CN110018486A - A kind of multi-beam laser range sensor based on TOF - Google Patents
A kind of multi-beam laser range sensor based on TOF Download PDFInfo
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- CN110018486A CN110018486A CN201910371848.8A CN201910371848A CN110018486A CN 110018486 A CN110018486 A CN 110018486A CN 201910371848 A CN201910371848 A CN 201910371848A CN 110018486 A CN110018486 A CN 110018486A
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- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of multi-beam laser range sensor based on TOF, including digital processing element, laser emission element, optical system unit and laser pick-off unit；The laser firing signals that the laser emission element is used to be sent according to the digital processing element emit at least three Lu Jiguang；The optical system unit is used to every road laser focusing to testee, and will focus to the laser pick-off unit through the reflected laser of the testee；The laser pick-off unit is used to generate laser pick-off signal based on the laser received, and is sent to the digital processing element；The digital processing element is used for the distance based on the laser firing signals and the corresponding laser of the laser pick-off signal acquisition to the testee.Multi-beam laser range sensor based on TOF of the invention solves the problems, such as that existing laser measurement frequency and resolution ratio are low, contour of object is unintelligible, the detection visual field is narrow by multi-beam laser ranging.
Description
Technical field
The present invention relates to the technical fields of laser range sensor, are based on flight time (Time of more particularly to one kind
Flight, TOF) multi-beam laser range sensor.
Background technique
TOF technology refers to that sensor issues modulated near infrared light, meets object back reflection, sensor is by calculating light
Transmitting and reflection interval difference or phase difference, the distance for the object that converted according to time difference or phase difference, to generate depth information,
It furthermore can be by the three-D profile of object with not in conjunction with the distance of measurement distance in conjunction with the backward energy intensity of object reflection
The topographic map mode for representing different distance with color shows.
In the prior art, the laser range sensor based on TOF is emitted as measurement core mostly with single beam laser.Wherein,
Single beam laser distance measuring sensor projects body surface with laser point, the distance of measurement current object to ranging center, more
Mostly apply in terms of.With the development in laser radar field, single line laser ranging is no longer satisfied operation
It needs, such as automated guided vehicle (Automated Guided Vehicle, AGV) navigation avoidance, UAV
The application such as (Unmanned Aerial Vehicle, UAV) Ding Gao and mapping, security monitor, the unmanned auxiliary driving of automobile.These
It can be with environment and object in front of real-time, high speed reaction three-dimensional or in greater detail using laser range sensor is required
State.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of multi-beams based on TOF to swash
Ligh-ranging sensor solves existing laser measurement frequency by multi-beam laser ranging and resolution ratio is low, contour of object is unclear
Problem clear, the detection visual field is narrow.
In order to achieve the above objects and other related objects, the present invention provides a kind of multi-beam laser ranging biography based on TOF
Sensor, including digital processing element, laser emission element, optical system unit and laser pick-off unit；The Laser emission list
First to be connected with the digital processing element, the laser firing signals transmitting for being sent according to the digital processing element is at least
Three Lu Jiguang；The optical system unit is connected with the laser emission element and the laser pick-off unit, is used for every road
Laser focuses to testee, and will focus to the laser pick-off unit through the reflected laser of the testee；Institute
It states laser pick-off unit to be connected with the optical system unit and the digital processing element, for raw based on the laser received
At laser pick-off signal, and it is sent to the digital processing element；The digital processing element is used to be based on the Laser emission
The distance of signal and the corresponding laser of the laser pick-off signal acquisition to the testee.
In one embodiment of the invention, the digital processing element includes FPGA module and TOF jet lag measuring circuit；
The TOF jet lag measuring circuit is used to calculate the time difference of the laser firing signals and the laser pick-off signal；It is described
FPGA module is corresponded to for generating laser firing signals and being sent to the laser emission element, and according to time difference calculating
Laser and the distance between the testee.
In one embodiment of the invention, the laser emission element includes laser drive circuit and array laser diode；
The array laser diode includes the laser diode of about at least three parallel arrangeds；The laser drive circuit is used for base
The driving signal of the laser diode is generated in the laser firing signals, to drive each laser diode time division emission to swash
Light；
The laser pick-off unit includes array APD diode and laser pick-off circuit；The array APD diode includes
The APD diode of about at least three parallel arrangeds, and the APD diode and the laser diode put in order an a pair
It answers；Each APD diode is used to receive the laser that corresponding laser diode issues, and the laser pick-off circuit is sharp for generating
Light receiving signal is simultaneously exported to the digital processing element.
In one embodiment of the invention, the laser drive circuit include single high-speed driving circuit and with the laser two
The one-to-one laser diode control circuit of pole pipe；The high-speed driving circuit is used to generate based on the laser firing signals
Laser diode driving signal；The laser diode control circuit is for controlling cut-offfing for corresponding laser diode, with reality
The timesharing conducting of existing multiple laser diodes.
In one embodiment of the invention, the laser pick-off circuit includes I/V circuit, gain amplifying circuit, constant fraction discriminator
Circuit and digital shaping circuit；The I/V circuit is used to being converted to the current signal that the APD diode exports into voltage letter
Number；The gain amplifying circuit is for amplifying the voltage signal；The constant fraction discriminator circuit and the digital shaping circuit point
Constant fraction discriminator and digital shaping Yong Yu not be carried out to amplified voltage signal.
In one embodiment of the invention, the laser diode in the array laser diode is in predetermined angle row up and down
Column；APD diode in the array APD diode is in the predetermined angle arrangement up and down.
In one embodiment of the invention, the number of the laser diode and the APD diode is 3-16.
In one embodiment of the invention, the optical system unit includes transmitting mirror surface and reception mirror surface；The transmitting mirror
Face is used to the laser that the laser diode is launched focusing to the testee；The reception mirror surface is used for the quilt
It surveys the reflected laser of object and focuses to APD diode corresponding with the laser diode.
It further include system balance unit in one embodiment of the invention, at the laser pick-off unit and the number
It manages unit to be connected, including temperature-compensation circuit and APD high pressure compensation circuit；The temperature-compensation circuit is for acquiring the array
The temperature information of APD diode, and export to the digital processing element；The APD high pressure compensation circuit is for generating direct current
High pressure acquires the information of voltage on the array APD diode and exports to the number to drive the array APD diode
Processing unit；The digital processing element is also used to carry out temperature benefit to the array APD diode based on the temperature information
It repays and high pressure compensation, and the high direct voltage is corrected according to the information of voltage.
In one embodiment of the invention, the laser firing signals are narrow pulse signal, the frequency of the narrow pulse signal
Driving frequency of the mean allocation to each laser diode, as the laser diode.
As described above, the multi-beam laser range sensor of the present invention based on TOF, has the advantages that
(1) optical texture and circuit design are used, can only drive two pole of laser in synchronization laser emission element
Pipe, while the reception between the avalanche photodide (APD) based on receiving unit and the laser diode (LD) of transmitting unit
Angle guarantees that synchronization receiving unit APD energy is the largest, and more APD output-parallels are together, increase reception
The sensitivity at end；And judge whether the reception signal is effective, ensure that the serviceability of signal based on algorithm；
(2) have the characteristics that three-dimensional space measurement, can be realized multiple laser transmitting multiple laser and receive, each laser
Transmit circuit corresponds to a laser pick-off circuit, and laser transmitting-receiving device corresponds and arrangement at an angle up and down, in water
3-D graphic is capable of forming in the case where simple scan；
(3) have the characteristics that the detection of the wide visual field, it is maximum can in 30 degree of carry out target range detection within sweep of the eye, wherein
Heart angle is 0,15 degree of the maximum angle range that is arranged above and below；
(4) has the characteristics that ultrahigh speed ranging, multiple laser can be under the frequency of 320kz successively with the frequency of 20khz
Each laser diode is driven, and each laser diode is not interfere with each other, can reach 3200000 rangings each second time
Number；
(5) the features such as compared to traditional multiline reception circuit, circuit is simple, at low cost, high reliablity, small in size；
(6) control core unit is done using high speed FPGA module, outside possesses multiple TOF Measurement channels, respectively by high speed
FPGA module controls its measurement and data output, is suitable for 3-16 time difference measurement channel, can measure multi-path laser flight simultaneously
The time difference has the characteristics that multi-channel high-speed measurement；
(7) it is suitable for high speed multi-line laser radar industry.
Detailed description of the invention
Fig. 1 is shown as the structural representation of multi-beam laser range sensor in an embodiment of the invention based on TOF
Figure；
Fig. 2 is shown as the structural schematic diagram of laser emission element of the invention in an embodiment；
Fig. 3 is shown as the time diagram of narrow pulse signal and clock signal of the invention in an embodiment；
Fig. 4 is shown as the driving signal on narrow pulse signal and each laser diode of the invention in an embodiment
Time diagram；
Fig. 5 is shown as the operation principle schematic diagram of optical system unit of the invention in an embodiment；
Fig. 6 is shown as laser flying of the invention and originates the timing of measuring signal and time difference flight signal in an embodiment
Figure.
Component label instructions
1 digital processing element
11 FPGA modules
12 TOF jet lag measuring circuits
2 laser emission elements
21 laser drive circuits
211 high-speed driving circuits
212 laser diode control circuits
22 array laser diodes
3 optical system units
31 transmitting mirror surfaces
32 receive mirror surface
4 laser pick-off units
41 array APD diodes
42 laser pick-off circuits
5 system balance units
51 temperature-compensation circuits
52 APD high pressure compensation circuits
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
Multi-beam laser range sensor based on TOF of the invention solves existing laser by multi-beam laser ranging
The problem that measurement frequency and resolution ratio are low, contour of object is unintelligible, the detection visual field is narrow, can be realized ultrahigh speed ranging, and only adopt
With single reception circuit, structure is simple, at low cost, high practicability.
As shown in Figure 1, the multi-beam laser range sensor of the invention based on TOF includes number in an embodiment
Processing unit 1, laser emission element 2, optical system unit 3 and laser pick-off unit 4.
The laser emission element 2 is connected with the digital processing element 1, for being sent out according to the digital processing element 1
Laser firing signals transmitting at least three Lu Jiguang sent.
Specifically, a narrow pulse signal is sent to the laser by the digital processing element 1
Transmitting unit 2.In one embodiment of the invention, as shown in Fig. 2, the laser emission element 2 includes 21 He of laser drive circuit
Array laser diode 22, to realize that the timesharing of multi-path laser diode continuously emits.Wherein, the array laser diode
22 include the laser diode of about at least three parallel arrangeds；The laser drive circuit 21 is used to be based on the Laser emission
Signal generates the driving signal of the laser diode, to drive each laser diode time division emission laser.Preferably, described
Array laser diode 22 includes 3-16 SMD patch type pulsed laser diode, is arranged up and down in certain sharp angle, depending on
Rink corner degree (i.e. the angle of two laser diodes of lower edges) is up to 30 degree, is 0 degree according to centric angle, and upper and lower positive and negative 15
The visual field of degree arranges.According to laser diode number how much, per adjacent two laser diodes angular resolution be 1 ° -10 °.
In one embodiment of the invention, the laser drive circuit 21 include single high-speed driving circuit 211 and with it is described
The one-to-one laser diode control circuit 212 of laser diode；The high-speed driving circuit 211 is used to be based on the laser
Emit signal and generates laser diode driving signal；The laser diode control circuit 212 is for controlling corresponding laser two
Pole pipe is cut-off, to realize the timesharing conducting of multiple laser diodes.It is real under the cooperation of multiple laser diode control circuits
The timesharing conducting of existing multiple laser diodes, and per a phase bit time difference is generated all the way, so that multiple laser diodes connect in turn
Supervention is penetrated laser signal and is not interfere with each other；Specifically, the PWM port of the narrow pulse signal and the laser emission element 2 connects
It connects, frequency 60khz-320khz.Specific frequency is determined according to the number of laser diode, need to guarantee every laser after frequency dividing
The driving frequency of diode is 20khz.The 60-320khz narrow pulse signal carries out signal amplification by high-speed driving circuit,
Signal after output is connect with the anode of array laser diode 22.Meanwhile the digital processing element 1 generates the road 3-16 clock
Signal, and per being all the way 20khz, high level time is greater than burst pulse time, output end and the laser emission element 2
G1G2G3....Gn connection.The clock signal is different per the output time all the way, and Ta is divided between adjacent time difference rising edge, when controlling
Sequence is as shown in Figure 3.Wherein Tz1 is narrow pulse width, and ts is the time interval of rising edge clock signal and PWM rising edge, and ta is
Adjacent clock signal rising time interval, Tz2 are clock signal high level time.Clock signal on G1-Gn passes through 3-16
The conducting of array laser diode 22 described in the laser diode control circuit wheel flow control of road, so that every laser diode is opened
It closes frequency and has reached 20khz.Driving frequency on final every laser diode is as shown in Figure 4.
The laser pick-off unit 4 is connected with the optical system unit 1 and the digital processing element 2, for being based on
The laser received generates laser pick-off signal, and is sent to the digital processing element 1.Specifically, the laser pick-off list
Member 4 includes array APD diode 41 and laser pick-off circuit 42；The array APD diode includes at least three parallel arrangeds
APD diode, and the APD diode and the laser diode put in order one-to-one correspondence；Each APD diode is used for
The laser that corresponding laser diode issues is received, the laser pick-off circuit 42 is for generating laser pick-off signal and exporting extremely
The digital processing element 1.Preferably, the array APD diode 41 includes 3-16 patch type APD diode, and up and down
It arranges at an angle, arrangement angle is identical as the laser diode in the laser emission element 2, receives maximum field of view
Angle is 30 °, and adjacent APD diode angular resolution is up to 2 °, and guarantees that arrangement angle error is accurate to ± 0.05 °.
Multiple APD diode parallel arrangeds, the output end of multiple APD diodes access the laser pick-off circuit 42 after intersecting parallel.
Laser from the laser emission element 2 part signal after testee reflects is received by array APD diode, and
Each APD diode can guarantee reception be corresponding to it laser diode transmitting laser signal.More APD diodes in parallel one
It rises, while can also increase the sensitivity for receiving signal, thus with good stability.
In one embodiment of the invention, the laser pick-off circuit 42 is fixed including I/V circuit, gain amplifying circuit, constant proportion
When circuit and digital shaping circuit；The I/V circuit is used to being converted to the current signal that the APD diode exports into voltage letter
Number；The gain amplifying circuit is for amplifying the voltage signal；The constant fraction discriminator circuit and the digital shaping circuit point
Constant fraction discriminator and digital shaping Yong Yu not be carried out to amplified voltage signal.Specifically, from the faint of array APD diode
Current signal is converted into identifiable voltage signal by I/V, then is amplified to and identifies available burning voltage signal enough, finally
By constant fraction discriminator and shaping so that signal more stablize it is useful, to be input to the digital processing element 1.
The optical system unit 3 is connected with the laser emission element 1 and the laser pick-off unit 4, and being used for will be every
Road laser focuses to testee, and the laser pick-off unit 4 will be focused to through the reflected laser of the testee.
As shown in figure 5, the optical system unit 3 includes transmitting mirror surface 31 and reception mirror in one embodiment of the invention
Face 32；The transmitting mirror surface 31 is used to the laser that the laser diode is launched focusing to the testee；It is described to connect
Mirror surface 32 is received to be used to the reflected laser of the testee focusing to bis- pole APD corresponding with the laser diode
Pipe.Specifically, the transmitting mirror surface 31 is made of high-accuracy optical alignment eyeglass, can focus the scattering laser on the road 3-16
The dot that is identical, and arranging at an angle up and down at 3-16 size, light spot energy can be incident upon 100-200 meters of ranges
It is interior.When multiple lasers emit laser, the part signal after diffusing reflection is returned on the reception mirror surface 32.It is described to connect
Mirror surface 32 is received by each road laser projection on APD diode corresponding with laser diode, to realize that one-to-one laser connects
It receives.
Specifically, as shown in fig. 6, laser diode LD 1 emits 20khz pulse signal and generates laser flying starting measurement
Signal START1 is focused into a laser point by the transmitting mirror surface 31, and projects testee surface at an angle.
By the diffusing reflection of testee, portion of energy focuses on the reception mirror surface 32.Due to bis- pole of laser diode LD 1 and APD
Pipe APD1 setting angle is identical, and position is in parallel, and laser can guarantee APD diode after testee reflection
APD1 can receive enough return energy.Together due to more APD diode anode parallel connections, according to object diffusing reflection and optics
Characteristic, APD diode APD2, APD3...APDn can also receive few portion of energy.Setting energy indicated with dB, then dBapd1 >
dBapd2>dBapd3...>dBapdn.Therefore, the electric current of array APD diode final output is I=Iapd1+Iapd2+
Iapd3.....+Iapdn improves sensitivity to increase output electric current.Above formula can be expressed as In=IAPDn+
IAPDe, when wherein In is that laser diode LD n emits, the electric current of array APD diode output, IADPn is laser diode
The electric current that APDn is received after LDn transmitting returns, IAPDe are the current signal of other adjacent APD diode outputs, ideal situation
The lower electric current is 0.
Electric current In input is amplified by the laser pick-off circuit 4, finally exports time difference flight signal STOP, so as to
Jet lag t1, for the digital processing element 1 calculate distance D1；When similarly laser diode LD 2 emits, guarantee APD
Diode APD2 can receive laser signal, to obtain jet lag t2 and calculate distance D2.
The digital processing element 1 is used for corresponding based on the laser firing signals and the laser pick-off signal acquisition
Distance of the laser to the testee.
In one embodiment of the invention, the digital processing element 1 includes FPGA module 11 and TOF jet lag measurement electricity
Road 12.The TOF jet lag measuring circuit 12 be used to calculate the laser firing signals and the laser pick-off signal when
Difference；The FPGA module 11 for generating laser firing signals and be sent to the laser emission element, and according to it is described when
Difference calculates the distance between corresponding laser and the testee.
Specifically, the TOF jet lag measuring circuit includes multiple or multichannel high speed time difference measurement IC and outer
Circuit is enclosed, for originating measuring signal START and time difference flight signal STOP calculating jet lag according to laser flying.Wherein,
The output end of the laser pick-off circuit 4 is directly connect with the TDC jet lag measuring circuit 12, the laser pick-off circuit
4 middle output 20k-320k times measurement pulses per second, the TDC row time difference measurement circuit 12 measure 3-16 return laser beam every time
Signal.
Specifically, the FPGA module 11 calculates between corresponding laser and the testee according to the jet lag
Distance.The FPGA module 11 contains superfast fpga core controller and other peripheral circuits, is mainly responsible for generation
The high-precision narrow pulse signal of 60khz-320khz, and it is output to the laser emission element 2, so that described by Laser emission list
The laser diode control circuit of member 2 controls cut-offfing for single laser diode；It is read simultaneously with fast state and comes from the TDC
The time difference of jet lag measuring circuit is as a result, and carry out data processing according to algorithm.Preferably, the FPGA module 11 uses
The unique SmartFusion Series Controller of ACTEL, possesses the kernel of efficient Cortex-M3, the working frequency of internal M3
Up to 100Mhz, inside have the RAM of 2M, including AD/DA interface abundant.M3 and FPGA control logic are closely coupled, so that
The throughput of data is higher, more enhances the confidentiality of system software algorithm.
In one embodiment of the invention, the multi-beam laser range sensor of the invention based on TOF further includes that system is mended
Unit 5 is repaid, is connected with the laser pick-off unit 4 and the digital processing element 1, including temperature-compensation circuit 51 and APD high
Press compensation circuit 52.The temperature-compensation circuit 51 is used to acquire the temperature information of the array APD diode 41, and is sent to
The digital processing element 1；The APD high pressure compensation circuit 52 is for generating high direct voltage to drive bis- pole array APD
Pipe 41, and the information of voltage acquired on the array APD diode 41 is sent to the digital processing element 1；At the number
Reason unit 1 is also used to carry out temperature-compensating and high pressure compensation, and root to the array APD diode 22 based on the temperature information
The high direct voltage is corrected according to the information of voltage.
Specifically, the temperature-compensation circuit 51 is connected with the digital processing element 1, for detecting the array APD
The temperature change of diode 41 and system, and by temperature information real-time transmission detected to the digital processing element 1.Its
In, the temperature sensor in the temperature-compensation circuit 51 abuts the array APD diode 41, precisely detects the array
Temperature change on APD diode 41, at the same also can laser pick-off unit 4 described in real-time detection bulk temperature variation.It is described
The output of temperature-compensation circuit 51 is connect with the ADC unit inside the FPGA module 11, and the temperature information is sent to institute
FPGA module 11 is stated, so that the FPGA module 11 carries out temperature algorithm compensation using software algorithm.
The APD high pressure compensation circuit 52 is connected with the digital processing element 1, for generating the high straightening of 50V-200V
Galvanic electricity source, to drive the APD array diode 41；The high pressure information of 41 upper end of array APD diode is acquired simultaneously, and
The collected high pressure information of institute is fed back into the FPGA module 11, the FPGA module 11 is according to the temperature sensing circuit institute
The temperature information of transmission carries out high pressure compensation to the array APD diode 41, and according to the APD high pressure compensation circuit 52
The high pressure information of feedback controls the output size of the high voltage direct current, to make the array APD diode 41 in various environment
At a temperature of be able to maintain optimum Working, can have optimal gain at different ambient temperatures, to preferably receive
Echo, to guarantee signal stabilization.Specifically, the APD high pressure compensation circuit 52 can export high direct voltage 50V-200V, 10mA
Driving capability, down to 50mV power supply ripple, and it is adjustable to export high pressure, adjusts resolution ratio up to 0.3V, output end is direct
It is connect with the backward end of the array APD diode 41,3-16 APD diode operation can be driven simultaneously.
In the present invention, the APD high pressure compensation circuit 52 and the temperature-compensation circuit 51 are all linked with one another, work as institute
The variation that the temperature sensor in temperature-compensation circuit 51 checks the temperature of the laser pick-off unit 4 is stated, and temperature is believed
Breath passes to the FPGA module 11, and the FPGA module 11 controls the APD high pressure compensation circuit 52 to the array APD bis-
Pole pipe 41 carries out high pressure compensation.
In conclusion the multi-beam laser range sensor of the invention based on TOF uses optical texture and circuit design,
A laser diode can be only driven in synchronization laser emission element, while APD and transmitting unit based on receiving unit
LD between receiving angle, guarantee that synchronization receiving unit APD energy is the largest, and more APD output-parallels exist
Together, the sensitivity of receiving end is increased；And judge whether the reception signal is effective, and ensure that signal has based on algorithm
The property used；Have the characteristics that three-dimensional space measurement, can be realized multiple laser transmitting multiple laser and receive, each Laser emission two
Pole pipe corresponds to a laser pick-off diode, and laser transmitting-receiving device corresponds and arrangement at an angle up and down, in level
3-D graphic is capable of forming in the case where scanning；Have the characteristics that the detection of the wide visual field, it is maximum can 30 degree within sweep of the eye into
The detection of row target range, centric angle 0,15 degree of the maximum angle range that is arranged above and below；Have the characteristics that ultrahigh speed ranging, it is more
Shu Jiguang successively can drive each laser diode, and two pole of each laser under the frequency of 320kz with the frequency of 20khz
Pipe is not interfere with each other, and can reach 3200000 ranging numbers each second；Compared to traditional multiline reception circuit, circuit is simple,
It is at low cost, high reliablity, it is small in size the features such as；Control core unit is done using high speed FPGA module, outside possesses multiple TOF and surveys
Channel is measured, its measurement is controlled by high speed FPGA module respectively and data export, is suitable for 3-16 time difference measurement channel, it can be simultaneously
Multi-path laser jet lag is measured, has the characteristics that multi-channel high-speed measurement；Suitable for high speed multi-line laser radar industry.Cause
This, the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of multi-beam laser range sensor based on TOF, it is characterised in that: including digital processing element, Laser emission
Unit, optical system unit and laser pick-off unit；
The laser emission element is connected with the digital processing element, swashs for what is sent according to the digital processing element
Light emission signal emits at least three Lu Jiguang；
The optical system unit is connected with the laser emission element and the laser pick-off unit, for gathering every road laser
Coke will focus to the laser pick-off unit through the reflected laser of the testee to testee；
The laser pick-off unit is connected with the optical system unit and the digital processing element, for based on receiving
Laser generates laser pick-off signal, and is sent to the digital processing element；
The digital processing element is used to be based on the laser firing signals and the corresponding laser of the laser pick-off signal acquisition
To the distance of the testee.
2. the multi-beam laser range sensor according to claim 1 based on TOF, it is characterised in that: at the number
Managing unit includes FPGA module and TOF jet lag measuring circuit；The TOF jet lag measuring circuit is described sharp for calculating
The time difference of light emission signal and the laser pick-off signal；The FPGA module is for generating laser firing signals and being sent to institute
Laser emission element is stated, and the distance between corresponding laser and the testee are calculated according to the time difference.
3. the multi-beam laser range sensor according to claim 1 based on TOF, it is characterised in that:
The laser emission element includes laser drive circuit and array laser diode；The array laser diode includes extremely
The laser diode of few three parallel arrangeds；The laser drive circuit is used to generate based on the laser firing signals described sharp
The driving signal of optical diode, to drive each laser diode time division emission laser；
The laser pick-off unit includes array APD diode and laser pick-off circuit；The array APD diode includes at least
The APD diode of three parallel arrangeds, and the APD diode and the laser diode put in order one-to-one correspondence；Each
APD diode is used to receive the laser that corresponding laser diode issues, and the laser pick-off circuit is for generating laser pick-off
Signal is simultaneously exported to the digital processing element.
4. the multi-beam laser range sensor according to claim 3 based on TOF, it is characterised in that: the laser drives
Dynamic circuit include single high-speed driving circuit and with the one-to-one laser diode control circuit of the laser diode；It is described
High-speed driving circuit is used to generate laser diode driving signal based on the laser firing signals；The laser diode control
Circuit is for controlling cut-offfing for corresponding laser diode, to realize the timesharing conducting of multiple laser diodes.
5. the multi-beam laser range sensor according to claim 3 based on TOF, it is characterised in that: the laser connects
Receiving circuit includes I/V circuit, gain amplifying circuit, constant fraction discriminator circuit and digital shaping circuit；The I/V circuit is used for institute
The current signal for stating the output of APD diode is converted to voltage signal；The gain amplifying circuit is for amplifying the voltage signal；
The constant fraction discriminator circuit and the digital shaping circuit are respectively used to carry out constant fraction discriminator sum number to amplified voltage signal
Word shaping.
6. the multi-beam laser range sensor according to claim 3 based on TOF, it is characterised in that: the array swashs
Laser diode in optical diode is in predetermined angle arrangement up and down；It is in above and below APD diode in the array APD diode
The predetermined angle arrangement.
7. the multi-beam laser range sensor according to claim 3 based on TOF, it is characterised in that: the laser two
Pole pipe and the number of the APD diode are 3-16.
8. the multi-beam laser range sensor according to claim 3 based on TOF, it is characterised in that: the optical system
Unit of uniting includes transmitting mirror surface and reception mirror surface；The laser that the transmitting mirror surface is used to launch the laser diode focuses
To the testee；The reception mirror surface is for focusing to and the laser two the reflected laser of the testee
The corresponding APD diode of pole pipe.
9. the multi-beam laser range sensor according to claim 3 based on TOF, it is characterised in that: further include system
Compensating unit is connected with the laser pick-off unit and the digital processing element, including temperature-compensation circuit and APD high pressure are mended
Repay circuit；The temperature-compensation circuit is used to acquire the temperature information of the array APD diode, and exports to the number
Manage unit；The APD high pressure compensation circuit drives the array APD diode for generating high direct voltage, and described in acquisition
Information of voltage on array APD diode is exported to the digital processing element；The digital processing element is also used to based on institute
It states temperature information and temperature-compensating and high pressure compensation is carried out to the array APD diode, and institute is corrected according to the information of voltage
State high direct voltage.
10. the multi-beam laser range sensor according to claim 3 based on TOF, it is characterised in that: the laser hair
Penetrating signal is narrow pulse signal, and the frequency averaging of the narrow pulse signal is distributed to each laser diode, as the laser
The driving frequency of diode.
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