delay
The control signal time be first delay；
Receive it is described generate current pulse signal after the control signal of delay, receive the control signal to generation
The time of the current pulse signal is the second delay；
It obtains second delay and is delayed according to the second delay adjustment described first, make second delay adjusted
With it is default be always delayed it is equal.
5. according to the method described in claim 4, it is characterized in that, described obtain second delay and prolong according to described second
When adjust it is described first delay specifically: obtain it is described second delay, will second time-delay conversion be digital coding, according to institute
State digital coding adjustment first delay.
6. according to the method described in claim 5, it is characterized in that, the method also includes: by the digital coding reduce one
Preset reference code.
7. a kind of laser radar is used for ranging, which is characterized in that including transmitting unit, receiving unit and computing unit；
The transmitting unit includes pulse laser driver and laser, and the pulse laser driver is according to claim 1-
4 described in any item pulse laser drivers, the laser are connect with the pulse laser driver, for according to the electricity
Signal pulse stream emits laser pulse to ranging object；
The receiving unit is used to receive the laser pulse returned by the ranging object reflection；
The computing unit is connect with the transmitting unit, the receiving unit respectively, for obtaining ranging time, the ranging
Time is the time that the delayer receives that the control signal receives the laser pulse to the receiving unit, by the survey
Default total delay is reduced away from the time, according to the distance of the ranging time calculating said ranging object of reduction.
8. a kind of distance measuring method of laser radar characterized by comprising
The control signal of the output by delay upon receiving the control signal receives the control signal to output by delay
The control signal time be first delay；
Receive it is described generate current pulse signal after the control signal of delay, receive the control signal to generation
The time of the current pulse signal is the second delay；
It obtains second delay and is delayed according to the second delay adjustment described first, make second delay adjusted
With it is default be always delayed it is equal；
Emit laser pulse to ranging object according to the current pulse signal；
Receive the laser pulse returned by the ranging object reflection；
Ranging time is obtained, the ranging time is to receive the control signal to the time for receiving the laser pulse, by institute
It states ranging time and reduces default total delay, according to the distance of the ranging time calculating said ranging object of reduction.
9. according to the method described in claim 8, it is characterized in that, described obtain second delay and prolong according to described second
When adjust it is described first delay specifically: obtain it is described second delay, will second time-delay conversion be digital coding, according to institute
State digital coding adjustment first delay.
10. according to the method described in claim 9, it is characterized in that, the method also includes: by the digital coding reduce one
Preset reference code.
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| CN111551949A (en) * | 2020-05-20 | 2020-08-18 | 炬佑智能科技(苏州)有限公司 | Pulse delay time control method and device |
| US11936389B2 (en) | 2020-03-12 | 2024-03-19 | Analog Devices International Unlimited Company | Delay locked loops with calibration for external delay |
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