CN108107417A - A kind of solid-state face battle array laser radar apparatus - Google Patents
A kind of solid-state face battle array laser radar apparatus Download PDFInfo
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- CN108107417A CN108107417A CN201711082437.4A CN201711082437A CN108107417A CN 108107417 A CN108107417 A CN 108107417A CN 201711082437 A CN201711082437 A CN 201711082437A CN 108107417 A CN108107417 A CN 108107417A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of solid-state face battle array laser radar, including：Transmitting module and the receiving module that position relationship is kept fixed with transmitting module, the transmitting module includes array laser, the array laser includes the single laser light source of multiple display arrangements, the single laser light source is according to setting order and interval transmitting laser, the receiving module includes face array photoelectric sensor, the face array photoelectric sensor includes the pixel of display arrangement, and the face array photoelectric sensor control section or whole pixels receive the laser that corresponding single laser light source is sent.Battle array laser radar in a kind of solid-state face disclosed in the present application without any mechanical component, improves the stability of laser radar, suitable for volume production.
Description
Technical field
This application involves lidar measurement technical field more particularly to a kind of solid-state face battle array laser radar apparatus.
Background technology
Optical scanner range unit is a kind of using collimated light beam, passes through the flight time（Time of Flight, referred to as
TOF）, triangulation the methods of carry out non-contact scanning ranging equipment.At present, common optical scanner range unit bag
It includes：Light emission module, optical lens, the chip for receiving and processing signal.Light emission module sends light beam, and optical lens is located at light
In the light path of transmitting module, by the beam emissions of collimation to testee surface, run into light beam after barrier and be reflected to and connect
It receives on chip, receives chip by measuring the time being transmitted between receiving, phase difference, the known light velocity, you can measured object is obtained
Body is to the distance of device.This kind of device will be mounted on for components such as the light emission modules, optical lens, Optical Receivers of ranging
The scanning of collimated light beam is realized on one platform that can continuously rotate, by motor rotation can obtain the environment of tour away from
From signal, powered between rotary part and fixed component by conducting slip ring and transmit data；Or it can also be fixedly mounted on
On the host computer of movement, with the advance of host computer, retrogressing or the barrier for turning to its correspondence ranging region of detection, above two mould
Formula is now widely used for robot environment's scanning, path planning, avoidance navigation, security protection detection etc..
Existing optical scanner range unit is unfavorable for scanning ranging using components such as machinery rotation or mechanical reflections mirrors
The volume production of device.This application discloses a kind of solid-state face battle array laser radars, without any mechanical component, improve laser thunder
The stability reached, suitable for volume production.
The content of the invention
The purpose of the application is to propose a kind of solid-state face battle array laser radar apparatus, passes through transmitting module and receiving module
The setting of fixed position solves the structure that traditional laser radar has machinery rotation and encoder, and complicated, space accounts for
With the problem of big, assembly process is various；By single laser light source according to setting order and interval transmitting laser setting and
The face array photoelectric sensor control section or whole pixels receive the structure for the laser that corresponding single laser light source is sent, extension
The search coverage of laser radar apparatus, realizes remote large area array laser ranging, provide can long duration it is big away from covering
The environmental detection device that the stability of scope is more preferable, accuracy is more preferable, more efficient.
For this purpose, the application uses following technical scheme：A kind of solid-state face battle array laser radar, including：Transmitting module
With the receiving module that position relationship is kept fixed with transmitting module, the transmitting module includes array laser, and the array swashs
Light device includes the single laser light source of multiple display arrangements, and the single laser light source swashs according to setting order and interval transmitting
Light, the receiving module include face array photoelectric sensor, and the face array photoelectric sensor includes the pixel of display arrangement, the face
Array photoelectric sensor control section or whole pixels receive the laser that corresponding single laser light source is sent.
Preferably, the main control module being connected with transmitting module and receiving module, the main control module bag are further included
Include the multiple and one-to-one pin of single laser light source.
Preferably, the array laser using at least one single laser light source as transmitting unit, press by the transmitting unit
Emitted according to the shooting sequence and transmission interval of setting, the face array photoelectric sensor is using at least one pixel as reception area
Domain, the receiving area are gradually received according to the reception order and reception interval of setting.
Preferably, multiple single laser light sources are arranged in a linear, and the array laser is using single laser light source as transmitting
Unit；The pixel of the face array photoelectric sensor is arranged in arrays, and the face array photoelectric sensor is with every a line or each row picture
Element is receiving area, and the receiving area is in line vertical with single laser light source.
Preferably, multiple single laser light sources are arranged in horizontal linear, and the face array photoelectric sensor is with each perpendicular row
Receiving area, the transmission interval of the single laser light source are more than or equal to the interval that receiving area receives reading.
Preferably, transmitting camera lens is additionally provided on the Laser emission direction of the array laser, in face battle array light
The recipient of electric transducer is additionally provided with reception camera lens upwards.
Preferably, the face array photoelectric sensor has 1*262 single laser light sources, covers 50 ° of * 25 ° of scopes；It is described
Face array photoelectric sensor has 262*144 pixel, and each pixel covers 0.17 ° of * 0.17 ° of field angle.
Preferably, during one or more pixel operations of the face array photoelectric sensor, it is introduced into the part of working condition
Pixel caches the electric signal just in working pixel as buffer.
A kind of detection method of solid-state laser radar installations, the array laser time-sharing work in transmitting module receive mould
Face array photoelectric sensor time-sharing work in the block；
Step 1, main control module send a signal to transmitting module, one of single in the array laser in transmitting module
A laser light source work, sends detection light；
Step 2, with step 1 simultaneously, main control module send a signal to receiving module, in the face array photoelectric sensor with institute
The row corresponding to the single laser light source to work in step 1 are stated to work；
Step 3, the row of face array photoelectric sensor work receive the detection light being reflected back by testee, light are converted
For electrical signal information；
Step 4, signal processing module reads the electrical signal information received by the row of face array photoelectric sensor work, at signal
The time difference that is reflected back of the detection light that reason module comparison transmitting module is sent received by with the row in receiving module, base
Distance value is calculated in pulse time-of-flight method；
Step 5 repeats step 1 to step 4, wherein, often it is repeated once step 1, main control module control array laser
Middle different single laser light source work；Until all single laser light sources in the array laser in reflecting module all work
Cross the frame point cloud range data detection for completing solid-state laser radar installations at least once.
Preferably, the transmitting field of view angle of the single laser light source to work in step 1 and battle array photoelectric sensing in face in step 2
The field of view of receiver angle of the row of device work at least has intersection.
Preferably, in step 3, the electrical signal information is stored in buffer unit, the face battle array photoelectricity of receiving module
Idle row pixel is served as buffer unit in sensor.
Preferably, the photoelectric sensor carries out 4 detections and adopts when receiving the detection light being reflected back by testee
Sample, based on this 4 times detection sampled datas, by calculate receive detection light pulse barycenter corresponding at the time of, be demarcated as
At the time of receiving module receives the detection light being reflected back by testee.
Preferably, two row of front and rear work are adjacent two row or non-conterminous in sequential in face array photoelectric sensor
Two row.
Preferably, in array laser in sequential two single laser light sources of front and rear work be adjacent two or
It is non-conterminous two.
Advantageous effect：By the setting of transmitting module and the fixed position of receiving module, rotated instead of traditional machinery
With the structure of encoder, simple in structure, space hold is small, the process for enormously simplifying assembling.Multiple single laser light sources according to
The setting of setting order and interval transmitting laser, increases the transmitting boundary of transmitting module, solves between single laser light source
The problem of mutual crosstalk, while the power for improving array laser rationally utilizes, and reduces the pressure of heat dissipation.The face battle array light
Electric transducer control section or whole pixels receive the structure for the laser that corresponding single laser light source is sent, by completely solid
The expansion of structure setting and field angle to receiving module, extends the search coverage of laser radar apparatus, realizes long distance
From large area array laser ranging, provide can long duration away from covering, large-scale stability is more preferable, accuracy is more preferable, more efficient
Environmental detection device.
Description of the drawings
Fig. 1 is solid-state face battle array laser radar structural schematic block diagram.
Fig. 2 is solid-state face battle array laser radar workflow schematic diagram.
Specific embodiment
Further illustrate the technical solution of the application below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to which those skilled in the art is made to more fully understand application scheme, below in conjunction in the embodiment of the present application
The technical solution in the embodiment of the present application is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, without being used to describe specific order or precedence.It should be appreciated that it so uses
Data can exchange in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps or unit clearly listed, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
This application provides a kind of solid-state face battle array laser radar, including：Transmitting module and it is kept fixed position with transmitting module
The receiving module of relation is put, the transmitting module includes array laser, and the array laser includes multiple display arrangements
Single laser light source, for single laser light source according to setting order and interval transmitting laser, the receiving module includes face battle array photoelectricity
Sensor, the face array photoelectric sensor include the pixel of display arrangement, and face array photoelectric sensor control section pixel connects
Receive the laser that corresponding single laser light source is sent.
By the setting of transmitting module and the fixed position of receiving module, instead of traditional machinery rotation and encoder
Structure, simple in structure, space hold is small, the process for enormously simplifying assembling；Multiple single laser light sources according to setting order and
The setting of interval transmitting laser, increases the transmitting boundary of transmitting module, solves between single laser light source mutually crosstalk
Problem, while the power for improving array laser rationally utilizes, and reduces the pressure of heat dissipation；The face array photoelectric sensor control
The structure that part or all of pixel receives the laser that corresponding single laser light source is sent is made, by complete solid structure setting,
And the expansion of the field angle to receiving module, the search coverage of laser radar apparatus is extended, realizes remote large area array
Laser ranging, provide can long duration away from covering, large-scale stability is more preferable, accuracy is more preferable, more efficient environment is visited
Survey device.
In order to obtain the field angle for meeting demand of bigger, while test process reduces the occupancy of CPU, the array laser
Device using at least one single laser light source as transmitting unit, it is described transmitting unit according to setting shooting sequence and transmission interval by
Secondary transmitting.
The transmitting unit can be single laser light source, the transmitting of multiple single laser light sources in array laser
Order can be from left to right or right-to-left, carry out from top to bottom or from bottom to top, line by line or by column；Alternatively, single swash
The shooting sequence of radiant can be the gradually laser light at transmitting or Unequal distance interval of the laser light source of equi-spaced apart
The gradually transmitting in source or even any combination that can also be above-mentioned several shooting sequences.Using a single laser light source as transmitting
The setting of unit reduces the power requirement of array laser, has achieved the purpose that small-power remote transmission, while solves more
A light source emits simultaneously leads to the problem of crosstalk in the receiving module course of work.
The transmitting unit can also be two or more single laser light sources, preferred described two or multiple single sharp
Radiant has the interval of setting, and the quantity of described two or multiple single laser light source single emissions can be according to the remote of range
It is closely adjusted, above-mentioned transmitting unit is the setting of two or more single laser light sources at the interval with setting, is both solved
Determined transmitting module power load it is larger the problem of, while the problem of also taken into account more Far Range, by single laser light
The adjusting in source so that solid-state face battle array laser radar radar has different ranging, and keeps measuring accurately in each ranging.
The face array photoelectric sensor using at least one pixel as receiving area, the receiving area according to setting reception
Order and reception interval gradually receive.In specific implement, the solid-state face battle array laser radar is tested faster in order to obtain
Rate and wider test scope, the receiving area be with the corresponding a row or column of single laser light source, in order into one
Step fast and accurately determines the orientation of the barrier corresponding to test result, the receiving area and single laser light source institute Cheng Zhi
Line is vertical.
Being arranged with multiple single laser light sources in horizontal linear in array laser, the face array photoelectric sensor is with every
One it is perpendicular be classified as exemplified by receiving area, the array laser includes 1*262 single laser light sources, the face array photoelectric sensor
Include the pixel of the exportable corresponding current signal for injecting laser of 144 * 262, specifically during measurement, the array laser
262 single laser light sources correspond to 262 row pixels of the face array photoelectric sensor, 262 of the array laser are in
The single laser light source of horizontal linear emits successively from left to right.It is corresponding, the picture of the same row of the face array photoelectric sensor
Element receives the electric signal that the laser that corresponding single laser light source is sent is returned after institute's search coverage reflection, the main control
Module to the calculating of the electric signal by exporting corresponding distance measurement result.Preferably, between the transmitting of the single laser light source
Every more than or equal to receiving area from receive optical signal to the interval for being read electric signal, to ensure that face array photoelectric sensor signal is defeated
Enter to export normal operation.
Certainly, two row or multiple row pixel are corresponded in specific where applicable or a single laser light source, to obtain more
For accurate obstacle information, in order to obtain farther detection range, it can also be that two single laser light sources correspond to a row, two
Row or multiple row pixel.The quantity of single laser light source and pixel includes but is not limited to 1*262 and 144*262.
When multiple single laser light sources in vertical straight line arrange when, then face array photoelectric sensor with every a line, every two row or
It is receiving area per multirow, specific works situation is with reference to the above-mentioned implementation for being in horizontal linear arrangement with multiple single laser light sources
Example, repeats no more.
When the array laser includes the N row * M single laser light sources of row, the face array photoelectric sensor includes H
The pixel of the exportable corresponding current signal for injecting laser of row * W row, wherein, it is just whole more than 1 that N, M, H and W, which are,
Number.Single laser light source per a line corresponds to the different dimensions of face array photoelectric sensor, to improve the solid-state laser measurement dress
Put measurement angle and accuracy of measurement in the vertical direction.Remaining is arranged with above-mentioned multiple single laser light sources in horizontal linear
Structure and/or multiple single laser light sources are repeated no more in vertical straight line arrangement architecture.
Further, the face array photoelectric sensor has 1*262 single laser light sources, covers 50 ° of * 25 ° of scopes, puts down
The every 0.19 ° of emission power of equal horizontal direction, the horizontal divergence angle of each single laser light source is 0.17 °；Array laser
The transmitting sequential of each single laser light source is individually controlled by control circuit.The pulsewidth of array laser is 5ns（
FWHM）, the laser frequency of the array laser is preferably 905nm wave bands.
The face array photoelectric sensor has 262*144 pixel, and each pixel covers 0.17 ° of * 0.17 ° of field angle.Institute
It is preferably that the sampling rate of the CCD CCD is once sampled for 250MHz, i.e. 4ns to state face array photoelectric sensor.
Preferably, the performance for dividing working region of the face array photoelectric sensor so that working region is receiving optical signal
When, non-active area pixel is in idle state, in order to increase the efficiency of the photoelectric signal transformation of working region pixel, and improves
The utilization rate of entire face array photoelectric sensor during one or more pixel operations of the face array photoelectric sensor, is introduced into work
The partial pixel for making state caches the electric signal just in working pixel as buffer.
Single laser light source is emitted with the transmitting pulse of 5ns, and the face array photoelectric sensor can be produced in receive process
Broadening on raw a degree of time dimension can carry out 4 sampled acquisitions by CCD in solution process and arrive, pass through calculating
The barycenter of pulse obtains more accurately distance.
Because array laser includes multiple single laser light sources, the control circuit being either connected with single laser light source
Or for the power supply that single laser light source provides, huge structure is all will be, in order to further simplify structure and improve electricity
The utilization rate on road, multiple single laser light source common sparing circuit elements.The solid-state face battle array laser radar is further included and emitted
The main control module that module is connected with receiving module, the main control module include multiple and single laser light source and correspond
Pin, multiple emission powers include at least one set of control circuit, and control circuit described in each group includes multiple in parallel
Control sub-circuit and the current-limiting resistance and storage capacitor being in series respectively with control sub-circuit, the control sub-circuit include mutually going here and there
The MOSFET drivings of connection and MOSFET, each MOSFET are in series with corresponding emission power.Multiple control sub-circuits share one
A current-limiting resistance and storage capacitor in the case where keeping emission power task performance constant, reduce the configuration of electric elements,
Circuit is simplified, maintains the stable operation of array laser.
Because MOSFET drives and MOSFET is required to larger voltage, for reasonable distribution power supply, number of power sources is reduced
And space hold, the driving power that control circuit described in each group is further included with each MOSFET drivings are in series in group, with
And the MOSFET power supplys being in series with organizing each interior MOSFET.
In order to improve the light collimation of single laser light source, also set on the Laser emission direction of the array laser
Transmitting camera lens is equipped with, in order to improve the convergence of incident ray and collimation, is gone back upwards in the recipient of the face array photoelectric sensor
It is provided with reception camera lens.
In conclusion by the setting of transmitting module and the fixed position of receiving module, rotated instead of traditional machinery
With the structure of encoder, simple in structure, space hold is small, the process for enormously simplifying assembling；At least partly single laser light source
According to the setting of setting order and interval transmitting laser, the transmitting boundary of transmitting module is increased, solves single laser light source
Between mutual crosstalk the problem of, while the power for improving single laser light source rationally utilizes, and reduces the pressure of heat dissipation；It is described
Face array photoelectric sensor control section or whole pixels receive the setting for the laser that corresponding single laser light source is sent, by complete
The expansion of solid structure setting and field angle to receiving module extends the search coverage of laser radar apparatus, realizes
Remote large area array laser ranging, provide can long duration away from covering, large-scale stability is more preferable, accuracy is more preferable, effect
The higher environmental detection device of rate.
Disclosed herein as well is a kind of method of works of solid-state face battle array laser radar apparatus.
In specific work process, the array laser time-sharing work in transmitting module.It is sent a signal to by main control module
Driving circuit in transmitting module, the measurement each time during time-sharing work only carry out transmitting module one of them single laser light
The unlatching in source, after all single laser light sources of array laser all carry out unlatching detection, solid-state face battle array laser radar is completed
The complete detection of one frame data.In one of which embodiment, in the array laser of 1*262, in array laser
Each laser light source timesharing works independently, and only opens one of them single laser light source every time, carries out next light source afterwards
Unlatching go forward side by side row distance detection.After each single laser light source carries out an opening process, complete to detect for 262 times
262 range informations calculated by signal processing module are synthesized an amplitude point cloud range data by journey, are completed solid-state face battle array and are swashed
The detection process of one frame data of optical radar.Wherein, the work unlatching of former and later two light sources can be array laser in sequential
In adjacent two single laser light sources, may not be two adjacent single laser light sources.
It is the face array photoelectric sensor of 262*144, using the time-sharing work of row or column in receiving module.Wherein
In one embodiment, the face array photoelectric sensor to arrange as unit time-sharing work, and with corresponding array laser work schedule
It is corresponding.For example, when wherein the 1st single laser light source work of array laser, main control module control receiver module
In the work of face array photoelectric sensor corresponding 1st row photoelectric transducer element.
The specific work process of one of preferred embodiment of solid-state face battle array laser radar is as follows：
Detection starts, and main control module sends a signal to transmitting module and receiving module.Specifically, main control module sends letter
Number to the driving circuit in transmitting module, one of them in the array laser in driving circuit driving receiving module single swashs
Radiant is opened, and is sent detection light, in a preferred embodiment, is sent the infrared acquisition light of 905nm.The infrared acquisition light is in ring
It is propagated in border, runs into testee and reflected.Meanwhile main control module sends a signal to receiving module, in receiving module with it is upper
It states the row corresponding to the single laser light source of unlatching to work, receives the detection light being reflected back by barrier, the picture of remaining row
Plain unit without photoelectric sensing work.
In above-mentioned, in the field of view of receiver angle and transmitting module of each row of the face array photoelectric sensor in receiving module
The transmitting field of view angle of different single laser light sources corresponds respectively.For example, in array laser in transmitting module
The transmitting field angle of R single laser light sources, the field of view of receiver angle arranged with R in the face array photoelectric sensor in receiving module
Corresponding, i.e., above-mentioned transmitting field of view angle at least has the part overlapped with field of view of receiver angle.Emit mould during the work time
Array laser time-sharing work in the block, accordingly, the face array photoelectric sensor in receiving module to arrange as unit time-sharing work,
So as to fulfill the detection of solid-state face battle array one frame of laser radar.
On the one hand the mode of time-sharing work effectively prevents the multipath interference in horizontal direction.Another additional aspect,
The mode of time-sharing work is capable of the energy of focus utilization system, provides enough energy for single laser, realization is swept more at a distance
Retouch detection.
After receiving module receives the detection light being reflected back by barrier, the caching that information is stored in receiving module
In unit.In an embodiment wherein, idle row pixel is served as caching in face array photoelectric sensor in receiving module
The effect of unit, so as to be conducive to improve the utilization rate of pixel, when designing the face array photoelectric sensor of higher pixel, pixel profit
With rate higher.
Signal processing module reads the data cached of receiving module.Each row photoelectric transducer element is connecing in receiving module
After receiving the detection light being reflected back by testee, signal processing module is all carried out to reading data cached in receiving module.
In an embodiment wherein, signal processing module and data-converting block（ADC, Analog to Digital
Converter）It is connected, data cached in receiving module is converted into digital signal by ADC module by analog signal, at signal
It manages module and reads the digital signal converted by ADC module.
Based on pulse time-of-flight method, in detection light and receiving module that signal processing module comparison transmitting module is sent
The wherein one row received time difference being reflected back by barrier, obtain the distance value for arranging and detecting.Emit mould
Array laser in the block and each row time-sharing work of corresponding receiving module face array photoelectric sensor often complete a timesharing
Detection, all carries out the calculating of above-mentioned range data.During signal processing module calculates distance value, due to usually receiving mould
The response of face array photoelectric sensor in the block has certain delay time, such as in or so 5 nanoseconds, signal processing module needs
5 nanosecond of delay time is modified.
Since the pulse that each laser light source is sent in transmitting module has certain width, such as pulsewidth is 5ns, and
The shape of the 5ns pulsewidths of 262 laser light sources is different, and in the actual course of work, pulse width has to a certain extent
Broadening, such as pulse width broadening are 20ns.In order to improve the accuracy of distance measurement, face array photoelectric sensor is being received by quilt
When surveying the detection light that object is reflected back, 4 detection samplings are carried out, based on this 4 times detection sampled datas, by calculating what is received
Detect light pulse barycenter corresponding at the time of, be demarcated as receiving module receive by testee be reflected back detection light when
It carves.
By the above process, the range data of the search coverage corresponding to a certain row of face array photoelectric sensor is obtained.
After the distance measurement of a certain row of face array photoelectric sensor is completed, main control module starts face array photoelectric sensor
The distance measurement process of another row by 262 distance measurements, obtains the detection corresponding to each row in face array photoelectric sensor
All range informations are exported the cloud data into a frame by the range information in region, signal processing module, are completed solid-state face battle array and are swashed
The once completely point cloud range data detection of optical radar.
Wherein, when after the distance measurement of a certain row of face array photoelectric sensor is completed, main control module starts face battle array light
The distance measurement process of another row of electric transducer, two row of front and rear work can be adjacent in face array photoelectric sensor in sequential
Two row or non-conterminous two row.In order to avoid interference, two row photoelectric transducer elements of front and rear work are preferred in sequential
For non-conterminous two row photoelectric transducer element.
The technical principle of the application is described above in association with specific embodiment.These descriptions are intended merely to explain the application's
Principle, and the limitation to the application protection domain cannot be construed in any way.Based on explanation herein, the technology of this field
Personnel would not require any inventive effort the other specific embodiments that can associate the application, these modes are fallen within
Within the protection domain of the application.
Claims (8)
1. a kind of solid-state face battle array laser radar, which is characterized in that including：Transmitting module and with transmitting module be kept fixed position close
The receiving module of system, the transmitting module include array laser, and the array laser includes the single of multiple display arrangements
Laser light source, for the single laser light source according to setting order and interval transmitting laser, the receiving module includes face battle array photoelectricity
Sensor, the face array photoelectric sensor include the pixel of display arrangement, the face array photoelectric sensor control section or whole
Pixel receives the laser that corresponding single laser light source is sent.
2. battle array laser radar in solid-state face according to claim 1, which is characterized in that further include and transmitting module and reception mould
The main control module that block is connected, the main control module include the multiple and one-to-one pin of single laser light source.
3. battle array laser radar in solid-state face according to claim 1, which is characterized in that the array laser is at least one
Single laser light source is transmitting unit, and the transmitting unit is emitted according to the shooting sequence and transmission interval of setting, described
Face array photoelectric sensor is using at least one pixel as receiving area, and the receiving area is according between the reception order of setting and reception
Every gradually receiving.
4. battle array laser radar in solid-state face according to claim 3, which is characterized in that multiple single laser light sources are linearly arranged
Row, the array laser is using single laser light source as transmitting unit；The pixel of the face array photoelectric sensor is arranged in arrays,
The face array photoelectric sensor is using every a line or each row pixel as receiving area, the receiving area and single laser light source institute
It is in line vertical.
5. battle array laser radar in solid-state face according to claim 4, which is characterized in that multiple single laser light sources are in horizontal straight
Line arranges, and with each perpendicular row for receiving area, the transmission interval of the single laser light source is more than the face array photoelectric sensor
Equal to the interval that receiving area receives reading.
6. battle array laser radar in solid-state face according to claim 1, which is characterized in that sent out in the laser of the array laser
It penetrates on direction and is additionally provided with transmitting camera lens, reception camera lens is additionally provided with upwards in the recipient of the face array photoelectric sensor.
7. battle array laser radar in solid-state face according to claim 4, which is characterized in that the face array photoelectric sensor has 1*
262 single laser light sources cover 50 ° of * 25 ° of scopes；The face array photoelectric sensor has 144*262 pixel, each picture
Element 0.17 ° of * 0.17 ° of field angle of covering.
8. according to claim 1-7 any one of them solid-states face battle array laser radar, which is characterized in that the face battle array photoelectric sensing
During one or more pixel operations of device, the partial pixel of working condition is introduced into as buffer to just in the electricity of working pixel
Signal is cached.
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| PCT/CN2018/075408 WO2019091004A1 (en) | 2017-11-07 | 2018-02-06 | Solid-state planar array laser radar device and detection method |
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