CN108614254A - A kind of laser radar - Google Patents
A kind of laser radar Download PDFInfo
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- CN108614254A CN108614254A CN201810916162.8A CN201810916162A CN108614254A CN 108614254 A CN108614254 A CN 108614254A CN 201810916162 A CN201810916162 A CN 201810916162A CN 108614254 A CN108614254 A CN 108614254A
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- laser radar
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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
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of laser radars, the position of multi-path laser transmitter and multichannel photodetector immobilizes in the laser radar, the scanning for carrying out horizontal direction to the laser pulse and the laser pulse echo-signal simultaneously is realized by rotation sweep module, for the prior art that compares, it no longer needs to use slip ring, without carrying out the function modules such as wireless power and wireless communication, laser emitter is according to sequential time division emission laser pulse simultaneously, photodetector subchannel receives laser pulse echo-signal, it is only necessary to a small number of signal processing modules can be realized to being measured while multiple signals, to reduce the quantity of signal processing module, with at low cost, adjustment is convenient, it is compact-sized and the advantages that be easy to volume production.
Description
Technical field
The present invention relates to laser radar technique fields, more specifically more particularly to a kind of laser radar.
Background technology
With the continuous development of science and technology, various automobiles are widely used to daily life and work
In work, bring great convenience for people’s lives.
In intelligent automobile field, camera, millimetre-wave radar and laser radar are most commonly seen three kinds of environment sensings
Sensor.Wherein, camera has the advantages that high-definition picture may be implemented, but belongs to passive sensor, to ambient light
Transformation it is very sensitive, the accuracy of object identification is stronger according to lazyness to algorithm；Millimetre-wave radar has the excellent of all weather operations
Point can still work normally under the bad weather for having sleet haze dirt, but its angular resolution is relatively low, to nonmetallic
The detection range of object is limited, can not accurately perceive pedestrian；Laser radar is usually swashed with the burst pulse nanosecond order of infrared band
Light is light source, and the distance of object is determined using the flight time, is scanned through the point that module scans obtain the centimetres of environment
Cloud information can accurately model the environment of vehicle periphery.
But existing coaxial machinery rotating type laser radar although may be implemented in horizontal direction 360 ° of field angle and
With higher horizontal angular resolution, but since it uses multipair laser transmitting-receiving module, all needed per a pair of laser transmitting-receiving module
Alignment is individually adjusted, the problem of adjustment difficulty is caused.Also, in order to realize that 360 ° of scannings, laser transmitting-receiving module are revolved with motor
Turn, otherwise power supply module realizes that function of supplying power and signal transmission need slip ring or use wireless power and wireless signal transmission,
On the one hand service life is limited, on the other hand increases the complexity of laser radar.
Invention content
To solve the above problems, the present invention provides a kind of laser radar, the laser radar complexity is low and at low cost.
To achieve the above object, the present invention provides the following technical solutions：
A kind of laser radar, the laser radar include：Timing control and measurement module, laser emitting module, laser connect
Receive module and scan module；
Wherein, the laser emitting module includes laser emitter, and the laser emitter includes n transmission channel, and n is
Positive integer, and there are one luminescence units for setting in each transmission channel；The laser pick-off module includes photodetector,
The photodetector includes m receiving channel, and m is positive integer, and m=n*i, i are positive integer, in each transmission channel
The corresponding i receiving channel of the luminescence unit, and the corresponding receiving channel of each luminescence unit is different；
The timing control and measurement module are used for generating Laser emission clock signal, the Laser emission clock signal
Emit laser pulse successively in n luminescence units of control；
The timing control and measurement module are additionally operable to generate laser pick-off clock signal, the laser pick-off clock signal
For controlling the receiving channel conducting of the luminescence unit corresponding i, to receive laser pulse echo-signal；
The timing control and measurement module are additionally operable to generate rotation control signal, and the rotation control signal is for controlling
The scan module carries out rotation sweep；
The scan module to the laser pulse and the laser pulse echo-signal for carrying out horizontal direction simultaneously
Scanning, wherein define the scan module rotary shaft be vertical direction.
Preferably, in above-mentioned laser radar, the laser emitting module further includes：Drive circuit module and collimation are saturating
Mirror；
Wherein, the drive circuit module is according in n transmission channels of Laser emission clock signal driving
The luminescence unit emits laser pulse successively；
The collimation lens to the laser pulse for carrying out collimation processing.
Preferably, in above-mentioned laser radar, the laser pick-off module further includes：Receiving lens, trans-impedance amplifier, choosing
Logical device, moment discrimination circuit and peak holding circuit；
Wherein, the receiving lens are for receiving the laser pulse echo-signal, and are transmitted to the luminescence unit phase
The corresponding i receiving channels；
The gate is used to control the corresponding i of luminescence unit according to the laser pick-off clock signal a described
Receiving channel is connected；
The photodetector is used to the laser pulse echo-signal being converted to current signal；
The trans-impedance amplifier is used to the current signal being converted to voltage signal；
The moment discrimination circuit according to the voltage signal for when determining the arrival of the laser pulse echo-signal
It carves, at the time of the arrival time characterization laser radar receives the laser pulse echo-signal；
The peak holding circuit is used to determine the peak value of the voltage signal according to the voltage signal.
Preferably, in above-mentioned laser radar, the scan module is multiple surface rotating mirror, and the multiple surface rotating mirror includes at least two
A reflecting surface, and each reflecting surface is parallel with the rotary shaft of the scan module.
Preferably, in above-mentioned laser radar, the scan module is multiple surface rotating mirror, and the multiple surface rotating mirror includes at least two
A reflecting surface, and the angle between multiple reflectings surface and the rotary shaft of the scan module is distributed at arithmetic progression.
Preferably, in above-mentioned laser radar, the laser radar further includes：Driving motor and angular encoder；
Wherein, the driving motor drives the scan module to carry out rotation sweep according to the rotation control signal；
The angular encoder is used to obtain the rotation angle of the scan module in real time, and the rotation angle is fed back
To the timing control and measurement module.
Preferably, in above-mentioned laser radar, the laser radar further includes：Power management module；
Wherein, the power management module is used to power for the laser radar.
Preferably, in above-mentioned laser radar, the laser emitter is n-channel semiconductor laser.
Preferably, in above-mentioned laser radar, the photodetector is the channels m APD photodetectors.
By foregoing description it is found that a kind of laser radar provided by the invention includes：Timing control and measurement module, laser
Transmitting module, laser pick-off module and scan module；Wherein, the laser emitting module includes laser emitter, the laser
Transmitter includes n transmission channel, and n is positive integer, and there are one luminescence units for setting in each transmission channel；The laser connects
It includes photodetector to receive module, and the photodetector includes m receiving channel, and m is positive integer, and m=n*i, i are just whole
It counts, the corresponding i receiving channel of the luminescence unit in each transmission channel, and each luminescence unit is corresponding
The receiving channel it is different.
The timing control and measurement module are used for generating Laser emission clock signal, the Laser emission clock signal
Emit laser pulse successively in n luminescence units of control；The timing control and measurement module are additionally operable to generation laser and connect
Time receiving sequential signal, the laser pick-off clock signal are led for controlling corresponding i receiving channels of the luminescence unit
It is logical, to receive laser pulse echo-signal；The timing control and measurement module are additionally operable to generate rotation control signal, the rotation
Turn control signal and carries out rotation sweep for controlling the scan module；The scan module is for simultaneously to the laser pulse
The scanning of horizontal direction is carried out with the laser pulse echo-signal, wherein the rotary shaft for defining the scan module is vertical
Direction.
By foregoing description it is found that the position of laser emitter and photodetector immobilizes in the laser radar, lead to
It crosses rotation scan module and realizes the scanning for carrying out horizontal direction to the laser pulse and the laser pulse echo-signal simultaneously,
For the prior art that compares, it is no longer necessary to use slip ring, not have to carry out the function modules such as wireless power and wireless communication, simultaneously
Using laser emitter according to sequential time division emission laser pulse, photodetector subchannel receives laser pulse echo-signal,
To reduce the quantity of signal processing module, have many advantages, such as that at low cost, adjustment is convenient, compact-sized and be easy to volume production.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of theory structure schematic diagram of laser radar provided in an embodiment of the present invention；
Fig. 2 is the theory structure schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 3 is the theory structure schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of scan module provided in an embodiment of the present invention；
Fig. 5 is the theory structure schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 6 is the theory structure schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 7 is the laser that a kind of timing control provided in an embodiment of the present invention and measurement module generate four luminescence unit LD
Emit clock signal schematic diagram；
Fig. 8 is the original between a kind of multi-channel laser transmitter and multichannel photodetector provided in an embodiment of the present invention
Manage schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
With reference to figure 1, Fig. 1 is a kind of theory structure schematic diagram of laser radar provided in an embodiment of the present invention.
The laser radar includes：Timing control and measurement module 11, laser emitting module 12,13 and of laser pick-off module
Scan module 14.
Wherein, the laser emitting module 12 includes laser emitter 121, and the laser emitter 121 includes n transmitting
Channel, n are positive integer, and there are one luminescence units for setting in each transmission channel；The laser pick-off module 13 includes photoelectricity
Detector 131, the photodetector 131 include m receiving channel, and m is positive integer, and m=n*i, i are positive integer, each
The corresponding i receiving channel of the luminescence unit in the transmission channel, and each luminescence unit is corresponding described
Receiving channel is different.For example, the laser emitter 121 includes 4 transmission channels, the photodetector 131 connects including 8
Channel is received, then defining corresponding 1st and the 2nd receiving channel of the 1st transmission channel, the 2nd transmission channel the corresponding 3rd and the 4th connects
Receive channel, corresponding 5th and the 6th receiving channel of the 3rd transmission channel, corresponding 7th and the 8th receiving channel of the 4th transmission channel.
The timing control and measurement module 11 are for generating Laser emission clock signal, the Laser emission clock signal
Emit laser pulse successively for controlling the n luminescence units.
The timing control and measurement module 11 are additionally operable to generate laser pick-off clock signal, the laser pick-off sequential letter
Number for controlling the luminescence unit corresponding i receiving channels conductings, to receive laser pulse echo-signal.
The timing control and measurement module 11 are additionally operable to generate rotation control signal, and the rotation control signal is for controlling
It makes the scan module 14 and carries out rotation sweep.
The scan module 14 to the laser pulse and the laser pulse echo-signal for carrying out level side simultaneously
To scanning, wherein define the scan module 14 rotary shaft be vertical direction.
It is by foregoing description it is found that solid by the position of laser emitter 121 and photodetector 131 in the laser radar
It is fixed constant, it is realized by rotation sweep module 14 and level is carried out to the laser pulse and the laser pulse echo-signal simultaneously
The scanning in direction, for the prior art that compares, it is no longer necessary to use slip ring, not have to carry out the work(such as wireless power and wireless communication
Energy module, while using laser emitter 121 according to sequential time division emission laser pulse, 131 subchannel of photodetector receives
Laser pulse echo-signal has that at low cost, adjustment is convenient, compact-sized and be easy to reduce the quantity of signal processing module
The advantages that volume production.
That is, photodetector 131 of the laser radar using the laser emitter 121 and multichannel of multichannel,
Coordinate corresponding time sequence control logic again, so that laser emitter 121 and the position of photodetector 131 is immobilized, no longer need
Additional function module is wanted, and then has above-mentioned advantage.
Further, the laser emitter 121 includes, but are not limited to n-channel semiconductor laser, needs to illustrate
It is that the laser array of 4 channel bands drivings has engineering sample currently on the market, carry out volume production that can be quickly.
Further, the photodetector 131 includes, but are not limited to the channels m APD photodetectors, needs to illustrate
It is, currently on the market APD (Avalanche Photodiode) photodetector array in 16 channels comparative maturity, it can be with
It is applied to automotive field well.
That is, the laser emitter 121 and photodetector 131 that are used in the embodiment of the present invention, are not necessarily to additionally
R＆D costs, and the price of product is relatively low, and then the production cost of laser radar provided by the invention can be reduced.
It should be noted that the channel number and power of the laser emitter 121 need the detection of connected applications scene
The combined factors such as distance, vertical direction field angle, eye-safe standard and device maturity determine.
It should be noted that the channel number of the photodetector 131 needs the detection range of connected applications scene, erects
Histogram is determined to combined factors such as field angle, angular resolution, device maturity and costs.
Further, as shown in Fig. 2, the laser emitting module 12 further includes：Drive circuit module 122 and collimation lens
123。
Wherein, the drive circuit module 122 is according in n transmission channels of Laser emission clock signal driving
The luminescence unit emit laser pulse successively.
The collimation lens 123 to the laser pulse for carrying out collimation processing.
Specifically, after the drive circuit module 122 receives the Laser emission clock signal, current impulse is generated,
To drive corresponding luminescence unit to emit laser pulse.Due to diverging of the laser pulse on vertically and horizontally
Angle cannot generally be met the requirements, and the usual angle of divergence is larger, about 10 ° × 25 ° or so, therefore a collimation lens is at least arranged
The angle of divergence of the laser pulse of 123 pairs of output carries out pH effect, so that the hair of the laser after collimation adjustment in the vertical direction
The field angle for dissipating angle and vertical direction matches, and the angle of divergence of horizontal direction reduces as far as possible, usually mrad magnitudes.
That is, the laser emitting module 12 is mainly used under the control of the timing control and measurement module 11
Emit the vertical direction angle of divergence and irradiates target with certain angle and the horizontal direction angle of divergence laser beam small as possible.
It should be noted that in embodiments of the present invention, 123 optical device of collimation lens is included at least, it can also
Increase the adjustment that additional other optical devices carry out the laser pulse optical parameter.
By foregoing description it is found that the laser emitting module 12 is simple in structure, and the laser of meet demand can be launched
Pulse increases the accuracy of measurement of laser radar.
Further, as shown in figure 3, the laser pick-off module 13 further includes：Receiving lens 132, trans-impedance amplifier
133, gate 134, moment discrimination circuit 135 and peak holding circuit 136.
Wherein, the receiving lens 132 are for receiving the laser pulse echo-signal, and are transmitted to the luminescence unit
The corresponding i receiving channels.
Specifically, the receiving lens 132 include but is not limited to camera lens, it is mainly used for will reflect back into the laser pulse come
Echo-signal is transmitted in the photodetector 131 in corresponding receiving channel.For example, what first luminescence unit was sent out
Laser pulse, the reflected laser pulse echo-signal of the laser pulse need to be transmitted to first luminescence unit corresponding
In i receiving channel.
The gate 134 is used to control according to the laser pick-off clock signal the corresponding i of luminescence unit described
The receiving channel conducting.
Specifically, controlling the laser emitting module 12 in the timing control and measurement module 11 launches laser pulse
When, while the gate 134 is controlled, so that the corresponding receiving channel of the luminescence unit for emitting the laser pulse is completely in
Conducting state, to receive the reflected laser pulse echo-signal of the laser pulse.
The photodetector 131 is used to the laser pulse echo-signal being converted to current signal.
The trans-impedance amplifier 133 is used to the current signal being converted to voltage signal.
Specifically, the current signal is converted to voltage signal by the trans-impedance amplifier 133, the size of multiple is converted
It the equivalent resistance of itself can be determined by the trans-impedance amplifier 133.
The moment discrimination circuit 135 is used to determine the arrival of the laser pulse echo-signal according to the voltage signal
Moment, at the time of the arrival time characterization laser radar receives the laser pulse echo-signal.
Specifically, the timing control and measurement module 11 are driving the laser emitting module 12 to launch laser pulse
When, a start time is recorded, after getting arrival time, the two is calculated according to the start time and the arrival time
Between time difference, handle to obtain range image according to the time difference.
The peak holding circuit 136 is used to determine the peak value of the voltage signal according to the voltage signal.
Specifically, the peak value represents the intensity of the laser pulse echo-signal, i.e., the described timing control and measurement mould
Block 11 is handled according to the peak information of acquisition can obtain intensity image, which characterizes reflectivity information.
By foregoing description it is found that due to multi-channel laser transmitter 121 and multichannel photodetection in the laser radar
The position of device 131 immobilizes, while using laser emitter 121 according to sequential time division emission laser pulse, photodetector
131 subchannels receive laser pulse echo-signal, therefore no longer need to use slip ring, do not have to carry out wireless power and wireless communication
Etc. function modules, the quantity for reducing signal processing module of high degree.
Further, the scan module 14 is multiple surface rotating mirror, and the multiple surface rotating mirror includes at least two reflectings surface, and every
A reflecting surface is parallel with the rotary shaft of the scan module.
Specifically, the multiple surface rotating mirror includes at least two reflectings surface, for ensureing the multiple surface rotating mirror in comprehensive rotation
The scanning to laser pulse or laser pulse echo-signal may be implemented during turning, each reflecting surface is during rotation
The multiple row pixel in visual field can be scanned.
Or, the scan module is multiple surface rotating mirror, the multiple surface rotating mirror includes at least two reflectings surface, and multiple described anti-
The angle penetrated between face and the rotary shaft of the scan module is distributed at arithmetic progression.
Specifically, it is assumed that the multiple surface rotating mirror includes N number of reflecting surface, each adjacent two reflecting surface with it is described
The difference of angle between rotary shaft is △ β, then the angle between h-th of reflecting surface (h=1~N) and the rotary shaft is β
(h)=(h-1) * △ β.
Wherein, △ β are determined according to laser emitter and photodetector in the field angle of vertical direction, are ensured adjacent
Scanning field of view between reflecting surface can be stitched together, and N times of laser radar can be extended using the scanning means of the structure
In the field angle of vertical direction.
It should be noted that the value needs of N carry out considering determination according to application scenarios.
By foregoing description it is found that by by the rotation of the multiple reflectings surface and the scan module in multiple surface rotating mirror
Angle between axis is distributed at arithmetic progression, you can expanded laser light radar is in the field angle of vertical direction, and this is simple in structure.
Further, as shown in figure 5, the laser radar further includes：Driving motor and angular encoder 15.
Wherein, the driving motor drives the scan module 14 to carry out rotation sweep according to the rotation control signal.
The angular encoder is used to obtain the rotation angle of the scan module 14 in real time, and the rotation angle is anti-
It is fed to the timing control and measurement module 11.
Specifically, the driving motor is mainly used for that the scan module 14 is driven to be rotated, often rotating 1/n weeks can be with
Scan a frame image.The timing control and measurement module 11 according to driving motor described in the rotation angle real-time control into
Row rotation.
It is arranged it should be noted that driving motor and angular encoder 15 can be integratedization, can also be two only
Vertical individual, then fixed by mechanical structure.
By foregoing description it is found that in embodiments of the present invention by the way that the driving motor and angular encoder 15 is arranged,
It realizes closed loop feedback control, the accuracy of measurement of laser radar can be improved.
Further, as shown in fig. 6, the laser radar further includes：Power management module 16.
Wherein, the power management module 16 is used to power for the laser radar.
Specifically, the power management module 16 is used to be powered for modules in the laser radar, ensure each
A module can work normally.
Based on the laser radar that the above embodiment of the present invention provides, below with 4 multichannel laser transmitters and 16 channel photoelectricity
Detector, laser emission frequency illustrate for being 20KHz.
As shown in fig. 7, the timing control and measurement module generate the Laser emission clock signal of four luminescence unit LD,
Four luminescence unit LD emit laser pulse with the frequency of 20KHz respectively, and are spaced 1us successively.
As shown in figure 8, the timing control and measurement module send out 4 Start signals, between 4 Start signals successively
It is spaced 1us, 4 Start signal control drive circuits modules drive four luminescence unit transmitting laser pulses successively.
When first emitting laser pulse positioned at the luminescence unit LD1 of the 1st transmission channel, the timing control and measurement module note
Start time is recorded, its hot spot is diffused in the regions a of visual field, the laser pulse echo-signal of the laser pulse after collimation lens
In the 1-4 receiving channels for exposing to photodetector behind the regions a1 of field of view of receiver, 4 road gates gate the 1st simultaneously
Road, i.e. the 1-4 receiving channels conducting of photodetector, obtain 4 road laser pulse echo-signals of 1-4 receiving channels, the
The laser pulse echo-signal is converted to current signal by 1-4 receiving channels, and trans-impedance amplifier converts the current signal
For voltage signal, moment discrimination circuit generates 4 road Stop signals according to the voltage signal, and determines the laser pulse echo
The arrival time of signal, peak holding circuit determine the peak value of the voltage signal according to the voltage signal.
In turn, the timing control and measurement module calculate between the two according to the start time and the arrival time
Time difference, handle to obtain range image according to the time difference, and intensity image can be obtained according to peak information processing, should
Intensity image characterizes reflectivity information.The range image and intensity image can be very good to react the 4 road laser pulse echo letter
Number the parameter informations such as level angle, vertical angle, detection range and reflected intensity.
Similarly, after being located at the luminescence unit LD2 transmitting laser pulses of the 2nd transmission channel, the 5-8 of photodetector is received
Channel conductive, the same 4 road laser pulse echo-signals for obtaining 5-8 receiving channels.
After the luminescence unit LD3 transmitting laser pulses of the 3rd transmission channel, the 9-12 receiving channels of photodetector
Conducting, the same 4 road laser pulse echo-signals for obtaining 9-12 receiving channels.
After the luminescence unit LD4 transmitting laser pulses of the 4th transmission channel, the 13-16 of photodetector, which is received, to be led to
Road is connected, and obtains 4 road laser pulse echo-signals of 13-16 receiving channels.
Assuming that the reflecting surface of scanning means is K, it is constantly heavy under the drive of driving motor in scanning means rotary course
The multiple above process, it is when a reflecting surface completes all scanning elements (driving motor rotates 360/K degree) in multiple reflectings surface, i.e., complete
At the scanning of a frame.
It should be noted that the maximum field of view angle of horizontal direction is determined by the number of scanning means reflecting surface, it is assumed that scanning
The reflecting surface of device is K, then horizontal direction field angle F≤360/K degree；The angular resolution R1 of horizontal direction is by luminescence unit
Tranmitting frequency J and the rotating speed L of motor determine：R1=120L/J；The resolution ratio R2 of vertical direction by vertical direction field angle G
It is determined with the number m of receiving channel：R2=G/m.
By foregoing description it is found that a kind of laser radar provided in an embodiment of the present invention passes through multi-path laser transmitter and more
The position of road photodetector immobilizes, and is realized simultaneously to the laser pulse and the laser arteries and veins by rotation sweep module
The scanning that echo-signal carries out horizontal direction is rushed, for the prior art that compares, it is no longer necessary to use slip ring, not have to carry out wireless
The function modules such as power supply and wireless communication, while using laser emitter according to sequential time division emission laser pulse, photodetection
Device subchannel receives laser pulse echo-signal, to reduce the quantity of signal processing module, at low cost, adjustment is convenient, knot
The advantages that structure is compact and is easy to volume production.
Also, it is only necessary to i signal processing modules can be realized to being measured while the signal of the roads m, the drop of high degree
The low quantity of signal processing function module, and then reduce cost.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weight
Point explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that article or equipment including a series of elements include not only those elements, but also
Including other elements that are not explicitly listed, or further include for this article or the intrinsic element of equipment.Do not having
In the case of more limitations, the element that is limited by sentence "including a ...", it is not excluded that in the article for including above-mentioned element
Or there is also other identical elements in equipment.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (9)
1. a kind of laser radar, which is characterized in that the laser radar includes：Timing control and measurement module, Laser emission mould
Block, laser pick-off module and scan module；
Wherein, the laser emitting module includes laser emitter, and the laser emitter includes n transmission channel, and n is just whole
Number, and there are one luminescence units for setting in each transmission channel；The laser pick-off module includes photodetector, described
Photodetector includes m receiving channel, and m is positive integer, and m=n*i, i are positive integer, the institute in each transmission channel
The corresponding i receiving channel of luminescence unit is stated, and each corresponding receiving channel of the luminescence unit is different；
The timing control and measurement module are for generating Laser emission clock signal, and the Laser emission clock signal is for controlling
The n processed luminescence units emit laser pulse successively；
The timing control and measurement module are additionally operable to generate laser pick-off clock signal, and the laser pick-off clock signal is used for
The receiving channel conducting of the luminescence unit corresponding i is controlled, to receive laser pulse echo-signal；
The timing control and measurement module are additionally operable to generate rotation control signal, and the rotation control signal is described for controlling
Scan module carries out rotation sweep；
The scan module is swept for carrying out horizontal direction to the laser pulse and the laser pulse echo-signal simultaneously
It retouches, wherein the rotary shaft for defining the scan module is vertical direction.
2. laser radar according to claim 1, which is characterized in that the laser emitting module further includes：Driving circuit
Module and collimation lens；
Wherein, the drive circuit module is according to described in Laser emission clock signal driving n transmission channels
Luminescence unit emits laser pulse successively；
The collimation lens to the laser pulse for carrying out collimation processing.
3. laser radar according to claim 1, which is characterized in that the laser pick-off module further includes：Receiving lens,
Trans-impedance amplifier, gate, moment discrimination circuit and peak holding circuit；
Wherein, the receiving lens are for receiving the laser pulse echo-signal, and it is corresponding to be transmitted to the luminescence unit
I receiving channels；
The gate is used to control the corresponding i of the luminescence unit reception according to the laser pick-off clock signal
Channel conductive；
The photodetector is used to the laser pulse echo-signal being converted to current signal；
The trans-impedance amplifier is used to the current signal being converted to voltage signal；
The moment discrimination circuit is used to determine the arrival time of the laser pulse echo-signal, institute according to the voltage signal
At the time of stating arrival time and characterize the laser radar and receive the laser pulse echo-signal；
The peak holding circuit is used to determine the peak value of the voltage signal according to the voltage signal.
4. laser radar according to claim 1, which is characterized in that the scan module is multiple surface rotating mirror, the multi-panel
Tilting mirror includes at least two reflectings surface, and each reflecting surface is parallel with the rotary shaft of the scan module.
5. laser radar according to claim 1, which is characterized in that the scan module is multiple surface rotating mirror, the multi-panel
Tilting mirror includes at least two reflectings surface, and the angle between multiple reflectings surface and the rotary shaft of the scan module is at equal difference
Ordered series of numbers is distributed.
6. laser radar according to claim 1, which is characterized in that the laser radar further includes：Driving motor and angle
Spend encoder；
Wherein, the driving motor drives the scan module to carry out rotation sweep according to the rotation control signal；
The angular encoder is used to obtain the rotation angle of the scan module in real time, and the rotation angle is fed back to institute
State timing control and measurement module.
7. laser radar according to claim 1, which is characterized in that the laser radar further includes：Power management module；
Wherein, the power management module is used to power for the laser radar.
8. laser radar according to claim 1, which is characterized in that the laser emitter is n-channel semiconductor laser
Device.
9. laser radar according to claim 1, which is characterized in that the photodetector is the APD photodetections of the channels m
Device.
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