CN108415001A - It receives the photosensitive array of the flare of laser radar, receive system and method - Google Patents
It receives the photosensitive array of the flare of laser radar, receive system and method Download PDFInfo
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- CN108415001A CN108415001A CN201810146027.XA CN201810146027A CN108415001A CN 108415001 A CN108415001 A CN 108415001A CN 201810146027 A CN201810146027 A CN 201810146027A CN 108415001 A CN108415001 A CN 108415001A
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- photosensitive
- photosensitive region
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- region
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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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
-
- 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
- G01S7/486—Receivers
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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
The invention discloses a kind of photosensitive array for the flare receiving laser radar, receive system and method.The photosensitive array includes：At least two photosensitive region groups, the photosensitive region group include at least one photosensitive region, the flare for receiving laser radar；The photosensitive region is electrically connected by switching switch with analog-digital converter, and the adjacent photosensitive region does not access the same switching switch, by the corresponding electric signal output of the flare to analog-digital converter.The invention also discloses a kind of reception system of laser radar flare and the method for reseptances of flare.Since any time only has the corresponding photosensitive region of the drop point site of flare and its adjacent next photosensitive region to be sampled by analog-digital converter, no matter other regions any signal received and does not all interfere with reception result, the anti-interference ability that flare receives system is improved, accuracy of detection is improved.
Description
Technical field
The present embodiments relate to laser radar technique more particularly to it is a kind of receive laser radar flare it is photosensitive
Array receives system and method.
Background technology
MEMS micromirror scanning laser radar measures the profile information for obtaining target by the scanning of light beam and synchronic distance.By
Small, low in energy consumption in having the characteristics that, MEMS micromirror scanning laser radar is in City Modeling, mapping and unmanned etc.
Field has a wide range of applications.
Laser radar causes the laser facula received that can have a larger offset because scanning angle range is larger
Range.Receiver usually has photosensitive array, and the photosurface of photosensitive array to ensure to be reliably received flare
Deviation range of the product more than or equal to flare.However, in off-axis formula laser radar, receiver generally has larger light
Learn visual field.For example, the flare being an actually-received on the photosensitive front of several millimeters of several millimeters of * only has tens microns of sizes.
That is most of photosensitive units in photosensitive array are not received by useful signal at any time, and, it is most likely that it connects
Receive useless interference signal.For example, there is larger field angle due to receiving camera lens, it is most likely that by other laser radars
Optical signal projects on photosurface, to by ADC (Analog-to-Digital Converter, analog-digital converter) mistake
Sampling, leads to radar output error message.
Invention content
The present invention provides a kind of photosensitive array, the reception system and method for the flare of reception laser radar, Ke Yiyou
It avoids the interference signal of other laser radars by the sampling of analog-digital converter mistake to effect, improves accuracy of detection.
In a first aspect, an embodiment of the present invention provides a kind of photosensitive arrays for the flare receiving laser radar, including：
At least two photosensitive region groups, the photosensitive region group include at least one photosensitive region, the reflection for receiving laser radar
Hot spot；
The photosensitive region is electrically connected by switching switch with analog-digital converter, and the adjacent photosensitive region does not access
The same switching switch, by the corresponding electric signal output of the flare to analog-digital converter.
Second aspect, the embodiment of the present invention additionally provide a kind of reception system of the flare of laser radar, the reception
System includes the photosensitive array as described in above-mentioned first aspect, further includes：
Controller communicates to connect respectively with the transmitter of laser radar and switch controller, for receiving the transmitter
The scanning angle of output, and the corresponding photosensitive region of flare is determined according to the scanning angle, according to the photosensitive region
Switching instruction is generated, by switching instruction output to the switch controller；
Switch controller is electrically connected with photosensitive array and analog-digital converter respectively, for being instructed according to the switching
Gate the circuit between photosensitive region and analog-digital converter in photosensitive array.
The third aspect, the embodiment of the present invention additionally provide a kind of method of reseptance of the flare of laser radar, the reception
Method receives system by the flare of the laser radar described in above-mentioned second aspect and executes, including：
The scanning angle of controller receiver/transmitter output；
Controller determines the corresponding photosensitive region of flare according to the scanning angle；
Controller control switch controller gates the photosensitive region and the next sense adjacent with the photosensitive region
Light region；
Photosensitive region receives the flare, and by the corresponding electric signal output of the flare to analog-to-digital conversion
Device.
The embodiment of the present invention provides a kind of photosensitive array for the flare receiving laser radar, including at least two is photosensitive
Region group, the photosensitive region group include at least one photosensitive region, the flare for receiving laser radar；The photosensitive region
It is electrically connected with analog-digital converter by switching switch, and adjacent photosensitive region does not access same switching switch, by the reflection
The corresponding electric signal output of hot spot is to analog-digital converter.Due to gating photosensitive region and analog-to-digital conversion along hot spot moving direction
Device can be effectively prevented from reception camera lens and project on photosensitive region the interference signal of other laser radars and ADC be caused to miss
The problem of sampling, improves the anti-interference ability that flare receives system, improves accuracy of detection.
Description of the drawings
Fig. 1 is the schematic diagram of laser radar system in the prior art；
Fig. 2 is that a kind of structure of the photosensitive array of the flare for reception laser radar that the embodiment of the present invention one provides is shown
It is intended to；
Fig. 3 is a kind of circuit diagram for photosensitive region that the embodiment of the present application one provides；
Fig. 4 is a kind of structural representation of the reception system of the flare of laser radar provided by Embodiment 2 of the present invention
Figure；
Fig. 5 is the schematic diagram that the position for the flare that the embodiment of the present application two provides changes with scanning angle；
Fig. 6 is the schematic diagram of laser radar transmitting and receive process that the embodiment of the present application two provides；
Fig. 7 is the receiving lens operating diagram that the embodiment of the present application two provides；
Fig. 8 is a kind of flow chart of the method for reseptance of the flare for laser radar that the embodiment of the present application three provides.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is the schematic diagram of laser radar system in the prior art.Laser radar system 100 includes transmitter 110, is used for
Emit laser；Camera lens 140 is received, for the reflection laser reflected through barrier 150 to be projected to photosensitive reception front 130；Sense
Light-receiving front 130, for receiving the reflection laser, wherein the reflection laser forms reflection on the photosensitive reception front 130
Hot spot 120.Since the scanning angle range of laser radar is larger, cause the flare that photosensitive reception front receives that can exist
One bigger deviation range, i.e. flare can generally be fallen in the section of m millimeters of a n millimeters of *.In order to ensure receiving
System can reliably receive flare, and generally using electrooptical device array as photosensitive reception front, and photoelectricity turns
The photosensitive area for changing device array is greater than or equal to the deviation range of flare.However, in off-axis laser radar, receive
System generally has larger optical field of view.For example, the reflection signal that the photosensitive reception front of n millimeters of m millimeters of * is an actually-received
Hot spot only has tens microns of sizes.That is, most of photosensitive units do not receive in photosensitive reception front at any time
To useful signal, and very likely receive useless interference signal.For example, there is larger visual field due to receiving camera lens
Angle, it is however very well possible to receive the optical signal of other laser radars on photosensitive reception front, to by the sampling of ADC mistakes, lead
Cause radar output error message.In order to solve the above-mentioned technical problem the scheme of generally use is to reduce radar visual field in the related technology
Angle, or reduce the mode of the area of photosensitive array.But said program there may be cause laser radar efficiency reduce,
The defect that cost improves.
In order to solve the above-mentioned technical problem, the embodiment of the present application provides a kind of side for the flare receiving laser radar
Case can improve flare and receive the anti-interference ability of system, and not reduce the efficiency of laser radar.
Embodiment one
Fig. 2 is that a kind of structure of the photosensitive array of the flare for reception laser radar that the embodiment of the present invention one provides is shown
It is intended to, which can be integrated in the flare reception system of laser radar, for executing the anti-of laser radar
Penetrate the method for reseptance of hot spot.As shown in Fig. 2, the photosensitive array 210 includes：
At least two photosensitive region groups, the photosensitive region group includes at least one photosensitive region 220, for receiving laser
The flare of radar；
The photosensitive region 220 is electrically connected by switching switch 230 with analog-digital converter 240, and adjacent described photosensitive
The same switching switch 230 is not accessed in region 220, by the corresponding electric signal output of the flare to analog-digital converter
240.Wherein, switching switch can four a switch A and four be selected to select a switch B.
It should be noted that photosensitive region group includes at least one photosensitive region, photosensitive region includes at least one photosensitive
Unit, each photosensitive unit can independently carry out opto-electronic conversion.Photosensitive unit can be avalanche diode or PIN type photoelectricity
Diode.It is understood which kind of component is the embodiment of the present application select to photosensitive unit and be not construed as limiting, photosensitive unit removes
Except the above-mentioned avalanche diode enumerated or PIN type photodiode, other types of electrooptical device can also be.Fig. 3
It is a kind of circuit diagram for photosensitive region that the embodiment of the present application one provides.As shown in figure 3, simultaneously by multiple photosensitive units 320
Connection is used as a photosensitive region 310.Optionally, a photosensitive unit can also independently be used as a photosensitive region, and
And the area of photosensitive region is smaller, anti-interference ability is stronger.
Illustratively, when the number of the photosensitive unit in each photosensitive region is at least two, this is at least two photosensitive
Unit parallel connection constitutes a photosensitive region, and the value range of the spacing d of adjacent two photosensitive regions can be tens microns and arrive
100 microns, for example, it may be any number in 10 microns to 100 microns.Optionally, the spacing of two neighboring photosensitive region
Range can be any number in 50 microns to 80 microns.Optionally, when the number of photosensitive region is more than two, adjacent two
The spacing of a photosensitive region can take unequal numerical value.For example, the spacing of two neighboring photosensitive region in the same row is not
It is equal.For another example, at least two row photosensitive regions, (for acquiring the laser facula moved horizontally, the second row is used for the first row
Acquire the laser facula of vertical shift), two neighboring photosensitive region may be horizontally oriented two adjacent photosensitive regions, also
May be two photosensitive regions adjacent on vertical direction, at this point, the spacing of two neighboring photosensitive region can it is identical can also
It is different.For example, positioned at can be identical with the first spacing of two adjacent photosensitive regions of a line, it be located at the adjacent of same row
Second spacing of two photosensitive regions can be different from above-mentioned first spacing.
Photosensitive region is electrically connected with switching switch.As shown in Fig. 2, each photosensitive region 220 is electrically connected with switching switch 230
It connects, and two adjacent photosensitive regions 220 do not access same switching switch.For example, No. 1 photosensitive region and the first switching switch
The first input end electrical connection of (such as four select a switch A), No. 2 photosensitive regions and the second switching switch that (such as four select a switch
B first input end electrical connection), No. 3 photosensitive regions select the second input terminal of a switch A to be electrically connected with four, No. 4 photosensitive regions and
Four select the second input terminal of a switch B to be electrically connected ... ..., and No. 7 photosensitive regions select the 4th input terminal of a switch A to be electrically connected with four
It connects, No. 8 photosensitive regions select the 4th input terminal of a switch B to be electrically connected with four, for gating photosensitive region 220 and analog-digital converter
Circuit connection between 240, and the flare signal of laser radar is received in photosensitive region 220, and by flare signal
After being converted to electric signal by optical signal, by the electric signal output to analog-digital converter 240.
The technical solution of the present embodiment, including at least two photosensitive region groups, the photosensitive region group include at least one sense
Light region, the flare for receiving laser radar；The photosensitive region is electrically connected by switching switch with analog-digital converter, and
Adjacent photosensitive region does not access same switching switch, by the corresponding electric signal output of the flare to analog-digital converter.
Due to gating photosensitive region and analog-digital converter along hot spot moving direction, it can be effectively prevented from and receive camera lens by other laser
The interference signal of radar projects on photosensitive region and ADC is caused to miss the problem of sampling, and improves flare and receives system
Anti-interference ability improves accuracy of detection.
Embodiment two
Fig. 4 is a kind of structural representation of the reception system of the flare of laser radar provided by Embodiment 2 of the present invention
Figure.The reception system is used to execute the method for reseptance of the flare of laser radar, including but not limited in above-described embodiment
Photosensitive array.As shown in figure 4, the reception system includes：
Controller 410 communicates to connect respectively with the transmitter of laser radar 460 and switch controller 430, for receiving
The scanning angle of the output of transmitter 460 is stated, and the corresponding photosensitive region of flare is determined according to the scanning angle, according to institute
It states photosensitive region and generates switching instruction, by switching instruction output to the switch controller 430；
Photosensitive array 420, including at least two photosensitive region groups, the photosensitive region group include at least one photosensitive region,
The photosensitive region is electrically connected by switching switch with analog-digital converter 450, and adjacent photosensitive region does not access same switching and opens
It closes；
Switch controller 430 is electrically connected with photosensitive array 420 and analog-digital converter 450 respectively, including the first switching switch
With the second switching switch, photosensitive region and analog-digital converter 450 in photosensitive array are gated for being instructed according to the switching
Between circuit.
It should be noted that scanning angle is the rotation angle of galvanometer in transmitter, galvanometer can be MEMS (Micro
Electronic Mechanical System, resonance single shaft MEMS) galvanometer.Fig. 5 is that the embodiment of the present application two provides
Flare the schematic diagram that changes with scanning angle of position.As shown in figure 5, can be seen by the corresponding flares of t1 to t5
Go out, when scanning angle changes, the position of flare is also moved on photosensitive array therewith.Following manner calculating may be used
Landing point coordinates of the flare on photosensitive array.
Illustratively, controller, which obtains, receives camera lens at a distance from the photosensitive array.Institute is received according to the period of setting
The scanning angle of transmitter output is stated, and flare is calculated in the photosensitive array according to the scanning angle and the distance
In landing point coordinates.The first photosensitive region is determined according to the landing point coordinates；Determine first photosensitive region and the second sense
The switch mark of the switching switch of light region access, wherein the second photosensitive region is adjacent with first photosensitive region；According to institute
It states switch mark and generates switching instruction, by switching instruction output to the switch controller.Fig. 6 is the application
The schematic diagram of laser radar transmitting and receive process that embodiment two provides.As shown in fig. 6, incident light can be deflected by one
MEMS galvanometers 610 project, the direction of rotation of MEMS galvanometers 610 is as shown in fig. 6, the deflection angle variation due to galvanometer 610 makes
The light of injection forms a scanning covering of the fan.Reflection light is received the focusing of lens 630, projects to smaller photosensitive of a size
On array 640.When light scanning is to highest angle, flare is in the front bottom of photosensitive array 640, conversely, reflected light
Spot is in front the top of photosensitive array 640.Due to MEMS galvanometers (or other types can make the mechanism of light deflection)
Deflection angle it is found that the incidence angle ω of the reflection light of directive receiving lens also it can be seen that.Again since it is known receiving lens and sense
The distance between optical arrays are f', shown in the receiving lens operating diagram provided such as Fig. 7.It is closed according to image-forming principle and geometry
The relationship of system, the drop point site y' of the light beam projecting of scanning angle ω on photosensitive array is as follows：Y '=f ' tan ω, then falling
Point coordinates is (f', y')
MEMS galvanometers are rotated according to preset rotation direction with predetermined angle according to the period of setting, lead to flare
It is moved in photosensitive array upper edge scanning direction shown in Fig. 7.Since photosensitive array includes multiple photosensitive regions, by flare
Drop point site can determine the corresponding photosensitive region of flare.Due to having prestored area identification and the switching of photosensitive region
The correspondence of switch can generate switching instruction according to the corresponding photosensitive region of flare, which is referred to
It enables output to switch controller, circuit is switched on or off to control the switch controller.It should be noted that the switch controller
It is switched including the first switching switch and the second switching.Wherein, the input terminal of the first switching switch and the sense that area identification is odd number
Light region is electrically connected, and the input terminal of the second switching switch is electrically connected with the photosensitive region that area identification is even number.In addition, this first
Output end the first signal amplification circuit of series connection of switching switch, output end and the analog-digital converter electricity of first signal amplification circuit
Connection, wherein the first signal amplification circuit includes but not limited to operational amplifier 250 (as shown in Figure 2), for receiving reflected light
The corresponding signal of spot, and be amplified, amplified signal is output to analog-digital converter.The output end of the second switching switch
Series connection second signal amplifying circuit, the output end of the second signal amplifying circuit are electrically connected with analog-digital converter, wherein the second letter
Number amplifying circuit includes but not limited to operational amplifier 250, for receiving the corresponding signal of flare, and is amplified, puts
Signal after big is output to analog-digital converter.It is thus possible to will be photosensitive by the first switching switch or the second switching switch
The flare signal that region receives is exported to analog-digital converter.
Illustratively, in the reception system of the flare of the laser radar of the embodiment of the present application, photosensitive array has
Multiple photosensitive regions, each photosensitive region can include multiple photosensitive units, can also be only there are one photosensitive unit.Such as Fig. 2 institutes
Show, photosensitive region is divided into two photosensitive region groups by selecting the switching of a function to switch with four.It is understood that connecing
It, can be by above-mentioned photosensitive area in the case of receiving the flare under one-dimensional scene (only considering the scene that flare moves left and right)
Domain group is horizontally arranged, and is divided into two groups, it is ensured that when moving, the photosensitive region being switched on tracks flare to flare in time
Moving direction, i.e., control switching switch connection current reflective hot spot the corresponding photosensitive region of drop point site and analog-digital converter
Between circuit, and between the switching reflex hot spot subsequent time next photosensitive region being likely located at and analog-digital converter
Circuit.It, can will be photosensitive if receiving the flare under two-dimensional scene (considering the scene that flare or so moves up and down)
Array is arranged to multirow photosensitive region, optionally, photosensitive region horizontal alignment in often going, and the photosensitive region in same row
It is vertically aligned.Controller calculates hair in real time by the scanning angle information of acquisition lidar transmitter (such as MEMS galvanometers)
The hot spot reflection signal (i.e. flare) penetrated falls the position on photosensitive array, i.e., corresponding photosensitive region.Controller according to
The area identification of photosensitive region generates switching instruction output, and to switch controller, (i.e. the switching with one function of multiselect is opened
Close), as shown in figure 4, control switch controller 430 gates position corresponding sense of the hot spot reflection signal on photosensitive array 420
Optical arrays and adjacent next photosensitive array, the electric signal input analog-to-digital converter 450 for making photosensitive array 420 generate.
That is the drop point site for calculating flare is continuously tracked in controller, make flare corresponding always by switching switch
Electric signal input analog-to-digital converter.For example, when controller calculating is located at No. 1 photosensitive region to drop point site, controller driving
Four select a switch A to gate No. 1 photosensitive region, while driving four a switch B is selected to gate No. 2 photosensitive regions.When flare moves
When to No. 2 photosensitive regions, driving four selects switch A No. 1 photosensitive region of closing to transfer to connect No. 3 photosensitive regions.In flare
When being moved to No. 3 photosensitive regions, driving four selects a switch B to close No. 2 photosensitive regions and goes to No. 4 photosensitive regions of connection.With such
It pushes away, when reflection light sensation is moved to No. 7 photosensitive regions, driving four selects a switch B to close No. 6 photosensitive regions and goes to No. 8 senses of connection
Light region.To which, it is ensured that the corresponding photosensitive region of drop point site of flare connects analog-digital converter always, and non-reflected light
The drop point site of spot and adjacent photosensitive region are then switched on and off isolation.That is, any time, only there are two photosensitive region quilts
Analog-digital converter samples, what signal no matter other regions receive and all do not interfere with reception result, and interference is avoided to introduce.
There are multiple photosensitive regions, the photosensitive region to be opened by switching for the technical solution of the present embodiment, including photosensitive array
Pass is electrically connected with analog-digital converter, and adjacent photosensitive region does not access same switching switch；Controller, respectively with laser radar
Transmitter and switch controller communication connection, the scanning angle of transmitter output can be received, and it is true according to scanning angle
Determine the corresponding photosensitive region of flare, switching instruction is generated according to photosensitive region, by switching instruction output to opening
Close controller；Switch controller is electrically connected with photosensitive array and analog-digital converter respectively, can be instructed and be selected according to the switching
Logical circuit between photosensitive region and analog-digital converter.Since any time only has the drop point site of flare corresponding photosensitive
Region and its adjacent next photosensitive region are sampled by analog-digital converter, what signal no matter other regions, which receive, all will not
Influence reception result, can be effectively prevented from receive camera lens the interference signal of other laser radars is projected on photosensitive region and
The problem of causing ADC accidentally to sample, improves the anti-interference ability that flare receives system, improves accuracy of detection.
Embodiment three
Fig. 8 is a kind of flow chart of the method for reseptance of the flare for laser radar that the embodiment of the present application three provides, should
Method can be executed by the reception system of the flare of laser radar.This method includes：
Step 810, the scanning angle of controller receiver/transmitter output.
The scanning angle that transmitter (such as MEMS) is set according to the preset period is rotated to preset direction, and
Scanning angle information is sent to controller, wherein scanning angle information may include scanning angle, period and direction.
Step 820, controller determine the corresponding photosensitive region of flare according to the scanning angle.
It should be noted that controller, which obtains, receives camera lens at a distance from photosensitive array, then, according to image-forming principle and several
What relationship, controller are projected in photosensitive according to scanning angle and the determining flare of the distance between receiving lens and photosensitive array
Drop point site on array, and using the drop point site as the value in y-axis, determined using above-mentioned distance as the value in x-axis
Landing point coordinates.The corresponding photosensitive region of flare is determined according to the landing point coordinates.
In turn, moving direction of the hot spot on photosensitive array can be determined according to above-mentioned preset direction, by drop point site
It determines the corresponding current photosensitive region of flare, may further determine that the next photosensitive area adjacent with current photosensitive region
Domain.Illustratively, controller obtains the galvanometer direction of rotation of transmitter, and according to the galvanometer direction of rotation and landing point coordinates pair
The photosensitive region answered determines the next photosensitive region adjacent with the photosensitive region.
Step 830, controller control switch controller gate the photosensitive region and adjacent with the photosensitive region
Next photosensitive region.
Controller generates switch according to the area identification of current photosensitive region and the area identification of next photosensitive region and cuts
Instruction is changed, switching instruction is sent to switch controller.To which switch controller is worked as according to switching instruction gating
The circuit between circuit and next photosensitive region and analog-digital converter between preceding photosensitive region and analog-digital converter.
It should be noted that controller can judge whether the photosensitive region is first photosensitive area after determining photosensitive region
Domain can be judged by the area identification of photosensitive region, if area identification is No. 1 region, it is determined that the photosensitive region is first
Photosensitive region.If current photosensitive region is first photosensitive region, according to current photosensitive region and adjacent next
The area identification of photosensitive region generates the corresponding switching instruction of switch mark.If current photosensitive region is not first photosensitive
Region, then controller also obtain the switch mark of a upper photosensitive region adjacent with current photosensitive region, connect the sense
Before circuit between next photosensitive region and analog-digital converter in light region, a upper photosensitive region and analog-to-digital conversion are disconnected
Circuit between device.
Step 840, photosensitive region receive the flare, and by the corresponding electric signal output of the flare to mould
Number converter.
The technical solution of the present embodiment, the scanning angle exported by controller receiver/transmitter, and according to the scan angle
Degree determines the corresponding photosensitive region of flare, then control switch controller gate the photosensitive region and with the photosensitive region
Adjacent next photosensitive region；Photosensitive region receives flare, and by the corresponding electric signal output of the flare to mould
Number converter.Since any time only has the corresponding photosensitive region of the drop point site of flare and its adjacent next photosensitive
Region is sampled by analog-digital converter, what signal no matter other regions receive and all do not interfere with reception result, can be effectively
Avoid the problem that receiving camera lens projects to the interference signal of other laser radars on photosensitive region and ADC is caused accidentally to sample, and carries
High flare receives the anti-interference ability of system, improves accuracy of detection.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of photosensitive array for the flare receiving laser radar, which is characterized in that including：At least two photosensitive regions
Group, the photosensitive region group include at least one photosensitive region, the flare for receiving laser radar；
The photosensitive region is electrically connected by switching switch with analog-digital converter, and the adjacent photosensitive region do not access it is same
The switching switch, by the corresponding electric signal output of the flare to analog-digital converter.
2. photosensitive array according to claim 1, which is characterized in that the photosensitive region includes at least one photosensitive list
Member, at least two photosensitive unit parallel connections constitute a photosensitive region.
3. photosensitive array according to claim 2, which is characterized in that including：
The photosensitive unit includes avalanche diode or PIN type photodiode.
4. a kind of reception system of the flare of laser radar, which is characterized in that including any one of such as claims 1 to 3
The photosensitive array further includes：
Controller is communicated to connect with the transmitter of laser radar and switch controller respectively, for receiving the transmitter output
Scanning angle, and the corresponding photosensitive region of flare is determined according to the scanning angle, is generated according to the photosensitive region
Switching instructs, by switching instruction output to the switch controller；
Switch controller is electrically connected with photosensitive array and analog-digital converter respectively, is gated for being instructed according to the switching
Circuit in photosensitive array between photosensitive region and analog-digital converter.
5. reception system according to claim 4, which is characterized in that the switch controller include first switching switch and
The input terminal of second switching switch, the first switching switch is electrically connected with the photosensitive region that area identification is odd number, and
The input terminal of the second switching switch is electrically connected with the photosensitive region that area identification is even number；
Output end the first signal amplification circuit of series connection of the first switching switch, the output end of first signal amplification circuit
It is electrically connected with the analog-digital converter；
The output end series connection second signal amplifying circuit of the second switching switch, the output end of the second signal amplifying circuit
It is electrically connected with the analog-digital converter.
6. system according to claim 4 or 5, which is characterized in that the controller is specifically used for：
It obtains and receives camera lens at a distance from the photosensitive array；
The scanning angle of the transmitter output is received according to the period of setting, and is counted according to the scanning angle and the distance
Calculate landing point coordinates of the flare in the photosensitive array；
The first photosensitive region is determined according to the landing point coordinates；
Determine the switch mark of first photosensitive region and the switching switch of the second photosensitive region access, wherein the second sense
Light region is adjacent with first photosensitive region；
Switching instruction is generated according to the switch mark, by switching instruction output to the switch controller.
7. a kind of method of reseptance of the flare of laser radar, which is characterized in that described in any one of claim 4 to 6
Laser radar flare receive system execute, including：
The scanning angle of controller receiver/transmitter output；
Controller determines the corresponding photosensitive region of flare according to the scanning angle；
Controller control switch controller gates the photosensitive region and the next photosensitive area adjacent with the photosensitive region
Domain；
Photosensitive region receives the flare, and by the corresponding electric signal output of the flare to analog-digital converter.
8. method of reseptance according to claim 7, which is characterized in that controller determines reflected light according to the scanning angle
The corresponding photosensitive region of spot, including：
Controller, which obtains, receives camera lens at a distance from photosensitive array；
Controller calculates landing point coordinates of the flare in the photosensitive array according to the scanning angle and the distance；
Controller determines the corresponding photosensitive region of flare according to the landing point coordinates.
9. method of reseptance according to claim 7, which is characterized in that it is described photosensitive that controller controls switch controller gating
Region and the next photosensitive region adjacent with the photosensitive region, including：
Controller obtains the galvanometer direction of rotation of the transmitter；
Controller determines the next sense adjacent with the photosensitive region according to the galvanometer direction of rotation and the photosensitive region
Light region；
Controller determines photosensitive region and the corresponding switch mark of next photosensitive region；
Controller generates the corresponding switching instruction of the switch mark, the switching instruction is sent, to be respectively turned on
The electricity between circuit and next photosensitive region and analog-digital converter between the photosensitive region and analog-digital converter
Road.
10. method of reseptance according to claim 9, which is characterized in that controller determine photosensitive region and it is described under
After the corresponding switch mark of one photosensitive region, further include：
Controller judges whether the photosensitive region is first photosensitive region；
If so, executing the operation for generating the corresponding switching instruction of the switch mark；
Otherwise, controller also obtains the switch mark of a upper photosensitive region adjacent with the photosensitive region, described in connection
Before circuit between the next photosensitive region and analog-digital converter of photosensitive region, a upper photosensitive region and mould are disconnected
Circuit between number converter.
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| CN110940988A (en) * | 2019-11-01 | 2020-03-31 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
| CN111308477A (en) * | 2019-11-29 | 2020-06-19 | 深圳市镭神智能系统有限公司 | Laser radar receiving system and laser radar |
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Also Published As
| Publication number | Publication date |
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| CN108415001B (en) | 2022-06-17 |
| CN115166687A (en) | 2022-10-11 |
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