CN108181621A - A kind of bidifly light drive circuit and scanning type laser radar ranging equipment and method - Google Patents
A kind of bidifly light drive circuit and scanning type laser radar ranging equipment and method Download PDFInfo
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- CN108181621A CN108181621A CN201611121850.2A CN201611121850A CN108181621A CN 108181621 A CN108181621 A CN 108181621A CN 201611121850 A CN201611121850 A CN 201611121850A CN 108181621 A CN108181621 A CN 108181621A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000005611 electricity Effects 0.000 claims abstract description 47
- 238000004020 luminiscence type Methods 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000005856 abnormality Effects 0.000 claims description 9
- 230000000630 rising effect Effects 0.000 claims description 9
- 238000000151 deposition Methods 0.000 claims description 8
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims 2
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- 238000007599 discharging Methods 0.000 abstract 2
- 238000007600 charging Methods 0.000 description 5
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- 238000005259 measurement Methods 0.000 description 4
- 230000002123 temporal effect Effects 0.000 description 4
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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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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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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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of bidifly light drive circuit and scanning type laser radar ranging equipment and methods.The circuit includes：For the voltage doubling unit of high voltage pulse to be exported to first node when receiving the first drive pulse signal；For storing electric energy when being pulse voltage at first node and discharging the storage electric unit of the second electricity to second node when receiving the second drive pulse signal and discharging the first electricity to second node and receiving third drive pulse signal；With, at first node input the first electricity when generate the laser signal of the first power and at second node input the second electricity when generate the second power laser signal luminescence unit.The scanning type laser radar ranging equipment is realized based on foregoing circuit.The method is realized based on above equipment.The embodiment of the present invention can ensure that the requirement to eye-safe of closely laser power and filter out closely stray light, and realize the range capability of far and near distance ranging and lifting device.
Description
Technical field
The present invention relates to technical field of laser detection more particularly to a kind of bidifly light drive circuits and scanning type laser radar
Distance-measuring equipment and method.
Background technology
With the continuous development of laser technology, laser radar obtains more and more extensive use in every field.For example,
Detection field, laser radar are usually used in detecting dynamic object, and measurement angle increases and requires non-blind area at this time, it is also necessary to adapt to remote
Distance or closely ranging.When closely ranging, laser radar power is small, can meet eye-safe requirement, but survey
It is weaker away from ability；When remote ranging, laser radar power is big, but can not meet eye-safe requirement, and closely
Stray light can increase and cause not using under.
When realizing technical scheme of the present invention, the inventor of the present application discovered that：To solve the above problems, in the prior art
Laser radar is made to can adapt to remote, close-in measurement requirement using auto gain control method, but above-mentioned automatic increasing
Beneficial control method at a distance with closely adjust when have larger lag, make laser radar can not meet quickly detect will
It asks.In addition, also have the method that power regulation is carried out to single Laser Driven, but the charging time is longer after single laser is given out light,
And also there is larger lag when adjusting.
Invention content
For the defects in the prior art, the present invention provides a kind of bidifly light drive circuit and scanning type laser radar range finding
Device and method, for solving to have when laser radar automatically adjusts in the prior art compared with large time delay or since charging time length is led
The problem of causing laser radar that can not realize quick far and near distance ranging.
In a first aspect, the present invention provides a kind of bidifly light drive circuit, it is single that the circuit includes voltage doubling unit, storage electricity
Member and luminescence unit, further include first node and second node, the voltage doubling unit passes through the first node and the storage
Electric unit is electrically connected, and the storage electric unit is electrically connected by the second node with the luminescence unit；
The voltage doubling unit is used to export high voltage pulse to the first node when receiving the first drive pulse signal；
The storage electric unit, which is used at the first node, to be stored electric energy and is receiving the when being pulse voltage
Two drive pulse signals discharge the first electricity and when receiving third drive pulse signal to described to the second node
Second node discharges the second electricity；
The luminescence unit generates the laser signal of the first power for being inputted at the second node during the first electricity,
And the laser signal of the second power is generated when the second electricity is inputted at the second node.
Optionally, the storage electric unit deposits discharge module and second including first and deposits discharge module；First storage
The input terminal of electric module connects the first node, and output terminal connects the second node, the second driving of control terminal connection
Pulse signal end；Described second input terminal for depositing discharge module connects the first node, output terminal connection second section
Point, control terminal connection third drive pulse signal end；
Described first deposits discharge module for storing the first electricity, Yi Ji when being high voltage pulse at the first node
To the first electricity of release at the second node during second drive pulse signal of the second drive pulse signal end output；
Described second deposits discharge module for storing the second electricity, Yi Ji when being high voltage pulse at the first node
To the second electricity of release at the second node during third drive pulse signal end output third drive pulse signal.
Optionally, described first deposit discharge module include the first diode, the first capacitance, the first transistor and first electricity
Resistance；The anode of first diode connects the first node, and cathode connects the first pole of first capacitance in third
Node；The second pole connection common end of first capacitance.
Optionally, described second deposit discharge module include the second diode, the second capacitance, second transistor and second electricity
Resistance；The anode of second diode connects the first node, and cathode connects the first pole of second capacitance in the 4th
Node；The second pole connection common end of second capacitance.
Optionally, it described first deposits discharge module and further includes first resistor, described in the first end connection of the first resistor
The control pole of first diode, second end connect the common end；And/or
Described second, which deposits discharge module, further includes second resistance, and the first end of the second resistance connects the two or two pole
The control pole of pipe, second end connect the common end.
Optionally, the capacity of the first capacitance is less than the capacity of the second capacitance.
Second aspect, the embodiment of the present invention additionally provide a kind of scanning type laser radar ranging equipment, and described device includes
Bidifly light drive circuit, rotation angle computing device, time set, laser signal reception device and master as described in relation to the first aspect
Control device；Wherein,
The rotation angle computing device and the master control set communicate to connect, and shine for calculating laser drive circuit
Shooting angle；The shooting angle includes initial signal and N number of detection angles signal；N is non-zero natural number；
The bidifly light drive circuit and the master control set communicate to connect, for according to laser drive pulse and described
Shooting angle is emitted the laser signal of the first power or the second power to testee；
The laser signal reception device is communicated to connect with time set, is swashed for obtaining the diffusing reflection from testee
Optical signal is simultaneously converted to digital laser signal；
The time set is communicated to connect with the time set and the bidifly light drive circuit, described sharp for calculating
Time difference between optical signal and the digital laser signal；
The master control set is communicated to connect with the time set, for according to the shooting angle, the Laser Driven
The generation time of pulse and the time difference calculate the distance between the bidifly light drive circuit and testee.
The third aspect, the embodiment of the present invention provides a kind of scanning type laser radar range finding method again, for such as second party
Scanning type laser radar ranging equipment described in face, the method includes：
Master control set obtains the initial signal of rotation angle computing device and sends out first laser drive pulse signal, so that
The bidifly light drive circuit stores electric energy；
The master control set obtains a detection angles signal of the rotation angle computing device, and is examined in said one
The fringe time of measuring angle signal sends out second laser drive pulse signal, so that the bidifly light drive circuit generates the first work(
The laser signal and laser signal reception device of rate receive the first digital laser signal；
The laser signal and the first digital laser of the first power that the master control set acquisition is calculated from time set
The time difference of signal, the generation time of second laser drive pulse signal and the detection angles signal calculate the bidifly CD-ROM drive
Dynamic the distance between circuit and testee.
Optionally, the method further includes：
Judge the first digital laser signal whether in abnormality；The abnormality is overflow including clocking value range
Go out, digital laser signal is unsatisfactory for requirement and the rising edge of digital laser signal do not occur in pairs with failing edge in one kind or more
Kind；
If so, the master control set sends out third laser drive pulse signal, so that the bidifly light drive circuit generates
The laser signal of second power and the laser signal reception device receive the second digital laser signal；
The laser signal and the second digital laser of the second power that the master control set acquisition is calculated from time set
The time difference of signal, the generation time of third laser drive pulse signal and the detection angles signal calculate the bidifly CD-ROM drive
Dynamic the distance between circuit and testee.
Optionally, the first power is less than the second power.
As shown from the above technical solution, the embodiment of the present invention is by setting voltage doubling unit, storage electric unit and luminescence unit,
Voltage doubling unit drives to storage electric unit charging, storage electric unit in the second drive pulse signal or third drive pulse signal
The first electricity of lower release either the second electricity luminescence unit according to above-mentioned first electricity or the second electricity generate the first power or
The laser signal of the second power of person.Compared with prior art, the embodiment of the present invention can be by adjusting second and third driving pulse
The time interval of signal obtains the laser signal of the first power or the second power, realizes far and near distance ranging, both ensure that near
Apart from requirement of the laser power to eye-safe and closely stray light is filtered out, and the range capability of energy lifting device.
Description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to attached drawing, attached drawing is schematically without that should manage
It solves to carry out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 is a kind of double excitation driver circuit schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of scanning type laser radar ranging equipment block diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of scanning type laser radar range finding method flow schematic diagram provided in an embodiment of the present invention；
Fig. 4 is another scanning type laser radar range finding method flow schematic diagram provided in an embodiment of the present invention；
Fig. 5 is the signal waveform schematic diagram of method shown in Fig. 3 or Fig. 4.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
In a first aspect, the present invention provides a kind of bidifly light drive circuit, as shown in Figure 1, the circuit includes：Voltage doubling unit
1st, electric unit 2 and luminescence unit 3 are stored, further includes first node P1 and second node P2.Wherein,
The input terminal connection power supply V of the voltage doubling unit 1, output terminal connection first node P1, ground terminal connection are public
Hold GND, control terminal connect the first drive pulse signal end, for when receiving the first drive pulse signal to described first
Node exports high voltage pulse.
Store the input terminal connection first node P1 of electric unit 2, output terminal connection second node P2, the first control terminal
Connect the second drive pulse signal end PS2, the second control terminal connection third drive pulse signal end PS3, in first segment
Electric energy is stored when being pulse voltage at point P1 and is receiving the second drive pulse signal to second node release first
Electricity and when receiving third drive pulse signal to second node P2 discharge the second electricity.
The input terminal connection second node of luminescence unit 3, output terminal connection public terminal GND, in second node P2
The laser signal of the first power is generated during place's the first electricity of input and generates the during the second electricity of input second node P2 at
The laser signal of two power.
As shown in Figure 1, above-mentioned voltage doubling unit 1 includes inductance L, third transistor Q3 and resistance R3.Wherein, the of inductance L
One end (left end of inductance L in Fig. 1) connects the input terminal of the voltage doubling unit 1 and then is connected to power supply V, the second end of inductance L
(right end of inductance L in Fig. 1) connects the output terminal of the voltage doubling unit 1 and then is connected to first node P1.Third transistor Q3's
Control terminal connects the control terminal of the voltage doubling unit 1 and then connects the first drive pulse signal end, and first end connects the multiplication of voltage list
The output terminal of member 1, second end connection ground terminal.In practical application, which further includes 3rd resistor R3, the third
The first end (upper end of resistance R3 in Fig. 1) of resistance R3 connects the control terminal of above-mentioned third transistor Q3, and second end connection should
The second end of third transistor Q3.3rd resistor R3 for divide with for third transistor Q3 provide enough cut-in voltages or
The unstable signal that person is filtered out at the first drive pulse signal end prevents third transistor Q3 from misleading.
The course of work of the voltage doubling unit 1 is as follows：
When being the first drive pulse signal PULSE1 at the first drive pulse signal end PS1, third transistor Q3 is led
Logical, first node P1 is connected with public terminal GND at this time.Within the first drive pulse signal PULSE1 duration, power supply V passes through
Inductance L, third transistor Q3 discharge to public terminal GND.Since the electric current of inductance L cannot be mutated, inductance L is as voltage source at this time
It generates high voltage pulse and first node P1 is output to by output terminal.
Above-mentioned storage electric unit 2 deposits discharge module 21 ' and second including first and deposits discharge module 22 '.The electric mould of first storage
The input terminal connection first node P1 of block 21 ', output terminal connection second node P2, control terminal connect the second driving pulse letter
Number end PS2, for first node P1 at for high voltage pulse when store the first electricity and at the second drive pulse signal end
To the first electricity of release at second node P2 during PS2 the second drive pulse signal PULSE2 of output.
Second deposits the input terminal connection first node P1 of discharge module 22 ', output terminal connection second node P2, control
End connection third drive pulse signal end PS3, for storing the second electricity, Yi Ji when being high voltage pulse at first node P1
To the second electricity of release at second node P2 during third drive pulse signal end PS3 output third drive pulse signal PULSE3.
In one embodiment of the invention, as shown in Figure 1, above-mentioned first deposits discharge module 21 ' and includes the first diode D1, first
Capacitance C1 and the first transistor Q1.The anode of first diode D1 connects first input terminal and then the company for depositing discharge module 21 '
First node P1 is met, cathode connects the first pole of the first capacitance C1 in the first of third node P3 and the first transistor Q1
End.The second pole of first capacitance C1 connect this first deposit discharge module 21 ' ground terminal so that connect public terminal GND.First is brilliant
The control terminal of body pipe Q1 connects the first second drive pulse signal end PS2 for depositing discharge module 21 ', second end connection second
Node P2.In practical application, this first is deposited discharge module 21 ' and further includes first resistor R1, and the first end of first resistor R1 connects
Connect the control terminal of the first transistor Q1, second end connects first ground terminal for depositing discharge module 21 ', thinks for dividing
One transistor Q1 provides enough cut-in voltages or the unstable signal that filters out at the first drive pulse signal end prevent this
One transistor Q1 misleads.
This first deposit discharge module 21 ' the course of work it is as follows：
When being high voltage pulse at first node P1, at this time without the second driving pulse at the second drive pulse signal end PS2
Signal PULSE2 is inputted, the first diode D1 conductings, and above-mentioned inductance L generates high voltage pulse as voltage source and filled to the first capacitance C1
Electricity.In practical application, it by adjusting the width and frequency of the first drive pulse signal PULSE1, can continue above-mentioned inductance L
To the first capacitance C1 chargings until being full of.The capacity of first capacitance C1 is the first electricity.It is arteries and veins at first node P1
Leap high pressure i.e. inductance L electric discharge after the completion of, at this time the anode voltage of the first capacitance C1 be higher than first node P1 at voltage, the one or two
Pole pipe D1 is in cut-off state, so as to prevent the first capacitance C1 back discharges, realizes that the first capacitance C1 stores the work(of the first electricity
Energy.
The second drive pulse signal PULSE2, and the first driving arteries and veins at this time are inputted at the second drive pulse signal end PS2
It rushes at signal end PS1 and does not input the first drive pulse signal PULSE1, the first transistor Q1 sections of conducting third node P3 and second
Point P2, at this time the first capacitance C1 by the first transistor Q1 to second node P2 discharge.
In one embodiment of the invention, as shown in Figure 1, above-mentioned second deposits discharge module 22 ' and includes the second diode D2, second
Capacitance C2 and second transistor Q2.The anode of second diode D2 connects second input terminal and then the company for depositing discharge module 22 '
First node P1 is met, cathode connects the first pole of the second capacitance C2 in the first of fourth node P4 and second transistor Q2
End.The second pole of second capacitance C2 connect this second deposit discharge module 22 ' ground terminal so that connect public terminal GND.Second is brilliant
The control terminal of body pipe Q2 connects the second third drive pulse signal end PS3 for depositing discharge module 2, the second section of second end connection
Point P2.In practical application, this second is deposited discharge module 22 ' and further includes second resistance R2, the first end connection of second resistance R2
The control terminal of second transistor Q2, second end connect second ground terminal for depositing discharge module 21, think second for dividing
Transistor Q1 provides enough cut-in voltages or the unstable signal that filters out at third drive pulse signal end prevent this second
Transistor Q2 misleads.
This second deposit discharge module 22 ' the course of work it is as follows：
When being high voltage pulse at first node P1, no third driving pulse at the PS3 of third drive pulse signal end at this time
Signal PULSE3 is inputted, the second diode D2 conductings, and above-mentioned inductance L generates high voltage pulse as voltage source and filled to the second capacitance C2
Electricity.In practical application, it by adjusting the width and frequency of the first drive pulse signal PULSE1, can continue above-mentioned inductance L
To the second capacitance C2 chargings until being full of.The capacity of second capacitance C2 is the second electricity.It is arteries and veins at first node P1
Leap high pressure i.e. inductance L electric discharge after the completion of, at this time the anode voltage of the second capacitance C2 be higher than first node P1 at voltage, the two or two
Pole pipe D2 is in cut-off state, so as to prevent the second capacitance C2 back discharges, realizes that the second capacitance C2 stores the work(of the second electricity
Energy.
Third drive pulse signal PULSE3, and the first driving arteries and veins at this time are inputted at third drive pulse signal end PS3
It rushes at signal end PS1 and does not input the first drive pulse signal PULSE1, the second transistor Q2 sections of conducting fourth node P4 and second
Point P2, at this time the second capacitance C2 by second transistor Q2 to second node P2 discharge.
It should be noted that the capacity of the first capacitance C1 is less than the capacity of the second capacitance C2 in the embodiment of the present invention, i.e., the
One electricity is less than the second electricity.It is of course also possible to the capacity of the second capacitance C2 is set to be less than the first capacitance C1 according to actual needs
Capacity.
It should be noted that in the embodiment of the present invention, the first transistor Q1, second transistor Q2 and/or third transistor
Q3 may be used existing triode, metal-oxide-semiconductor in the art and realize, then according to the type of selected transistor, selection is suitably
The amplitude and width of drive pulse signal.Transistor uses for being connected and turning off as controllable switch in the embodiment of the present invention,
Therefore those skilled in the art can select the switching circuit with control function to realize according to specifically used scene, the present invention
It is not construed as limiting.
As shown in Figure 1, above-mentioned luminescence unit 3 includes laser tube LD and third diode D3.Wherein, the first of laser tube LD
End connection second node P2, second end connection public terminal GND.The second end of the anode connection laser tube LD of third diode D3,
Its cathode connects the first end of laser tube LD.When the first electricity is inputted at second node P2, laser tube LD generates first
The laser signal of power；Alternatively, when inputting the second electricity at second node P2, laser tube LD generates the laser of the second power
Signal.Fly-wheel diodes of the third diode D3 as laser tube LD can be formed into a loop with laser tube LD, so as to consume
The circuit that laser tube LD is accumulated.As it can be seen that by setting third diode D3 that can protect laser tube LD.
Second aspect, the present invention provides a kind of scanning type laser radar ranging equipment, as shown in Fig. 2, described device packet
It includes:Rotation angle computing device 21, bidifly light drive circuit 22 as described in relation to the first aspect, laser signal reception device 23, meter
When device 24 and master control set 25.Wherein,
Rotation angle computing device 21 is communicated to connect with master control set 25, for calculating laser tube in laser drive circuit 22
Luminous shooting angle；Above-mentioned shooting angle includes initial signal and N number of detection angles signal；N is non-zero natural number.
Bidifly light drive circuit 22 is communicated to connect with master control set 25, for according to laser drive pulse and shooting angle
The laser signal of the first power or the second power is emitted to testee；
Laser signal reception device 23 is communicated to connect with time set 24, is swashed for obtaining the diffusing reflection from testee
Optical signal is simultaneously converted to digital laser signal, to be sent to the time set 24；
Time set 24 is communicated to connect with master control set 25, for calculating the laser signal and the digital laser signal
Between time difference；
Master control set 25 calculates bidifly for the generation time according to shooting angle, laser drive pulse and time difference
The distance between light drive circuit 22 and testee.
In the embodiment of the present invention, first, rotation angle computing device 21 calculates shooting angle according to the position of testee
Then the direction of above-mentioned bidifly light drive circuit 22 is adjusted.The shooting angle includes initial signal and N number of detection angles signal；N
For non-zero natural number.Bidifly light drive circuit 22 charges according to the first drive pulse signal PULSE1, then according to second laser
Drive pulse signal PULSE2 or third laser drive pulse signal PULSE3 is emitted the first power or second to testee
The laser signal of power.Laser signal reception device 23 receives the laser signal of above-mentioned first power or the second power by tested
Laser signal after the diffusing reflection of object is simultaneously converted into digital laser signal, is sent to the time set 24 for communicating with connection.
Time set 24 is according to the generation of second laser drive pulse signal PULSE2 or third laser drive pulse signal PULSE3
(time of the digital laser signal corresponds to laser signal reception device 23 in the embodiment of the present invention for time and digital laser signal
Receive the time of the echo-signal of laser signal) between time difference be sent to master control set 25.Master control set 25 is according to connecing
Shooting angle, the generation time of laser drive pulse and the time difference received calculates bidifly light drive circuit 22 and testee
The distance between.
Electric unit 22 ' is stored since bidifly light drive circuit 22 includes the first storage electric unit 21 ' and second, at one the
It charges simultaneously to the first capacitance C1 and the second capacitance C2 in the time of one laser drive pulse signal PULSE1.Then the scan-type
Laser radar range equipment receives second laser drive pulse signal PULSE2 and third laser drive pulse signal respectively again
PULSE3 is emitted laser signal twice to testee；Alternatively, individually it is emitted the laser signal of the first power or third power
Laser signal, ranging twice can be carried out.
It should be noted that in scanning type laser radar ranging equipment provided in an embodiment of the present invention, in addition to bidifly CD-ROM drive
Outside dynamic circuit 22, other devices are realized using equipment of the prior art.Wherein：
Rotation angle computing device 21 may be used existing circuit in the art and realize, for example, driving tilting mirror using motor
On the one hand rotation changes the exit direction of laser, usually carries code device on another aspect tilting mirror, can be carried to master control set
For initial signal, and by learning current detection angles to the counting of N number of detection angles signal.Those skilled in the art can be with
It is selected according to actual needs, the present invention is not construed as limiting.
Laser signal reception device 23 may be used laser sensing receiver of the prior art and realize, people in the art
Member can select suitable laser sensing receiver according to concrete scene, and the present invention is not construed as limiting.
Timing circuit of the prior art may be used in time set 24, chip realizes that those skilled in the art can root
Suitable time set is selected according to concrete scene, the present invention is not construed as limiting.
Master control set 25 may be used realizations, the present invention such as the microcontroller of the prior art, DSP and ARM chips and be not construed as limiting.
In practical application, the pulse drive of rotation angle computing device 21, bidifly light drive circuit 22 in the embodiment of the present invention
Dynamic signal and time set 24 can be arranged in master control set 25, can simplify circuit in this way.It should be noted that master control fills
It puts 25 to be only used for calculating angle, time difference and ranging distance, using chip of the prior art and corresponding software
It realizes.
The third aspect, the embodiment of the present invention additionally provide a kind of scanning type laser radar range finding method, as shown in figure 3, with
In second aspect provide scanning type laser radar ranging equipment, the method includes：
S1, master control set obtain the initial signal of rotation angle computing device and send out first laser drive pulse signal,
So that the bidifly light drive circuit storage electric energy；
S2, the master control set obtain a detection angles signal of the rotation angle computing device, and above-mentioned one
The fringe time of a detection angles signal sends out second laser drive pulse signal, so that the bidifly light drive circuit generates the
The laser signal and laser signal reception device of one power receive the first digital laser signal；
S3, the master control set obtain the laser signal of the first power calculated from time set and the first number swashs
The time difference of optical signal, the generation time of second laser drive pulse signal and the detection angles signal calculate the double excitation
The distance between driving circuit and testee.
As shown in Figure 3 and Figure 5, in step S1, rotation angle computing device 21 sends out initial signal, under the initial signal
The drop fringe time is the T1 moment.Master control set 25 obtains the initial signal that rotation angle computing device 21 calculates, then in T3
It sends out first laser drive pulse signal PULSE1 quarters, above-mentioned bidifly light drive circuit 22 is made to charge.It should be noted that
Above-mentioned initial signal can be that rotation angle computing device exports individual zero signal or rotation angle calculates dress
The detection angles signal put using a pulse in N number of detection angles pulse as zero signal, does not limit herein.
As shown in Figure 3 and Figure 5, in step S2, rotation angle computing device 21 sends out a detection angles signal, the detection
The drop edge time of angle signal is the T2 moment.Master control set 25 obtains a detection of 21 output of rotation angle computing device
Then angle signal sends out the rising edge time of second laser pulse drive signal PULSE2, the PULSE2 after the T2 moment
It it is the T4 moment for T41 moment (not shown) and drop edge time.Then laser signal reception device 23 receives above-mentioned quilt
Irreflexive laser signal, that is, the echo-signal of object is surveyed, the rising edge time of the echo-signal (is not shown for the T61 moment in figure
Go out) and the drop edge time be the T6 moment.
As shown in Figure 3 and Figure 5, in step S3, master control set 25 can be calculated according to above-mentioned T41 moment and T61 moment
Then the time difference of the laser signal of first power and the first digital laser signal calculates double further according to above-mentioned detection angles signal
The distance between laser drive circuit and testee.
In practical application, scanning type laser radar range finding method provided in an embodiment of the present invention, as shown in figure 4, in addition to packet
It includes outside step S1, S2 and S3 in Fig. 3, the method further includes：
S4, judge the first digital laser signal whether in abnormality；The abnormality includes clocking value model
Enclose spilling, digital laser signal is unsatisfactory for requirement and the rising edge of digital laser signal do not occur in pairs with failing edge in one kind
It is or a variety of；
S5, if so, the master control set sends out third laser drive pulse signal so that the bidifly light drive circuit produces
The laser signal of raw second power and the laser signal reception device receive the second digital laser signal；
S6, the master control set obtain the laser signal of the second power calculated from time set and the second number swashs
The time difference of optical signal, the generation time of third laser drive pulse signal and the detection angles signal calculate the double excitation
The distance between driving circuit and testee.
It should be noted that treated the digital laser signal of laser signal reception device 23 rises in the embodiment of the present invention
The number number of edge and failing edge is inconsistent or the time of rising edge and failing edge is beyond preset range, when the above situation occurs
Measurement parameter is abnormal.So the corresponding temporal information of digital laser signal is also invalid temporal information, is only swashed in number
When the corresponding temporal information of optical signal is effective time, the distance of measured object could be determined according to the temporal information.
In the embodiment of the present invention, the laser signal of the first storage electric unit outgoing is the first power, and second stores electric unit
The laser signal of outgoing is the second power, and the first power is less than the second power.The embodiment of the present invention is preferably emitted first
The laser signal of power.
As shown in figs. 4 and 5, in step S4, judge whether the first digital laser signal handles abnormality, wherein extremely
State include clocking value range overflow, digital laser signal be unsatisfactory for requirement and digital laser signal rising edge and failing edge not
It is one or more in occurring in pairs.If above-mentioned first digital laser signal is without exception, no longer it is emitted third laser pulse and drives
Dynamic signal no longer performs step S5.
When the first digital laser abnormal signal, step S5 is performed.Master control set 25 sends out third laser drive pulse letter
Number PULSE5, as shown in figure 5, the rising edge time of above-mentioned PULSE5 is the T51 moment and the drop edge time is the T5 moment.
Then light signal receiving 23 receives the second digital laser signal.
In step S6, the correspondence rising edge time of master control set 25 is the T81 moment and the drop edge time is the T8 moment.Meter
When device laser signal and the second digital laser to the second power can be calculated according to above-mentioned T51 moment and T81 moment
The time difference of signal, then further according to above-mentioned detection angles signal calculate between bidifly light drive circuit and testee away from
From.
In practical application, since the power of the laser signal of the second power is larger or testee is hidden by other objects
During gear, cause the echo-signal received that can not receive spuious optical signal and normal echo-signal uniquely, as in Fig. 5 during T7
The pulse at quarter, in this case, if there are double above echo-signals to receive two the second digital laser signals, T7
The pulse at moment is garbage signal, and time difference and distance are calculated using T8 moment corresponding second digital laser signal.
In practical application, the second digital laser signal is it is possible that after for the pulse at T7 moment and the pulse matching at T8 moment
The second digital laser signal at the T8 moment is then considered as normal waveform and is converted to distance value by pulse；Then with the waveform of setting
It compares, if distance value is less than setting value, output abnormality state；Using the distance value as most if distance value is more than setting value
Whole distance measurement result.For example, apart from setting value be 2 meters when, the first digital laser signal be more than 2 meters when, output second number swash
Optical signal is as the final distance to testee.When the first digital laser signal is less than 2 meters, then output abnormality state carries
Show information, to illustrate that this ranging is invalid.
In the present invention, term " first ", " second ", " third " are only used for description purpose, and it is not intended that instruction or
Imply relative importance.Term " multiple " refers to two or more, unless otherwise restricted clearly.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can not depart from this hair
Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (10)
1. a kind of bidifly light drive circuit, which is characterized in that the circuit includes voltage doubling unit, storage electric unit and shines single
Member, further includes first node and second node, and the voltage doubling unit is electrically connected by the first node and the storage electric unit
It connects, the storage electric unit is electrically connected by the second node with the luminescence unit；
The voltage doubling unit is used to export high voltage pulse to the first node when receiving the first drive pulse signal；
The storage electric unit is used at the first node to store electric energy during pulse voltage and receiving the second drive
Moving pulse signal discharges the first electricity and when receiving third drive pulse signal to described second to the second node
Node discharges the second electricity；
The luminescence unit at the second node input the first electricity when generate the first power laser signal and
The laser signal of the second power is generated when the second electricity is inputted at the second node.
2. bidifly light drive circuit according to claim 1, which is characterized in that the storage electric unit includes the first storage
Electric module and second deposits discharge module；Described first input terminal for depositing discharge module connects the first node, and output terminal connects
The second node is connect, control terminal connects the second drive pulse signal end；Described second deposits the input terminal connection of discharge module
The first node, output terminal connect the second node, control terminal connection third drive pulse signal end；
Described first deposits discharge module for storing the first electricity and described when being high voltage pulse at the first node
To the first electricity of release at the second node during the second drive pulse signal of output of the second drive pulse signal end；
Described second deposits discharge module for storing the second electricity and described when being high voltage pulse at the first node
To the second electricity of release at the second node during output third drive pulse signal of third drive pulse signal end.
3. bidifly light drive circuit according to claim 2, which is characterized in that described first, which deposits discharge module, includes first
Diode, the first capacitance, the first transistor and first resistor；The anode of first diode connects the first node,
Cathode connects the first pole of first capacitance in third node；The second pole connection common end of first capacitance.
4. the bidifly light drive circuit according to Claims 2 or 3, which is characterized in that described second, which deposits discharge module, includes
Second diode, the second capacitance, second transistor and second resistance；The anode of second diode connects the first segment
Point, cathode connect the first pole of second capacitance in fourth node；The second pole connection common end of second capacitance.
5. bidifly light drive circuit according to claim 4, which is characterized in that described first, which deposits discharge module, further includes
One resistance, the first end of the first resistor connect the control pole of first diode, and second end connects the common end；
And/or
Described second, which deposits discharge module, further includes second resistance, and the first end of the second resistance connects second diode
Control pole, second end connect the common end.
6. bidifly light drive circuit according to claim 4, which is characterized in that the capacity of the first capacitance is less than the second capacitance
Capacity.
7. a kind of scanning type laser radar ranging equipment, which is characterized in that described device is included such as any one of claim 1~6
Bidifly light drive circuit, rotation angle computing device, time set, laser signal reception device and the master control set；Its
In,
The rotation angle computing device is communicated to connect with the master control set, for calculating the outgoing that laser drive circuit shines
Angle；The shooting angle includes initial signal and N number of detection angles signal；N is non-zero natural number；
The bidifly light drive circuit is communicated to connect with the master control set, for according to laser drive pulse and the outgoing
Angle is emitted the laser signal of the first power or the second power to testee；
The laser signal reception device is communicated to connect with time set, for obtaining the diffusing reflection laser letter from testee
Number and be converted to digital laser signal；
The time set is communicated to connect with the time set and the bidifly light drive circuit, for calculating the laser letter
Time difference number between the digital laser signal；
The master control set is communicated to connect with the time set, for according to the shooting angle, the laser drive pulse
Generation time and the time difference calculate the distance between the bidifly light drive circuit and testee.
A kind of 8. scanning type laser radar range finding method, which is characterized in that for the scanning type laser radar described in claim 7
Distance-measuring equipment, the method includes：
Master control set obtains the initial signal of rotation angle computing device and sends out first laser drive pulse signal, so that described
Bidifly light drive circuit stores electric energy；
The master control set obtains a detection angles signal of the rotation angle computing device, and detects angle in said one
The fringe time of degree signal sends out second laser drive pulse signal, so that the bidifly light drive circuit generates the first power
Laser signal and laser signal reception device receive the first digital laser signal；
The laser signal and the first digital laser signal of the first power that the master control set acquisition is calculated from time set
Time difference, second laser drive pulse signal generation time and the detection angles signal calculate bidifly optical drive electricity
The distance between road and testee.
9. scanning type laser radar range finding method according to claim 8, which is characterized in that the method further includes：
Judge the first digital laser signal whether in abnormality；The abnormality include clocking value range overflow,
It is not one or more in appearance in pairs that digital laser signal is unsatisfactory for the rising edge of requirement and digital laser signal and failing edge；
If so, the master control set sends out third laser drive pulse signal, so that the bidifly light drive circuit generates second
The laser signal of power and the laser signal reception device receive the second digital laser signal；
The laser signal and the second digital laser signal of the second power that the master control set acquisition is calculated from time set
Time difference, third laser drive pulse signal generation time and the detection angles signal calculate bidifly optical drive electricity
The distance between road and testee.
10. scanning type laser radar range finding method according to claim 8 or claim 9, which is characterized in that the first power is less than the
Two power.
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| CN113109788A (en) * | 2020-01-13 | 2021-07-13 | 华为技术有限公司 | Pulse emission control circuit and control method |
| CN114442071A (en) * | 2022-01-28 | 2022-05-06 | 深圳市欢创科技有限公司 | Laser emission circuit, distance measurement method, laser radar and robot |
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