CN110361715A - A kind of pulse coder, coding method and laser radar system - Google Patents
A kind of pulse coder, coding method and laser radar system Download PDFInfo
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- CN110361715A CN110361715A CN201910774175.0A CN201910774175A CN110361715A CN 110361715 A CN110361715 A CN 110361715A CN 201910774175 A CN201910774175 A CN 201910774175A CN 110361715 A CN110361715 A CN 110361715A
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The embodiment of the invention discloses a kind of pulse coder, coding method and laser radar systems.Wherein pulse coder includes coding unit and at least one transmitting unit；Coding unit is for generating multiple groups sequential coding signal；Transmitting unit is used to export multiple groups pulse train according to multiple groups sequential coding signal, and every group pulse sequence includes the first pulse and the second pulse；Wherein, in different group pulse sequences, the time interval between the first pulse and the second pulse is different.Pulse coder provided in an embodiment of the present invention emits two pulses every time, and each pulse can be assigned to higher energy, and capacity usage ratio is higher, it is not easy to the phenomenon that pulse-losing occurs；And the duration of pulse train does not need too long, and not will lead to the different pulses of same sequence, spatially the very big problem of distance occurs.
Description
Technical field
The present embodiments relate to laser radar technique more particularly to a kind of pulse coders, coding method and laser
Radar system.
Background technique
Laser radar be it is a kind of by laser come the system of the parameters such as the position of detecting objects, speed, when being typically based on
Between flight method realize measurement to object.
In the application process of laser radar, veiling glare how to be avoided extremely to close the interference of signal to measurement accuracy and accuracy
It is important.In the prior art, multiple pulses can be continuously emitted in each measurement, pulse is arranged with certain quantity and time interval
Sequence, the coding of identity can be identified by forming one, to improve interference free performance.Such as existing multiple-pulse coding scheme is each
Measurement needs to emit 3~5 pulses, and capacity usage ratio is lower；Due to hardware limitation, multiple-pulse coding make pulse train when
Between elongate, the different pulses of same sequence may spatially distance it is very big, and the energy of multiple-pulse coding single pulse is relatively low,
It is easily lost pulse.
Summary of the invention
The embodiment of the present invention provides a kind of pulse coder, coding method and laser radar system, pulse code dress
Higher energy can be assigned to by setting two pulses of transmitting, each pulse every time, and capacity usage ratio is higher, it is not easy to go out active
The phenomenon that pulse；And the duration of pulse train does not need too long, not will lead to the different pulses of same sequence in space
The very big problem of upper distance occurs.
In a first aspect, the embodiment of the present invention provides a kind of pulse coder, including coding unit and at least one hair
Penetrate unit；
The coding unit is for generating multiple groups sequential coding signal；
The transmitting unit is used for the sequential coding signal according to multiple groups, exports multiple groups pulse train, arteries and veins described in every group
Rushing sequence includes the first pulse and the second pulse；
Wherein, different to organize in the pulse train, the time interval between first pulse and second pulse is not
Together.
Optionally, the transmitting unit includes the first energy storage circuit, the second energy storage circuit and first laser device, and described the
The input terminal of one energy storage circuit and second energy storage circuit is connect with the coding unit, and output end swashs with described first
The connection of light device；
Energy needed for first energy storage circuit is used to provide output first pulse for the first laser device；
Energy needed for second energy storage circuit is used to provide output second pulse for the first laser device.
Optionally, the transmitting unit includes second laser and third laser；
The second laser is for exporting first pulse, and the third laser is for exporting the second pulse.
Optionally, first pulse is identical with the wavelength of second pulse, pulse width and impulse amplitude.
Optionally, first pulse is different with the wavelength of second pulse and/or pulse width is different.
Optionally, the group/cording quantity of the pulse train is N, in pulse train described in all groups, first pulse and
The minimum interval of second pulse is t1, maximum time interval t2, first arteries and veins of the difference group pulse train
It rushes and the time interval of second pulse isM times；
Wherein, N is the integer more than or equal to 2, and M is 1 to the integer between N-1.
Optionally, chronological order is exported by the pulse train, difference organizes the first arteries and veins described in the pulse train
The time interval of punching and second pulse increases in arithmetic progression or reduces in arithmetic progression.
Second aspect, the embodiment of the present invention also provide a kind of pulse code method, comprising:
Coding unit generates multiple groups sequential coding signal；
Transmitting unit sequential coding signal according to multiple groups exports multiple groups pulse train, pulse train packet described in every group
Include the first pulse and the second pulse；
Wherein, different to organize in the pulse train, the time interval between first pulse and second pulse is not
Together.
The third aspect, the embodiment of the present invention also provide a kind of laser radar system, compile including any one above-mentioned pulse
Code device, further includes:
Receiving unit, the receiving unit emits for receiving from the pulse coder, and is reflected by object
The pulse train of the receiving unit.
It optionally, further include processing unit；
The processing unit is for executing following steps:
The pulse sequence equal to prefixed time interval is judged whether there is according to the pulse train that the receiving unit receives
Column；
If so, when the pulse train is unique, using the pulse train as effective impulse sequence, and according to described
The flight time of effective impulse sequence calculates the distance of object.
Pulse coder provided in an embodiment of the present invention, including coding unit and at least one transmitting unit；Coding
Unit is for generating multiple groups sequential coding signal；Transmitting unit is used to export multiple groups pulse sequence according to multiple groups sequential coding signal
Column, every group pulse sequence include the first pulse and the second pulse；Wherein, in different group pulse sequences, the first pulse and the second arteries and veins
Time interval between punching is different.Generate the different sequential coding signal of multiple groups by coding unit, by transmitting unit according to
The output of sequential coding signal includes the pulse train of the first pulse and the second pulse, since each pulse train only includes that transmitting is single
Two pulses of member transmitting, it is ensured that each pulse energy with higher improves the utilization rate of energy, will not be because of pulse
The phenomenon that signal decaying generates pulse-losing in transmission process；And the duration of pulse train does not need too long, will not lead
The different pulses spatially very big problem generation of distance for causing same sequence, for can effectively improve when laser radar system
Anti-interference ability, and precision with higher.
Detailed description of the invention
Fig. 1 is a kind of pulse schematic diagram of multiple-pulse coding schemes generation in the prior art；
Fig. 2 is a kind of structural schematic diagram of pulse coder provided in an embodiment of the present invention；
Fig. 3 is the pulse schematic diagram that a kind of pulse coder provided in an embodiment of the present invention generates；
Fig. 4 is the structural schematic diagram of another pulse coder provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another pulse coder provided in an embodiment of the present invention；
Fig. 6 is the pulse schematic diagram that another pulse coder provided in an embodiment of the present invention generates；
Fig. 7 is the pulse schematic diagram that another pulse coder provided in an embodiment of the present invention generates；
Fig. 8 is a kind of flow diagram of pulse code method provided in an embodiment of the present invention；
Fig. 9 is a kind of structural schematic diagram of laser radar system provided in an embodiment of the present invention；
Figure 10 is the echometric measurement result schematic diagram of third group pulse sequence in Fig. 7；
Figure 11 is workflow schematic diagram when a kind of laser radar system provided in an embodiment of the present invention is used for ranging.
Specific embodiment
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 limiting 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.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.It should be noted that the nouns of locality such as "upper", "lower" described in the embodiment of the present invention, "left", "right" are with attached drawing institute
The angle shown should not be construed as the restriction to the embodiment of the present invention come what is be described.Furthermore within a context, it is also necessary to understand
, when mentioning an element and being formed on "above" or "below" another element, another can not only be formed directly into
Perhaps "lower" can also be indirectly formed by intermediary element in another element "upper" or "lower" for element "upper".Term " first ",
" second " etc. is used for description purposes only, and is not offered as any sequence, quantity or importance, and is used only to distinguish different groups
At part.For the ordinary skill in the art, above-mentioned term in the present invention specific can be understood with concrete condition
Meaning.
Since laser radar is using more and more extensive, the interference problem of laser radar is more and more prominent.In the prior art,
A kind of mode is to emit and receive laser beam by the way of multiple-pulse coding, i.e., includes multiple swashing in the signal emitted every time
Light pulse.Fig. 1 show a kind of pulse schematic diagram of multiple-pulse coding schemes generation in the prior art.With reference to Fig. 1, every group of arteries and veins
Rushing sequence includes four pulses, and the time interval between two neighboring pulse in set of pulses sequence is t0, when detection passes through
The echo for detecting pulse train, improves the anti-interference ability of laser radar.But there are pulse trains to continue for multiple-pulse coding mode
Time is long, the energy of single pulse is relatively low, is easily lost the problems such as pulse.
To solve the above-mentioned problems, the embodiment of the present invention provides a kind of twin pulse code mode.Fig. 2 show of the invention real
A kind of structural schematic diagram of pulse coder of example offer is applied, Fig. 3 show a kind of pulse provided in an embodiment of the present invention and compiles
The pulse schematic diagram that code device generates.Referring to figs. 2 and 3, pulse coder provided in this embodiment includes coding unit 10
And at least one transmitting unit 20；Coding unit 10 is for generating multiple groups sequential coding signal；Transmitting unit 20 is used for basis
Multiple groups sequential coding signal, exports multiple groups pulse train, and every group pulse sequence includes the first pulse 21 and the second pulse 31；Its
In, in different group pulse sequences, the time interval between the first pulse 21 and the second pulse 31 is different.
Wherein, for coding unit 10 for generating multiple groups sequential coding signal, every group of sequential coding signal includes being exported
The information such as emission time, pulse duration, pulse strength, the interpulse period of two pulse signals control transmitting unit
20 the first pulses 21 of output and the second pulse 31.In the specific implementation, coding unit 10 can select field programmable gate array
(Field Programmable Gate Array, FPGA) provides sequential coding signal, control to transmitting unit 20 by FPGA
Impulse ejection processed.Transmitting unit 20 can be pulse laser, such as can be semiconductor laser, optical fiber laser etc., it uses
The first pulse 21 and the second pulse 31 are exported under the control in coding unit 10.
A transmitting unit 20 is shown it should be noted that being merely exemplary in Fig. 2, in other embodiments, transmitting
Unit 20 can be to be multiple, to be applied in multi-line laser radar system.It is merely exemplary in Fig. 3 that three group pulse sequences are shown,
Every group pulse sequence all includes two pulses, and the time interval in different group pulse sequences between two pulses is different, each
Kind of time interval is equivalent to a kind of code identification number, when being used for laser radar, such as when ranging, by two pulses of measurement when
Between interval can determine pulse train.
The technical solution of the present embodiment generates the different sequential coding signal of multiple groups by coding unit, single by transmitting
Member exports the pulse train including the first pulse and the second pulse according to sequential coding signal, since each pulse train only includes
Two pulses of transmitting unit transmitting, it is ensured that each pulse energy with higher improves the utilization rate of energy, Bu Huiyin
For the phenomenon that signal decaying generates pulse-losing in pulse transmission process；And the duration of pulse train do not need it is too long,
The different pulses spatially very big problem generation of distance that not will lead to same sequence, can have when for laser radar system
Effect improves anti-interference ability, and precision with higher.
Based on the above technical solution, Fig. 4 show another pulse coder provided in an embodiment of the present invention
Structural schematic diagram.With reference to Fig. 4, optionally, transmitting unit 20 include the first energy storage circuit 211, the second energy storage circuit 212 and
The input terminal of first laser device 213, the first energy storage circuit 211 and the second energy storage circuit 212 is connect with coding unit 10, output
End is connect with first laser device 213；First energy storage circuit 211 is used to provide output the first pulse institute for first laser device 213
The energy needed；Energy needed for second energy storage circuit 212 is used to provide the second pulse of output for first laser device 213.
It is understood that the first energy storage circuit 211 and the second energy storage circuit 212 save transmitting arteries and veins before impulse ejection
Energy needed for punching, then discharges according to sequential coding signal, and first laser device 213 is made to export pulse.It is independent by being arranged
First energy storage circuit 211 and the second energy storage circuit 212, it is ensured that each pulse has enough peak energies, effectively prevent
Pulse missing.In the specific implementation, the first energy storage circuit 211 and the second energy storage circuit 212 can be identical structure, specific electricity
The line structure embodiment of the present invention is not construed as limiting.
Fig. 5 show the structural schematic diagram of another pulse coder provided in an embodiment of the present invention.It, can with reference to Fig. 5
Choosing, transmitting unit 20 includes second laser 216 and third laser 217；Second laser 216 is for exporting the first arteries and veins
Punching, third laser 217 is for exporting the second pulse；Optionally, transmitting unit further includes third energy storage circuit 214 and the 4th
The input terminal of energy storage circuit 215, third energy storage circuit 214 is connect with coding unit 10, and output end and second laser 216 connect
It connects, energy needed for third energy storage circuit 214 is used to provide the first pulse of output for second laser 216；4th energy storage circuit
215 input terminal is connect with coding unit 10, and output end is connect with third laser 217, and the 4th energy storage circuit 215 is used to be the
Energy needed for three lasers 217 provide the second pulse of output.
It is understood that transmitting unit 20 can also include two lasers, driven respectively with independent energy storage circuit,
Keep two pulses mutually indepedent, the wavelength that two lasers can also be arranged is different, realizes wavelength modulation, increases pulse code dress
The flexibility and stability set.
It should be noted that transmitting unit 20 shown in fig. 5 includes that two energy storage circuits are only illustrative, in other realities
It applies in example, second laser 216 and third laser 217 can share the same energy storage circuit, and when specific implementation can basis
Actual demand flexible choice, it is not limited in the embodiment of the present invention.
Optionally, the first pulse is identical with the wavelength of the second pulse, pulse width and impulse amplitude.
It is understood that when transmitting unit includes first laser device, the ginseng of the first energy storage circuit and the second energy storage circuit
When the driving signal of two pulses is identical in the identical and pulse code of number, the wavelength of the first pulse and the second pulse, pulse width
Impulse amplitude is identical.When transmitting unit includes second laser and third laser, and second laser and third laser
When device parameter is identical, coding unit can be identical to transmitting unit application condition, only signals different in time,
So that the first pulse is identical with the wavelength of the second pulse, pulse width and impulse amplitude, to simplify coding mode.
Optionally, the first pulse is different with the wavelength of the second pulse and/or pulse width is different.
It is understood that may have two noise letters when two pulses are identical in a pulse train
Number time interval be exactly equal to the time intervals of two pulses in set of pulses sequence and lead to crosstalk, it is anti-in order to further increase
Jamming performance can carry out wavelength to pulse train and/or pulse width is modulated, such as the wavelength of the first pulse and the second pulse
Difference, is added WDM device in reception device, and pulse width difference of first pulse with the second pulse also can be set,
Wavelength and the pulse width that the first pulse and the second pulse can also be arranged are all different, and the dimension of signal modulation is more, anti-interference
Performance is better, in the specific implementation can be according to Surveying Actual Precision and cost flexible choice.
Optionally, the group/cording quantity of pulse train is N, and in all group pulse sequences, the first pulse and the second pulse are most
Small time interval is t1, maximum time interval t2, the time interval of the first pulse and the second pulse of different group pulse sequences isM times；Wherein, N is the integer more than or equal to 2, and M is 1 to the integer between N-1.
It is understood that the time interval between two pulses is typically subject to the limitation in hardware circuit reaction time,
For example when using a certain circuit arrangement, two interpulse periods have to be larger than 10ns, and otherwise hardware not can guarantee output
Two impulse amplitudes are consistent.In the present embodiment, be by make the time interval difference of two pulses in every group pulse sequence come
Additional coding information, as long as theoretically recipient's measurement accuracy can guarantee, adjusting any one time difference can be generated
One newly encoded.And in fact, for example select FPGA as coding unit when, when the operating clock cycle of FPGA will limit each
The minimum value of interval variation.If the FPGA clock cycle is 4ns, time interval adjustment each time all must be 4ns
Integral multiple.If the FPGA clock cycle is 1ns, adjustment is all the integral multiple of 1ns every time.Again by practical application, arteries and veins
The total length of punching is restricted (interval time too long two pulses may be made to get in different targets on remote), so permitting
Perhaps step value is smaller, and the group/cording quantity that can be used is more, the minimum step time etc. of each exomonental time interval
In FPGA minimum clock cycle, it is convenient for measuring calculating.
Illustratively, with N=14, t1=8ns, t2For=60ns, at this timeTwin pulse code can group
At 14 groups of codings.Fig. 6 show the pulse schematic diagram that another pulse coder provided in an embodiment of the present invention generates.Fig. 6
In show schematically three group pulse sequences, wherein in the first group pulse sequence between the first pulse 21 and the time of the second pulse 31
It is divided into 8ns, the time interval of the first pulse 21 and the second pulse 31 is 20ns, third group pulse sequence in the second group pulse sequence
In the time interval of the first pulse 21 and the second pulse 31 be 16ns, when it is implemented, can flexible choice according to the actual situation
The coding mode of pulse train.
Optionally, chronological order, the first pulse and the second pulse in different group pulse sequences are exported by pulse train
Time interval in arithmetic progression increase or in arithmetic progression reduce.
Illustratively, continue by taking the citing of above-described embodiment as an example, Fig. 7 show it is provided in an embodiment of the present invention another
The pulse schematic diagram that pulse coder generates.With reference to Fig. 7, in later group pulse train the first pulse 21 and the second pulse 31 it
Between time interval than previous group pulse train time interval more than 4ns later group arteries and veins also can be set in other embodiments
The time interval rushed in sequence between the first pulse and the second pulse is 4ns fewer than the time interval of previous group pulse train, specifically
It can flexible choice according to demand when implementation.
It should be noted that Fig. 6 and the pulse width of the first pulse 21 shown in Fig. 7 and the second pulse 31 are only identical
Schematically, it is not limitation of the invention, different pulse widths can be set in other embodiments.
Fig. 8 show a kind of flow diagram of pulse code method provided in an embodiment of the present invention, and this method can be by
Pulse coder provided by the above embodiment executes, and specifically comprises the following steps:
Step S110, coding unit generates multiple groups sequential coding signal.
Step S120, transmitting unit exports multiple groups pulse train, every group pulse sequence packet according to multiple groups sequential coding signal
Include the first pulse and the second pulse.
Wherein, in different group pulse sequences, the time interval between the first pulse and the second pulse is different.
It is understood that coding unit includes wanting for generating multiple groups sequential coding signal, every group of sequential coding signal
The information such as emission time, pulse duration, pulse strength, the interpulse period of two pulse signals of output, control hair
It penetrates unit and exports the first pulse and the second pulse.In the specific implementation, coding unit can select FPGA, by FPGA to transmitting
Unit provides sequential coding signal, controls impulse ejection.Transmitting unit can be pulse laser, such as can be semiconductor and swash
Light device, optical fiber laser etc., for exporting the first pulse and the second pulse under the control of coding unit.
The technical solution of the present embodiment generates the different sequential coding signal of multiple groups by coding unit, single by transmitting
Member exports the pulse train including the first pulse and the second pulse according to sequential coding signal, since each pulse train only includes
Two pulses of transmitting unit transmitting, it is ensured that each pulse energy with higher improves the utilization rate of energy, Bu Huiyin
For the phenomenon that signal decaying generates pulse-losing in pulse transmission process；And the duration of pulse train do not need it is too long,
The different pulses spatially very big problem generation of distance that not will lead to same sequence, can have when for laser radar system
Effect improves anti-interference ability, and precision with higher.
Based on the above technical solution, optionally, the wavelength of the first pulse and the second pulse, pulse width and arteries and veins
It is identical to rush amplitude.
It is understood that when transmitting unit includes first laser device, the ginseng of the first energy storage circuit and the second energy storage circuit
When the driving signal of two pulses is identical in the identical and pulse code of number, the wavelength of the first pulse and the second pulse, pulse width
Impulse amplitude is identical.When transmitting unit includes second laser and third laser, and second laser and third laser
When device parameter is identical, coding unit can be identical to transmitting unit application condition, only signals different in time,
So that the first pulse is identical with the wavelength of the second pulse, pulse width and impulse amplitude, to simplify coding mode.
Optionally, the first pulse is different with the wavelength of the second pulse and/or pulse width is different.
It is understood that may have two noise letters when two pulses are identical in a pulse train
Number time interval be exactly equal to the time intervals of two pulses in set of pulses sequence and lead to crosstalk, it is anti-in order to further increase
Jamming performance can carry out wavelength to pulse train and/or pulse width is modulated, such as the wavelength of the first pulse and the second pulse
Difference, is added WDM device in reception device, and pulse width difference of first pulse with the second pulse also can be set,
Wavelength and the pulse width that the first pulse and the second pulse can also be arranged are all different, and the dimension of signal modulation is more, anti-interference
Performance is better, in the specific implementation can be according to Surveying Actual Precision and cost flexible choice.
Optionally, the group/cording quantity of pulse train is N, and in all group pulse sequences, the first pulse and the second pulse are most
Small time interval is t1, maximum time interval t2, the time interval of the first pulse and the second pulse of different group pulse sequences isM times；Wherein, N is the integer more than or equal to 2, and M is 1 to the integer between N-1.
It is understood that the time interval between two pulses is typically subject to the limitation in hardware circuit reaction time,
For example when using a certain circuit arrangement, two interpulse periods have to be larger than 10ns, and otherwise hardware not can guarantee output
Two impulse amplitudes are consistent.In the present embodiment, be by make the time interval difference of two pulses in every group pulse sequence come
Additional coding information, as long as theoretically recipient's measurement accuracy can guarantee, adjusting any one time difference can be generated
One newly encoded.And in fact, for example select FPGA as coding unit when, when the operating clock cycle of FPGA will limit each
The minimum value of interval variation.If the FPGA clock cycle is 4ns, time interval adjustment each time all must be 4ns
Integral multiple.If the FPGA clock cycle is 1ns, adjustment is all the integral multiple of 1ns every time.Again by practical application, arteries and veins
The total length of punching is restricted (interval time too long two pulses may be made to get in different targets on remote), so permitting
Perhaps step value is smaller, and the group/cording quantity that can be used is more.
Optionally, chronological order, the first pulse and the second pulse in different group pulse sequences are exported by pulse train
Time interval in arithmetic progression increase or in arithmetic progression reduce.
It is understood that the time interval of the first pulse and the second pulse can be preset in different group pulse sequences
Random alignment in coding mode, can also equal-difference arrangement in chronological order, when specific implementation can flexibly select according to the actual situation
It selects.
Fig. 9 show a kind of structural schematic diagram of laser radar system provided in an embodiment of the present invention.With reference to Fig. 9, this reality
The laser radar system for applying example offer includes any one pulse coder 1 provided by the above embodiment, further includes: is received single
Member 2, receiving unit 2 emit for receiving from pulse coder 1, and the pulse sequence of receiving unit 2 is reflected by object 3
Column.
Illustratively, with continued reference to Fig. 9, the calculation processing of coding unit 10 and echo-signal is realized with the same FPGA,
In the present embodiment by taking transmitting unit 20 includes second laser 216 and third laser 217 as an example.In pulse coder 1
Second laser 216 and third laser 217 can be exported by optical fiber 101, then by bundling device 102 close beam after pass through
Light emitting channel 103 (such as may include collimation lens) emits pulse train to object 3；Receiving unit 2 includes receiving
Channel 201 (such as may include plus lens), photoelectric sensor 202, amplifier 203 and analog-digital converter 204, through target
The echo-signal of reflection converges on photoelectric sensor 202 through light-receiving channel 201, and optical signal is converted into electric signal through amplifier
203 input analog-to-digital converters 204, analog-digital converter 204 convert a signal into digital signal and are supplied to FPGA processing, analog-to-digital conversion
The sampling of device 204 and algorithm can control the time resolution of each pulse within 1ns, so being easily discriminated difference
The pulse of time interval；Figure 10 show the echometric measurement result schematic diagram of third group pulse sequence in Fig. 7, and FPGA passes through measurement
Whether the time interval between echo impulse is equal to transmitting pulse interval (16ns) to distinguish true echo and interference signal.
In one embodiment, laser radar system can be multi-line laser radar system, at this time its may include multiple groups such as
Transmit-Receive Unit shown in Fig. 9, the light emitting channel in each group Transmit-Receive Unit are scanned different horizontal planes.The receipts of difference group
Its coding unit can be respectively set in bill member, a coding unit can also be shared with multiple Transmit-Receive Units.
In one embodiment, optionally, above-mentioned laser radar system further includes processing unit.Processing unit is used for basis and connects
The collected pulse train of unit is received to be handled.Specifically, processing unit is according to the pulse train that receiving unit receives
It is no to there is the pulse train for being equal to prefixed time interval；If so, when pulse train is unique, using pulse train as effective arteries and veins
Sequence is rushed, and calculates the distance of object according to the flight time of effective impulse sequence.If it is not, then abandoning this group of current arteries and veins
Sequence is rushed, and the lower set of pulses sequence of receiving unit acquisition is judged.Wherein, pulse train, which uniquely refers to, receives
In pulse train, the time interval of two neighboring pulse was equal in transmitting pulse train between the first pulse and the time of the second pulse
Every situation only occur once.
Illustratively, Figure 11 show a kind of work of the laser radar system provided in an embodiment of the present invention for ranging when
Flow diagram carries out pulse train coding and echo signal processing by FPGA in the present embodiment, passes through FPGA determination first
Then the time interval of pulse train emits the first pulse and the second pulse according to timing, when pulse train is reflected by object
Be received unit receive when, receiving unit carry out signal sampling, and be transferred to FPGA calculate received signal in whether having time
It is spaced effective impulse sequence identical with the time interval of pulse train of transmitting, if so, judging effective impulse sequence whether only
One, if so, calculating object distance and exporting as a result, if not detecting effective impulse sequence or effective impulse sequence not only
One, then it repeats aforementioned FPGA and determines the time interval of pulse train, emits the workflows such as the first pulse and the second pulse according to timing
Journey.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to 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 by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of pulse coder, which is characterized in that including coding unit and at least one transmitting unit；
The coding unit is for generating multiple groups sequential coding signal；
The transmitting unit is used for the sequential coding signal according to multiple groups, exports multiple groups pulse train, pulse sequence described in every group
Column include the first pulse and the second pulse；
Wherein, different to organize in the pulse train, the time interval between first pulse and second pulse is different.
2. pulse coder according to claim 1, which is characterized in that the transmitting unit includes the first accumulation of energy electricity
The input terminal of road, the second energy storage circuit and first laser device, first energy storage circuit and second energy storage circuit with
The coding unit connection, output end are connect with the first laser device；
Energy needed for first energy storage circuit is used to provide output first pulse for the first laser device；
Energy needed for second energy storage circuit is used to provide output second pulse for the first laser device.
3. pulse coder according to claim 1, which is characterized in that the transmitting unit include second laser with
And third laser；
The second laser is for exporting first pulse, and the third laser is for exporting the second pulse.
4. pulse coder according to claim 2 or 3, which is characterized in that first pulse and second arteries and veins
The wavelength of punching, pulse width and impulse amplitude are identical.
5. pulse coder according to claim 3, which is characterized in that first pulse and second pulse
Wavelength is different and/or pulse width is different.
6. pulse coder according to claim 1, which is characterized in that the group/cording quantity of the pulse train is N, institute
Have in the group pulse train, the minimum interval of first pulse and second pulse is t1, maximum time interval
For t2, the time interval that difference organizes first pulse and second pulses of the pulse trains isM times；
Wherein, N is the integer more than or equal to 2, and M is 1 to the integer between N-1.
7. pulse coder according to claim 6, which is characterized in that suitable by pulse train output time order and function
Sequence, difference organizes the first pulse described in the pulse train and the time interval of second pulse increases in arithmetic progression or is in
Arithmetic progression reduces.
8. a kind of pulse code method characterized by comprising
Coding unit generates multiple groups sequential coding signal；
Transmitting unit sequential coding signal according to multiple groups, exports multiple groups pulse train, and pulse train described in every group includes the
One pulse and the second pulse；
Wherein, different to organize in the pulse train, the time interval between first pulse and second pulse is different.
9. a kind of laser radar system, which is characterized in that including the pulse coder as described in claim 1~7 is any, also
Include:
Receiving unit, the receiving unit emit for receiving from the pulse coder, and are reflected by object described
The pulse train of receiving unit.
10. laser radar system according to claim 9, which is characterized in that further include processing unit；The processing unit
For executing following steps:
The pulse train equal to prefixed time interval is judged whether there is according to the pulse train that the receiving unit receives；
If so, when the pulse train is unique, using the pulse train as effective impulse sequence, and according to described effective
The flight time of pulse train calculates the distance of object.
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| CN110927734A (en) * | 2019-11-24 | 2020-03-27 | 深圳奥锐达科技有限公司 | Laser radar system and anti-interference method thereof |
| CN111427052A (en) * | 2020-06-09 | 2020-07-17 | 深圳市汇顶科技股份有限公司 | Ranging method based on flight time and related ranging system |
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