CN109188394A - Laser radar circuit system and laser radar - Google Patents
Laser radar circuit system and laser radar Download PDFInfo
- Publication number
- CN109188394A CN109188394A CN201811388408.5A CN201811388408A CN109188394A CN 109188394 A CN109188394 A CN 109188394A CN 201811388408 A CN201811388408 A CN 201811388408A CN 109188394 A CN109188394 A CN 109188394A
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- 238000007781 pre-processing Methods 0.000 claims abstract description 65
- 238000001514 detection method Methods 0.000 claims description 10
- 238000007493 shaping process Methods 0.000 claims description 10
- 238000000465 moulding Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
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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
A kind of laser radar circuit system and laser radar are disclosed in the embodiment of the present invention, circuit system includes: emission control module, for controlling the transmitting unit of laser radar；Control module is received, for controlling the receiving unit of laser radar；Scan control module, for controlling the galvanometer of laser radar；Preprocessing module, including multiple preprocessing branch, the reflection laser that each preprocessing branch is used to receive the receiving unit pre-process；Data processing module is connected with the preprocessing module, for handling pretreated data, obtains ranging information.The preprocessing module of circuit system of the invention includes multiple preprocessing branch, the reflection laser that receiving unit receives can be handled simultaneously with multidiameter delay, to improve efficiency, it is fast to handle data speed, furthermore, the circuit system of the embodiment of the present invention includes various control module, but integrated level is high, small in size.
Description
Technical field
The present invention relates to circuit field, in particular to a kind of laser radar circuit system and laser radar.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
The main transmitting unit of laser radar, receiving unit and processing unit, transmitting unit are used to emit laser beam, receive
Unit is used to receive the reflected beams, and processing unit handles the reflected beams received, and therefrom obtains target correlation letter
Breath.The above-mentioned functional unit of laser radar is by circuit control, but laser radar interlock circuit in the prior art is all
Original part is separated, integrated level is very low, power consumption is big；It is logical to be not suitable for integrated multipath laser detection, and data volume is big, invalid data is more, right
The processing capacity of rear end ranging logic part requires height, causes processing speed slower.
Circuit in the prior art is also unable to satisfy the demand of laser radar.
Summary of the invention
A kind of laser radar circuit system and laser radar are provided in the embodiment of the present invention, processing speed is fast, integrated level
Height, it is small in size.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
On the one hand, a kind of laser radar circuit system is provided, comprising:
Emission control module, for controlling the transmitting unit of laser radar；
Control module is received, for controlling the receiving unit of laser radar；
Scan control module, for controlling the galvanometer of laser radar；
Preprocessing module, including multiple preprocessing branch, each preprocessing branch is for connecing the receiving unit
The reflection laser received is pre-processed；
Data processing module is connected with the preprocessing module, for handling pretreated data, is surveyed
Away from information.
Optionally, the transmitting unit of the emission control module control laser radar, comprising:
Control interval, the power of the transmitting unit transmitting laser；
Control the transmitting unit fills energy.
Optionally, the receiving unit for receiving control module control laser radar, comprising:
One or more receiving units are selected to receive reflection laser from multiple receiving units of the laser radar.
Optionally, the reception control module is also used to:
Control the bias of the receiving unit；
Control the gain of the receiving unit.
Optionally, each preprocessing branch is connected with a receiving unit；And/or
Multiple each preprocessing branch are connected with each receiving unit；And/or
Each preprocessing branch is connected with multiple receiving units.
Optionally, the preprocessing branch includes:
Amplifier, for amplifying the analog echo signal of the receiving unit output；
Analog-digital converter, for converting digital echo signal for the amplified analog echo signal of the amplifier；
Pretreatment unit, for being pre-processed to the digital echo signal.
Optionally, the pretreatment unit includes:
Filter unit, for being filtered to the digital echo signal；
Shaping unit, for filtered digital echo signal shaping；
Unit is corrected, for carrying out baseline calibration to the digital echo signal after shaping；
Compensating unit, for carrying out digit time gain compensation to the digital echo signal after baseline calibration；
Detection unit, for carrying out detection to the digital echo signal after digit time gain compensation；
Arbitration unit, for being arbitrated to the digital signal after detection.
Optionally, the galvanometer of the scan control module control laser radar, comprising:
The scanning of the galvanometer is adjusted according to the ranging data that data processing module obtains.
Optionally, the emission control module, reception control module and the control of scan control module synchronization.
Second aspect provides a kind of laser radar, comprising:
Transmitting unit, for emitting shoot laser；
Receiving unit, for receiving reflection laser, the reflection laser is the laser after shoot laser is reflected；
Galvanometer, for changing the direction of the shoot laser；
Emission control module, for controlling the transmitting unit；
Control module is received, for controlling the receiving unit；
Scan control module, for controlling the galvanometer；
Preprocessing module, including multiple preprocessing branch, each preprocessing branch is for connecing the receiving unit
The reflection laser received is pre-processed；
Data processing module is connected with the preprocessing module, for handling pretreated data, is surveyed
Away from information.
A kind of laser radar circuit system and laser radar are disclosed in the embodiment of the present invention, circuit system includes: hair
Control module is penetrated, for controlling the transmitting unit of laser radar；Control module is received, for controlling the reception list of laser radar
Member；Scan control module, for controlling the galvanometer of laser radar；Preprocessing module, including multiple preprocessing branch, it is described each
The reflection laser that preprocessing branch is used to receive the receiving unit pre-processes；Data processing module, and it is described pre-
Processing module is connected, and for handling pretreated data, obtains ranging information.The pre- place of circuit system of the invention
Managing module includes multiple preprocessing branch, the reflection laser that receiving unit receives can be handled simultaneously with multidiameter delay, to mention
High efficiency, processing data speed is fast, in addition, the circuit system of the embodiment of the present invention includes various control module, but integrated level
Height, it is small in size.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the schematic diagram of the laser radar circuit system of the embodiment of the present invention；
Fig. 2 show the schematic diagram of the preprocessing branch of the embodiment of the present invention.
Specific embodiment
Following examples of the present invention provide a kind of laser radar circuit system and laser radar, and integrated level is higher, processing
Data speed is fast, high-efficient.
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
Whole description, 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.
Fig. 1 show the schematic diagram of the laser radar circuit system of the embodiment of the present invention, as shown in Figure 1, the laser thunder
Include: up to circuit system
Emission control module 110, for controlling the transmitting unit of laser radar；
Control module 120 is received, for controlling the receiving unit of laser radar；
Scan control module 130, for controlling the galvanometer of laser radar；
Preprocessing module 140, including multiple preprocessing branch, each preprocessing branch are used for the receiving unit
The reflection laser received is pre-processed；
Data processing module 150 is connected with the preprocessing module, for handling pretreated data, obtains
Obtain ranging information.
In the embodiment of the present invention, the emission control module 110 controls the transmitting unit of laser radar, comprising:
Control interval, the power of the transmitting unit transmitting laser；
Control the transmitting unit fills energy.
The interval of transmitting laser, power all can control, and can be sent out by interval, the power etc. of control transmitting laser
The shoot laser after coding is penetrated, the interference free performance of laser radar is improved；In addition, filling for control transmitting unit can also be with
Control the power etc. of shoot laser.
In the embodiment of the present invention, emission control module 100 includes but is not limited to the control of laser radar transmitting unit
Situation described above can also control starting, closing of transmitting unit etc., and details are not described herein.
In the embodiment of the present invention, the receiving unit for receiving control module 120 and controlling laser radar, comprising:
One or more receiving units are selected to receive reflection laser from multiple receiving units of the laser radar.
In the embodiment of the present invention, the reception control module 120 is also used to:
Control the bias of the receiving unit；
Control the gain of the receiving unit.
The field range of laser radar is larger, and single receiver possibly can not cover all field ranges, so laser
The receiving unit of radar, which can be, to be spliced by multiple receivers.In addition, in laser radar, it is right in order to improve serious forgiveness
In identical field range, it is also possible to be received using multiple receivers；In addition, using multiple receivers in some laser radars
It is corresponding to receive reflection laser and subsequent processing, it can also be improved the accuracy rate of laser radar.
Therefore, in embodiments of the present invention, receiving control module 120 can select according to demand in some period
Reflection laser is received by one or more receiving units.
In the embodiment of the present invention, preprocessing module 140 includes multiple preprocessing branch, each preprocessing branch and one
A receiving unit is connected；And/or
Multiple each preprocessing branch are connected with each receiving unit；And/or
Each preprocessing branch is connected with multiple receiving units.
Preprocessing branch is to carry out pretreated, therefore preprocessing branch and receiving unit to the data of receiving unit output
Connection type and receiving unit connecting method, working method etc. it is related, therefore connection type is also multiplicity.
Fig. 2 show the schematic diagram of the preprocessing branch of the embodiment of the present invention, as shown in Fig. 2, the preprocessing branch packet
It includes:
Amplifier 210, for amplifying the analog echo signal of the receiving unit output；
Analog-digital converter 220, for converting digital echo signal for the amplified analog echo signal of the amplifier；
Pretreatment unit 230, for being pre-processed to the digital echo signal.
As shown in Fig. 2, in the embodiment of the present invention, the pretreatment unit 230 includes:
Filter unit 231, for being filtered to the digital echo signal；
Shaping unit 232, for filtered digital echo signal shaping；
Unit 233 is corrected, for carrying out baseline calibration to the digital echo signal after shaping；
Compensating unit 234, for carrying out digit time gain compensation to the digital echo signal after baseline calibration；
Detection unit 235, for carrying out detection to the digital echo signal after digit time gain compensation；
Arbitration unit 236, for being arbitrated to the digital signal after detection.
3 preprocessing branch are shown in Fig. 2.
In the embodiment of the present invention, pretreatment unit 230 may include above-mentioned all functional units, or may include its middle part
Shaping unit 232 can not had or not have other function unit by dividing in functional unit, such as pretreatment unit, no longer superfluous herein
It states.
In the embodiment of the present invention, the galvanometer of the scan control module control laser radar, comprising:
The scanning of the galvanometer is adjusted according to the ranging data that data processing module obtains.
Laser radar is according to the scanning speed of the adjustable galvanometer of the ranging data currently obtained, scanning angle, scanning model
It encloses, scanning density etc.；Laser radar can also be according to the ranging data and previous scan period that currently obtain or preceding several
The comparison between ranging data obtained in scan period, to adjust galvanometer；Laser radar can also be according to the survey currently obtained
Galvanometer is adjusted compared between default ranging data away from data.As it can be seen that control of the scan control module to laser radar galvanometer
It makes and can be closed-loop control, opened loop control or open loop, the control that closed loop combines, details are not described herein for concrete mode.
In the embodiment of the present invention, the emission control module receives control module and the control of scan control module synchronization.
The embodiment of the invention provides a kind of laser radar circuit systems, comprising: emission control module, for controlling laser
The transmitting unit of radar；Control module is received, for controlling the receiving unit of laser radar；Scan control module, for controlling
The galvanometer of laser radar；Preprocessing module, including multiple preprocessing branch, each preprocessing branch are used for the reception
The reflection laser that unit receives is pre-processed；Data processing module is connected with the preprocessing module, for pretreatment
Data afterwards are handled, and ranging information is obtained.The preprocessing module of circuit system of the invention includes multiple preprocessing branch,
The reflection laser that receiving unit receives can be handled simultaneously with multidiameter delay, to improve efficiency, processing data speed is fast, this
Outside, the circuit system of the embodiment of the present invention includes various control module, but integrated level is high, small in size.
The embodiment of the invention also provides a kind of laser radars, comprising:
Transmitting unit, for emitting shoot laser；
Receiving unit, for receiving reflection laser, the reflection laser is the laser after shoot laser is reflected；
Galvanometer, for changing the direction of the shoot laser；
Emission control module, for controlling the transmitting unit；
Control module is received, for controlling the receiving unit；
Scan control module, for controlling the galvanometer；
Preprocessing module, including multiple preprocessing branch, each preprocessing branch is for connecing the receiving unit
The reflection laser received is pre-processed；
Data processing module is connected with the preprocessing module, for handling pretreated data, is surveyed
Away from information.
A kind of laser radar circuit system and laser radar are disclosed in the embodiment of the present invention, circuit system includes: hair
Control module is penetrated, for controlling the transmitting unit of laser radar；Control module is received, for controlling the reception list of laser radar
Member；Scan control module, for controlling the galvanometer of laser radar；Preprocessing module, including multiple preprocessing branch, it is described each
The reflection laser that preprocessing branch is used to receive the receiving unit pre-processes；Data processing module, and it is described pre-
Processing module is connected, and for handling pretreated data, obtains ranging information.The pre- place of circuit system of the invention
Managing module includes multiple preprocessing branch, the reflection laser that receiving unit receives can be handled simultaneously with multidiameter delay, to mention
High efficiency, processing data speed is fast, in addition, the circuit system of the embodiment of the present invention includes various control module, but integrated level
Height, it is small in size.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to it by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on this understanding, the technical solution sheet in the embodiment of the present invention
The part that contributes to existing technology can be embodied in the form of software products in other words in matter, which produces
Product can store in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disk, CD etc., including some instructions are used so that computer equipment (can be
People's computer, server or network equipment etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of laser radar circuit system characterized by comprising
Emission control module, for controlling the transmitting unit of laser radar；
Control module is received, for controlling the receiving unit of laser radar；
Scan control module, for controlling the galvanometer of laser radar；
Preprocessing module, including multiple preprocessing branch, each preprocessing branch is for receiving the receiving unit
Reflection laser pre-processed；
Data processing module is connected with the preprocessing module, for handling pretreated data, obtains ranging letter
Breath.
2. the system as claimed in claim 1, which is characterized in that the transmitting list of the emission control module control laser radar
Member, comprising:
Control interval, the power of the transmitting unit transmitting laser；
Control the transmitting unit fills energy.
3. the system as claimed in claim 1, which is characterized in that the reception list for receiving control module control laser radar
Member, comprising:
One or more receiving units are selected to receive reflection laser from multiple receiving units of the laser radar.
4. system as claimed in claim 3, which is characterized in that the reception control module is also used to:
Control the bias of the receiving unit；
Control the gain of the receiving unit.
5. system as described in any one of claims 1 to 3, which is characterized in that described in each preprocessing branch and one
Receiving unit is connected；And/or
Multiple each preprocessing branch are connected with each receiving unit；And/or
Each preprocessing branch is connected with multiple receiving units.
6. system as claimed in claim 5, which is characterized in that the preprocessing branch includes:
Amplifier, for amplifying the analog echo signal of the receiving unit output；
Analog-digital converter, for converting digital echo signal for the amplified analog echo signal of the amplifier；
Pretreatment unit, for being pre-processed to the digital echo signal.
7. system as claimed in claim 6, which is characterized in that the pretreatment unit includes:
Filter unit, for being filtered to the digital echo signal；
Shaping unit, for filtered digital echo signal shaping；
Unit is corrected, for carrying out baseline calibration to the digital echo signal after shaping；
Compensating unit, for carrying out digit time gain compensation to the digital echo signal after baseline calibration；
Detection unit, for carrying out detection to the digital echo signal after digit time gain compensation；
Arbitration unit, for being arbitrated to the digital signal after detection.
8. the system as claimed in claim 1, which is characterized in that the galvanometer of the scan control module control laser radar, packet
It includes:
The scanning of the galvanometer is adjusted according to the ranging data that data processing module obtains.
9. the system as claimed in claim 1, which is characterized in that the emission control module receives control module and scanning control
Molding block synchronously control.
10. a kind of laser radar characterized by comprising
Transmitting unit, for emitting shoot laser；
Receiving unit, for receiving reflection laser, the reflection laser is the laser after shoot laser is reflected；
Galvanometer, for changing the direction of the shoot laser；
Emission control module, for controlling the transmitting unit；
Control module is received, for controlling the receiving unit；
Scan control module, for controlling the galvanometer；
Preprocessing module, including multiple preprocessing branch, each preprocessing branch is for receiving the receiving unit
Reflection laser pre-processed；
Data processing module is connected with the preprocessing module, for handling pretreated data, obtains ranging letter
Breath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811388408.5A CN109188394A (en) | 2018-11-21 | 2018-11-21 | Laser radar circuit system and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811388408.5A CN109188394A (en) | 2018-11-21 | 2018-11-21 | Laser radar circuit system and laser radar |
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| CN113567952A (en) * | 2021-02-04 | 2021-10-29 | 北京一径科技有限公司 | Laser radar control method and device, electronic device and storage medium |
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