CN111538025A - Laser ranging method and system - Google Patents
Laser ranging method and system Download PDFInfo
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- CN111538025A CN111538025A CN202010372388.3A CN202010372388A CN111538025A CN 111538025 A CN111538025 A CN 111538025A CN 202010372388 A CN202010372388 A CN 202010372388A CN 111538025 A CN111538025 A CN 111538025A
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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Abstract
The invention relates to the technical field of laser detection and ranging, in particular to a laser ranging method and a laser ranging system, wherein the method comprises the following steps: the laser emission subsystem emits short-wave infrared pulse laser to a target object; a laser receiving subsystem receives reflected laser of the target object to the short-wave infrared pulse laser; the laser receiving subsystem converts the reflected laser into a digital pulse signal and sends the digital pulse signal to a master control system; the master control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal and determines the time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser; and the master control system determines the distance information of the target object according to the time interval. The laser ranging method can improve the accuracy of distance measurement and improve the anti-interference capability of a laser ranging system.
Description
Technical Field
The invention relates to the technical field of laser detection and ranging, in particular to a laser ranging method and a laser ranging system.
Background
Laser detection and Ranging (LiDAR) systems are commonly referred to as LiDAR systems. The basic working principle of the laser radar is that a laser transmitter transmits laser to a target object, a receiver receives reflected light of the target object, and the laser radar calculates the distance from the laser radar to the target object according to the laser ranging principle. Wherein, a laser transmitter and a receiver constitute a laser ranging channel. When the laser scans the target object continuously, the data of all target points on the target object can be obtained, and the three-dimensional image of the target object can be obtained after the data is imaged.
The common three-dimensional laser radar is a mechanical rotary laser radar, and comprises a plurality of pairs of laser transmitters and receivers, wherein each pair of laser transmitters and receivers face different spatial angle positions to form sector coverage, and then a single-shaft rotating mechanism is used for driving the plurality of pairs of laser transmitters and receivers to integrally rotate so as to realize three-dimensional laser scanning.
Because the number of the laser transmitters and the receivers of the mechanical rotary type laser radar is large and the size of the mechanical rotary type laser radar is large, a large physical distance exists between adjacent laser ranging channels, and therefore the size of the whole laser radar is large and the angular resolution is low. Meanwhile, the laser transmitter and the receiver of each laser ranging channel need to be accurately calibrated to ensure accurate focusing, accurate parallelism of transmitting and receiving optical axes, and small and accurate angle intervals between adjacent laser ranging channels, so that the assembling and adjusting of the laser radar are high in workload, low in production efficiency, and difficult to ensure the measuring precision. In addition, the existing laser radar is easily influenced by ambient light, has poor anti-interference capability and cannot be applied to dynamic ranging.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a laser ranging method and system, which can improve the accuracy of distance measurement and the anti-interference capability of the system.
In order to solve the above problem, the present invention provides a laser ranging method, including:
the laser emission subsystem emits short-wave infrared pulse laser to a target object;
a laser receiving subsystem receives reflected laser of the target object to the short-wave infrared pulse laser;
the laser receiving subsystem converts the reflected laser into a digital pulse signal and sends the digital pulse signal to a master control system;
the master control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal and determines the time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser;
and the master control system determines the distance information of the target object according to the time interval.
Further, the laser emission subsystem comprises a driving assembly, a solid laser and a refractive optical lens, wherein the driving assembly is electrically connected with the solid laser;
the laser emission subsystem emits short-wave infrared pulse laser to a target object and comprises:
the driving component sends a driving pulse signal to the solid laser;
the solid laser responds to the driving pulse signal to emit short-wave infrared pulse laser to the target object;
and the refraction optical lens expands the short wave infrared pulse laser to expand the point light source into the surface light source.
Further, before the master control system determines the distance information of the target object according to the time interval, the method further includes:
the main control system performs autocorrelation coupling on the driving pulse signal and the digital pulse signal to determine an autocorrelation coefficient;
and when the autocorrelation coefficient is larger than or equal to a preset threshold value, judging that the digital pulse signal is a normal signal, and executing the step that the main control system determines the distance information of the target object according to the time interval.
Specifically, the main control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal, and the determining the time interval from the emission of the shortwave infrared pulse laser to the reception of the reflected laser comprises:
the master control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal by using a time-to-digital converter, and determines the arrival time of the digital pulse signal;
and the master control system determines the time interval from the emission of the short wave infrared pulse laser to the receiving of the reflected laser according to the time of the digital pulse signal.
Further, the laser receiving subsystem comprises a laser detector, and the laser detector comprises a plurality of detector micro-pixels;
the laser receiving subsystem receives the reflected laser of the target object to the short-wave infrared pulse laser, and comprises:
and the detector micro-pixel receives the reflected laser of the target object to the short-wave infrared pulse laser and converts the reflected laser into a current signal.
Furthermore, the laser receiving subsystem further comprises a plurality of readout circuits cascaded with the detector micro-pixels of the laser detector, the readout circuits correspond to the detector micro-pixels one by one, and each readout circuit comprises a transimpedance amplifier and a comparator;
the laser receiving subsystem converts the reflected laser into a digital pulse signal, and the sending of the digital pulse signal to the master control system comprises:
the trans-impedance amplifier converts the current signal into a voltage signal;
and the comparator converts the voltage signal into a digital pulse signal and sends the digital pulse signal to the master control system.
Further, the method further comprises:
and the master control system generates three-dimensional point cloud data of the target object according to the distance information of the target object.
Further, the wavelength range of the short-wave infrared pulse laser is 1000nm-2000 nm.
The invention protects a laser ranging system on the other hand, which comprises a laser transmitting subsystem, a laser receiving subsystem and a main control system;
the laser emission subsystem is used for emitting short-wave infrared pulse laser to a target object;
the laser receiving subsystem is used for receiving the reflected laser of the target object to the short-wave infrared pulse laser; converting the reflected laser into a digital pulse signal, and sending the digital pulse signal to a master control system;
the master control system is used for measuring the arrival time of the rising edge and the falling edge of the digital pulse signal and determining the time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser; and determining the distance information of the target object according to the time interval.
Further, the master control system is further configured to generate three-dimensional point cloud data of the target object according to the distance information of the target object.
Due to the technical scheme, the invention has the following beneficial effects:
the laser ranging method comprises the steps of emitting short-wave infrared pulse laser to a target object in a flash mode, obtaining reflected laser of the target object to the short-wave infrared pulse laser, processing the reflected laser to obtain a digital pulse signal, measuring the time of arrival of a rising edge and a falling edge of the digital pulse signal to obtain a time interval from the emission of the short-wave infrared pulse laser to the receiving of the reflected laser, and further determining the distance of the target object. The time of arrival of the rising edge and the time of arrival of the falling edge of the digital pulse signal are measured respectively, so that the measurement precision can be improved, and the distance measurement precision can be further improved; due to the adoption of the short-wave infrared pulse laser, the interference of ambient light is very small, and after the digital pulse signal is obtained, the digital pulse signal is subjected to interference signal detection, so that the anti-interference capability of the system is further improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a laser ranging method provided by one embodiment of the present invention;
FIG. 2 is a flow chart of a laser ranging method according to another embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a laser emission subsystem provided by one embodiment of the present invention;
FIG. 4 is a schematic diagram of a measurement method of a time-to-digital converter according to an embodiment of the present invention;
FIG. 5 is a flow chart of a laser ranging method according to another embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a laser ranging system according to an embodiment of the present invention;
FIG. 7 is a hardware block diagram of a laser ranging system provided by one embodiment of the present invention;
FIG. 8 is a software block diagram of a laser ranging system provided by one embodiment of the present invention;
FIG. 9 is a functional block diagram of a time-to-digital converter provided by one embodiment of the present invention;
fig. 10 is a schematic block diagram of a pulse conversion of a time-to-digital converter according to an embodiment of the present invention.
In the figure: 610-laser emission subsystem, 620-laser receiving subsystem, 630-main control system, 611-driving assembly, 612-solid laser, 613-refractive optical lens, 621-laser detector, 622-optical filter, 623-optical receiving lens.
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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to the description, fig. 1 illustrates a flow of a laser ranging method according to an embodiment of the present invention, which may be applied to a laser ranging system. As shown in fig. 1, the laser ranging method may include the steps of:
s110: the laser emission subsystem emits short-wave infrared pulse laser to a target object.
In the embodiment of the invention, the laser emission subsystem can emit short-wave infrared pulse laser to the target object in a Flash mode. The wavelength range of the short-wave infrared pulse laser can be 1000nm-2000nm, and preferably, the short-wave infrared pulse laser can be 1400nm waveband, 1500nm waveband or 1650nm waveband. Specifically, the laser detector can adopt a silicon-based germanium (Ge-on-Si) surface material with a Short Wave Infrared (SWIR) wave band, the germanium material can greatly improve photon detection efficiency at a 1400nm wave band, and meanwhile, a silicon-based process is used, so that the manufacturing cost can be reduced. In addition, the noise ratio of 1400nm in the ambient light is small, the tolerance of human eyes to 1400nm is high, the ambient light interference is very small by adopting SWIR, the ambient light resistance is high, and all-weather detection can be realized.
In one possible embodiment, as shown in fig. 2, the laser emission subsystem includes a driving assembly, a solid state laser, and a refractive optical lens, the driving assembly being electrically connected to the solid state laser; the laser emission subsystem emits short-wave infrared pulse laser to a target object and comprises:
s111: and the driving component sends a driving pulse signal to the solid laser.
S112: and the solid laser responds to the driving pulse signal to emit short-wave infrared pulse laser to the target object.
S113: and the refraction optical lens expands the short wave infrared pulse laser to expand the point light source into the surface light source.
The solid laser can transmit a driving pulse signal to the solid laser under the control of the master control system, and after receiving the driving pulse signal of the driving assembly, the solid laser transmits a SWIR optical pulse with nanosecond megawatt peak power, and then transmits the SWIR optical pulse to a target object after expanding the beam through the refraction optical lens.
In an example, as shown in fig. 3, which exemplarily shows a schematic circuit diagram of a laser emission subsystem according to an embodiment of the present invention, the main control system controls the driving component to emit an electric pulse, the electric pulse drives a gate-level driving chip, and then drives a Metal Oxide Semiconductor (MOS) transistor in a switching state, and the MOS transistor switches the laser transistor, so that the electric pulse is converted into the optical pulse. The output parameters of the light pulses may include the following parameters: the pulse width is 50-100 ns, the wavelength is 1400nm, the peak power is 1000W, the pulse duty ratio is less than 1%, the repetition frequency is 1-10 KHz. The refractive optical lens can be packaged with the light source chip, so that the size of the refractive optical lens can be reduced, and the cost of the optical element can be reduced. The parameters of the refractive optical lens mainly include field of view and uniformity.
S120: and the laser receiving subsystem receives the reflected laser of the short-wave infrared pulse laser from the target object.
In the embodiment of the invention, after the SWIR pulse laser emitted by the surface light source reaches the target object, the SWIR pulse laser is reflected according to the reflection law of light. A photon-type laser detector can be used, which has a higher bandwidth and can realize a higher frame rate.
In one possible embodiment, the laser receiving subsystem comprises a laser detector comprising a plurality of detector micro-pixels; the laser receiving subsystem receives the reflected laser of the target object to the short-wave infrared pulse laser, and comprises:
and the detector micro-pixel receives the reflected laser of the target object to the short-wave infrared pulse laser and converts the reflected laser into a current signal.
In one possible embodiment, the laser receiving subsystem may further include an optical receiving lens and an optical filter, the optical receiving lens includes a plurality of microlenses, the microlenses correspond to the detector micro-pixels one-to-one, and the optical filter is closely attached to the laser detector and located on a focal plane of the lens; when the light path reflected by the target object passes through the optical receiving lens, the light path can be received by the micro lenses and focused on the optical filter plate on the surface of the laser detector, and the light path is received by the detector micro pixels after passing through the filter plate, wherein each detector micro pixel works independently in parallel. Specifically, the optical filter can be a narrow-band filter, the central bandwidth is consistent with the actual SWIR light wavelength, the optical filter and the laser detector chip are packaged together, the size of the optical filter can be reduced, the cost is reduced, and meanwhile the installation reliability of the optical receiving lens can be improved.
S130: the laser receiving subsystem converts the reflected laser into a digital pulse signal and sends the digital pulse signal to a master control system.
In one possible embodiment, the laser receiving subsystem further comprises a plurality of readout circuits cascaded with the detector micro-pixels of the laser detector, the readout circuits corresponding to the detector micro-pixels one-to-one, the readout circuits comprising transimpedance amplifiers and comparators; the laser receiving subsystem converts the reflected laser into a digital pulse signal, and the sending of the digital pulse signal to the master control system comprises:
the trans-impedance amplifier converts the current signal into a voltage signal;
and the comparator converts the voltage signal into a digital pulse signal and sends the digital pulse signal to the master control system.
In the embodiment of the invention, the digital pulse signal of the reading circuit can be acquired by using a universal High performance input/Output (HPIO) interface of the ZYNQ chip, so that High-speed data transmission can be realized.
S140: and the master control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal and determines the time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser.
In the embodiment of the present invention, the main control system may include a timing control module, configured to control a working timing of the laser emission subsystem and the laser reception subsystem, including controlling a time when the driving assembly sends a driving pulse signal to the solid laser. The time interval during which the drive assembly sends the drive pulse signal and the digital pulse signal to the solid-state laser may be taken as the time interval from the emission of the shortwave infrared pulse laser to the reception of the reflected laser.
In one possible embodiment, the master control system measures the time of arrival of the rising edge and the falling edge of the digital pulse signal, and the determining the time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser may include:
the master control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal by using a time-to-digital converter, and determines the arrival time of the digital pulse signal;
and the master control system determines the time interval from the emission of the short wave infrared pulse laser to the receiving of the reflected laser according to the time of the digital pulse signal.
In an embodiment of the present invention, the main control system may include a plurality of high-precision Time-to-digital converters (TDCs), and the TDCs are connected to the readout circuit in a one-to-one correspondence manner and are configured to measure arrival times of rising edges and falling edges of digital pulse signals output by the readout circuit. The starting time of the TDC operation can also be controlled by the timing control module. After the digital pulse signal arrives, a delay chain with a fixed length is formed inside, the signal forms a pulse with a fixed width inside the delay chain, the pulse has a rising edge and a falling edge, and the TDC accurately measures the rising edge and the falling edge of the pulse of the electric signal respectively, namely measures the rising edge of the optical pulse twice, so that the measurement accuracy can be improved.
In one example, as shown in fig. 4, the TDC is mainly configured as follows: the output of the reading circuit is a pulse signal, the pulse signal passes through a column of time boxes, the total number of the pulse signal is 256, the main clock of a Field Programmable Gate Array (FPGA) is 200MHz, one clock period of the FPGA is 5ns, the transmission path of the 256 boxes corresponds to one constant period of the FPGA, and each box is about 5ns/256 to 20 ps. Then, the histogram of the light pulse reaching the time box is counted, if the pulse image in the coordinate is used, the highest peak can represent the time count in the current measurement, the time measurement precision is about 20ps, and the corresponding distance precision is about 3 mm.
S150: and the master control system determines the distance information of the target object according to the time interval.
In the embodiment of the present invention, the distance information of the target object may be calculated by using a formula d-12 ct, where c is the speed of light.
In a possible embodiment, as shown in fig. 5, before the determining, by the master control system, the distance information of the target object according to the time interval, the method may further include:
s1451: and the master control system performs autocorrelation coupling on the driving pulse signal and the digital pulse signal and determines an autocorrelation coefficient.
S1452: and when the autocorrelation coefficient is greater than or equal to a preset threshold value, judging the digital pulse signal to be a normal signal.
Correspondingly, when the digital pulse signal is judged to be a normal signal, the master control system determines the distance information of the target object according to the time interval.
In this embodiment of the present invention, the driving pulse signal may be a modulation pulse signal coded and transmitted by using a pseudorandom sequence (for example, an m-sequence), and then the corresponding received digital pulse signal should also be a signal of the pseudorandom sequence (for example, the m-sequence), and the driving pulse signal and the digital pulse signal are subjected to autocorrelation coupling to determine an autocorrelation coefficient, so as to determine whether the received digital pulse signal is an interference signal. When the digital pulse signal is a normal signal, executing a step that a main control system determines the distance of the target object according to the time interval; and when the digital pulse signal is an interference signal, not operating. By detecting the interference signal, the anti-interference capability of the system can be further improved, and the accuracy of the system is guaranteed.
In one possible embodiment, the method may further include:
and the master control system generates three-dimensional point cloud data of the target object according to the distance information of the target object.
In the embodiment of the invention, the master control system may further include a signal processing module and a data transmission module, the plurality of detector micro-pixels may receive reflected laser light of a plurality of parts of the target object, and further obtain a plurality of digital pulse signals to send to the master control system, the master control system may determine distance information of a plurality of points of the target object according to the plurality of digital pulse signals, the signal processing module may further generate three-dimensional point cloud data of the target object according to the plurality of distance information, and the data transmission module is configured to transmit the point cloud data to a vehicle intelligent control system or to a test upper computer. The vehicle intelligent control system or the test upper computer can further process or display the three-dimensional point cloud data.
In summary, the laser ranging method of the present invention adopts a flash mode to emit a short-wave infrared pulse laser to a target object, obtains a reflected laser of the target object to the short-wave infrared pulse laser, processes the reflected laser to obtain a digital pulse signal, measures the arrival time of a rising edge and a falling edge of the digital pulse signal to obtain a time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser, and further determines the distance of the target object. The time of arrival of the rising edge and the time of arrival of the falling edge of the digital pulse signal are measured respectively, so that the measurement precision can be improved, and the distance measurement precision can be further improved; due to the adoption of the short-wave infrared pulse laser, the interference of ambient light is very small, and after the digital pulse signal is obtained, the digital pulse signal is subjected to interference signal detection, so that the anti-interference capability of the system is further improved.
Referring to the description, fig. 6 to 10 show a structure of a laser ranging system according to an embodiment of the present invention. The laser ranging system may include a laser emitting subsystem 610, a laser receiving subsystem 620, and a master control system 630;
the laser emission subsystem 610 is used for emitting short-wave infrared pulse laser to a target object;
the laser receiving subsystem 620 is configured to receive reflected laser light of the target object from the short-wave infrared pulse laser; converting the reflected laser into a digital pulse signal, and sending the digital pulse signal to a master control system 630;
the master control system 630 is configured to measure the time of arrival of the rising edge and the falling edge of the digital pulse signal, and determine a time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser; determining distance information of the target object according to the time interval; the master control system is also used for generating three-dimensional point cloud data of the target object according to the distance information of the target object.
In one possible embodiment, the laser ranging system may further comprise a power supply assembly, which may include a laser emitting subsystem power supply, a laser receiving subsystem power supply, a master control system power supply;
the laser emission subsystem 610 may include a drive assembly 611, a solid state laser 612, and a refractive optical lens 613;
the laser receiving subsystem 620 can include a laser detector 621, an optical filter 622, an optical receiving lens 623 and a plurality of readout circuits, wherein the laser detector 621 includes a plurality of detector micro-pixels, the readout circuits are cascaded with the detector micro-pixels, the readout circuits correspond to the detector micro-pixels one by one, the readout circuits include a transimpedance amplifier and a comparator, the optical receiving lens 623 includes a plurality of micro-lenses, the micro-lenses correspond to the detector micro-pixels one by one, the optical filter 622 is a narrow-band filter, and the central bandwidth is the same as the laser wavelength of the shortwave infrared pulse;
the master control system comprises a time sequence control module, a plurality of time-to-digital converters, a signal processing module and a data transmission module, wherein the time-to-digital converters correspond to the reading circuits one to one.
In summary, by using the solid laser and the refractive optical lens as the laser emitting end, and using the micro-lens array, the detector micro-pixel and the readout circuit based on Ge-on-Si, and the high-precision time-to-digital converter, the laser ranging system of the present invention has no moving parts, realizes the full solid state of the laser ranging system, has no mechanical rotation and micromechanical parts, is beneficial to reducing the mass production cost, adopts the process based on Ge-on-Si, reduces the overall cost, and is beneficial to realizing the vehicle scale authentication.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A laser ranging method, comprising:
the laser emission subsystem emits short-wave infrared pulse laser to a target object;
a laser receiving subsystem receives reflected laser of the target object to the short-wave infrared pulse laser;
the laser receiving subsystem converts the reflected laser into a digital pulse signal and sends the digital pulse signal to a master control system;
the master control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal and determines the time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser;
and the master control system determines the distance information of the target object according to the time interval.
2. The method of claim 1, wherein the laser emission subsystem comprises a drive assembly, a solid state laser, and a refractive optical lens, the drive assembly being electrically connected to the solid state laser;
the laser emission subsystem emits short-wave infrared pulse laser to a target object and comprises:
the driving component sends a driving pulse signal to the solid laser;
the solid laser responds to the driving pulse signal to emit short-wave infrared pulse laser to the target object;
and the refraction optical lens expands the short wave infrared pulse laser to expand the point light source into the surface light source.
3. The method of claim 2, wherein before the master control system determines the distance information of the target object according to the time interval, the method further comprises:
the main control system performs autocorrelation coupling on the driving pulse signal and the digital pulse signal to determine an autocorrelation coefficient;
and when the autocorrelation coefficient is larger than or equal to a preset threshold value, judging that the digital pulse signal is a normal signal, and executing the step that the main control system determines the distance information of the target object according to the time interval.
4. The method of claim 1, wherein the master control system measures times of arrival of rising and falling edges of the digital pulse signal, and wherein determining a time interval from emission of the shortwave infrared pulsed laser to receipt of the reflected laser comprises:
the master control system measures the arrival time of the rising edge and the falling edge of the digital pulse signal by using a time-to-digital converter, and determines the arrival time of the digital pulse signal;
and the master control system determines the time interval from the emission of the short wave infrared pulse laser to the receiving of the reflected laser according to the time of the digital pulse signal.
5. The method of claim 1, wherein the laser receiving subsystem comprises a laser detector comprising a plurality of detector micropixels;
the laser receiving subsystem receives the reflected laser of the target object to the short-wave infrared pulse laser, and comprises:
and the detector micro-pixel receives the reflected laser of the target object to the short-wave infrared pulse laser and converts the reflected laser into a current signal.
6. The method of claim 5, wherein the laser receiving subsystem further comprises a plurality of readout circuits cascaded with detector micro-pixels of the laser detector, the readout circuits in one-to-one correspondence with the detector micro-pixels, the readout circuits comprising transimpedance amplifiers and comparators;
the laser receiving subsystem converts the reflected laser into a digital pulse signal, and the sending of the digital pulse signal to the master control system comprises:
the trans-impedance amplifier converts the current signal into a voltage signal;
and the comparator converts the voltage signal into a digital pulse signal and sends the digital pulse signal to the master control system.
7. The method of claim 1, further comprising:
and the master control system generates three-dimensional point cloud data of the target object according to the distance information of the target object.
8. The method of claim 1, wherein the short wave infrared pulsed laser has a wavelength in the range of 1000nm to 2000 nm.
9. A laser ranging system is characterized by comprising a laser emitting subsystem, a laser receiving subsystem and a main control system;
the laser emission subsystem is used for emitting short-wave infrared pulse laser to a target object;
the laser receiving subsystem is used for receiving the reflected laser of the target object to the short-wave infrared pulse laser; converting the reflected laser into a digital pulse signal, and sending the digital pulse signal to a master control system;
the master control system is used for measuring the arrival time of the rising edge and the falling edge of the digital pulse signal and determining the time interval from the emission of the short-wave infrared pulse laser to the reception of the reflected laser; and determining the distance information of the target object according to the time interval.
10. The system of claim 9, wherein the master control system is further configured to generate three-dimensional point cloud data of the target object according to the distance information of the target object.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113050119A (en) * | 2021-03-18 | 2021-06-29 | 陕西周源光子科技有限公司 | Judgment method suitable for interference of optical flash three-dimensional imaging radar |
| CN113189605A (en) * | 2021-04-08 | 2021-07-30 | 中电海康集团有限公司 | Method and system for improving laser ranging precision based on uncertainty |
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| CN113189605A (en) * | 2021-04-08 | 2021-07-30 | 中电海康集团有限公司 | Method and system for improving laser ranging precision based on uncertainty |
| CN113189605B (en) * | 2021-04-08 | 2022-06-17 | 中电海康集团有限公司 | Method and system for improving laser ranging precision based on uncertainty |
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Application publication date: 20200814 |