CN110488250A - Gao Zhongying laser, coded laser light R-T unit and automobile for laser radar - Google Patents
Gao Zhongying laser, coded laser light R-T unit and automobile for laser radar Download PDFInfo
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- CN110488250A CN110488250A CN201910590587.9A CN201910590587A CN110488250A CN 110488250 A CN110488250 A CN 110488250A CN 201910590587 A CN201910590587 A CN 201910590587A CN 110488250 A CN110488250 A CN 110488250A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to laser radar technique fields, aim to solve the problem that the problem that the detection resolution of existing laser radar system is low, detection result accuracy is low, thus, the present invention provides a kind of Gao Zhongying lasers, coded laser light R-T unit and automobile for laser radar, wherein Gao Zhongying laser includes multiple low Repetition Frequency Laser devices, and each low Repetition Frequency Laser device can emit laser pulse independently of one another；Bundling device can close the multipath laser pulse of multiple low Repetition Frequency Laser devices transmittings after beam with Gao Zhongying pulsed laser output all the way；Control module is connect with multiple low Repetition Frequency Laser devices respectively, for controlling the pulse-triggered time of each low Repetition Frequency Laser device, to make at least two low Repetition Frequency Laser devices with setting time interval transmitted in sequence laser pulse within a triggering period.Gao Zhongying laser provided by the invention, can greatly improve the detection resolution of laser radar system and the accuracy of detection result.
Description
Technical field
The present invention relates to laser radar technique fields, and in particular to a kind of Gao Zhongying laser for laser radar is compiled
Code laser transmitting-receiving device and automobile.
Background technique
Laser radar system is the abbreviation of laser acquisition and range-measurement system, is a kind of radar for using laser as radiation source
System is the product that laser technology is combined with Radar Technology.There are many kinds for laser, such as optical fiber laser, semiconductor laser
Device, solid state laser etc..The working principle of laser radar is: to the objective emission laser acquisition signal (laser beam) to be detected
And receive from the reflected echo-signal of target, by the way that detectable signal is compared with echo-signal, after making proper treatment,
It is achieved with the relevant information of target, such as distance, orientation, height, speed, posture, even the shape parameter of target.
Semiconductor laser is because of the advantages such as its quality is small, price is low, it has also become swashs in radar system using most one kind
Photo-emission source, but it is constrained to the limitation of the factors such as self structure, the luminous frequency of existing semiconductor laser is limited, so that
Using the limited amount of the sensing point of the single-point radar system of semiconductor laser, so that the detection for influencing radar system is differentiated
Rate.In order to improve the detection resolution of single-point radar system, multiple laser emitting sources can be set in the radar system, with shape
At multiple spot radar system.Identical laser emitting source is used for convenience of integrated and control, existing multiple spot radar system, although
Control is simple, but the wave band as used in laser emitting source is identical, meeting during receives echo-signal of multiple spot radar system
There is the problem of signal interference, consequence is exactly that will appear many miscellaneous points on point cloud data, influences multiple spot radar system detection knot
The accuracy of fruit.
Correspondingly, this field needs a kind of new Gao Zhongying laser and coded laser light R-T unit for laser radar
To solve the above problems.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve the detection resolution of existing laser radar system
The low problem of low, detection result accuracy, it is sharp that the first aspect of the present invention provides a kind of Gao Zhongying for laser radar
Light device, the Gao Zhongying laser include: multiple low Repetition Frequency Laser devices, and each low Repetition Frequency Laser device can emit sharp independently of one another
Light pulse；Bundling device can close the multipath laser pulse of the multiple low Repetition Frequency Laser device transmitting after beam with Gao Chong all the way
Frequency laser pulse output；Control module is connect with the multiple low Repetition Frequency Laser device respectively, is swashed for controlling each low repetition
The pulse-triggered time of light device, to make at least two low Repetition Frequency Laser devices between setting time within a triggering period
Every transmitted in sequence laser pulse, wherein a triggering period refers to first transmitting laser pulse in the Gao Zhongying laser
Low Repetition Frequency Laser device emits the time interval of laser pulse twice, in the time interval, the low Repetition Frequency Laser of all unlatchings
Device emits a laser pulse.
In the optimal technical scheme of above-mentioned Gao Zhongying laser, the multiple low Repetition Frequency Laser device pulse having the same
Period, the triggering period are identical as the pulse period.
In the optimal technical scheme of above-mentioned Gao Zhongying laser, the setting time interval is determined by following formula:
Wherein, Δ t indicates the setting time interval of two low Repetition Frequency Laser device transmitted in sequence laser pulses；T indicates one
Trigger the period；N indicates the number of the low Repetition Frequency Laser device.
In the optimal technical scheme of above-mentioned Gao Zhongying laser, the bundling device is optical-fiber bundling device.
In the optimal technical scheme of above-mentioned Gao Zhongying laser, the bundling device be it is multiple, including level-one bundling device and
Second level bundling device, the level-one bundling device are used to carry out multipath laser pulse primary conjunction beam processing and therefore form conjunction Shu Jiguang
Pulse, the second level bundling device is used for the conjunctions beam laser pulse or the conjunction beam laser pulse and at least laser pulse all the way
It carries out after secondary conjunction beam is handled with Gao Zhongying pulsed laser output all the way.
The second aspect of the present invention additionally provides a kind of coded laser light R-T unit for laser radar, the coded laser light
R-T unit includes: signal transmitter unit comprising Gao Zhongying laser described in any of the above-described technical solution, the Gao Chong
Frequency laser is used for objective emission laser acquisition signal；Signal receiving unit is used to receive and be returned by what the target reflected
Wave signal；Coding unit is connect with the signal transmitter unit and the signal receiving unit, for respectively to the laser
Detectable signal and the echo-signal are encoded；Processing unit is connect, for comparing laser acquisition with the coding unit
The encoded radio of signal and the encoded radio of echo-signal, and in the volume of the encoded radio of the laser acquisition signal and the echo-signal
The echo-signal is decoded in the case of code value is identical.
In the optimal technical scheme of above-mentioned coded laser light R-T unit, the coding unit includes detectable signal coding mould
Block and echo-signal coding module, the detectable signal coding module is for encoding the detectable signal, the echo
Signal coding module is for encoding the echo-signal.
In the optimal technical scheme of above-mentioned coded laser light R-T unit, the encoded radio of the laser acquisition signal and described
The digit of the encoded radio of echo-signal is identical and is greater than the number for the low Repetition Frequency Laser device opened.
In the optimal technical scheme of above-mentioned coded laser light R-T unit, the code period of the coding unit with it is described low
The pulse period of Repetition Frequency Laser device is identical.
The third aspect of the present invention additionally provides a kind of automobile, which includes laser radar, which at least wraps
Include coded laser light R-T unit described in an any of the above-described technical solution.
Gao Zhongying laser provided by the invention, by carrying out the multipath laser pulse of multiple low Repetition Frequency Laser device outputs
It closes after beam is handled with pulsed laser output all the way, i.e., multiple laser emitting sources is closed into one laser emitting source of formation after beam, and lead to
It crosses and controls pulse-triggered time of each low Repetition Frequency Laser device to increase the Gao Zhongying laser in the arteries and veins of unit time internal trigger
Number is rushed, so that the repetition rate of the laser pulse of the laser emitting source is improved, when using the Gao Zhongying laser as Laser emission
After source is applied to single-point laser radar system, in the imaging process of the single-point laser radar system, due to improving laser hair
The pulse recurrence frequency for penetrating source can obtain that is, within the unit time equivalent to increase the quantity of sensing point in the unit time
More echoes from target, to realize the same of the multiple performances such as laser radar system scanning resolution, imaging frame rate
Step is promoted, and greatly improves the richness of the detection information of the laser radar system.
Further, there is the low Repetition Frequency Laser device in identical pulse period by selecting, it can select same model
Low Repetition Frequency Laser device, can be convenient the system integration and control, can simplify control program；By by the touching of the Gao Zhongying laser
The hair period is arranged to identical as the pulse period of low Repetition Frequency Laser device, is adjusted in the pulse period to low Repetition Frequency Laser device
When, the triggering period of the Gao Zhongying laser can also correspondingly realize quick adjustment.
Further, above-mentioned setting time interval is determined based on the number of low Repetition Frequency Laser device, it can be farthest
Increase the repetition rate of the Gao Zhongying laser, farthest improves the detection resolution of laser radar system.
Further, it by the way that multistage bundling device is arranged, realizes with can be convenient and multiple low Repetition Frequency Laser devices is grouped
Control, such as when needing to close certain several low Repetition Frequency Laser device in use by phased manner, by by these low repetitions
Laser carries out closing beam processing separately through a level-one bundling device, can facilitate and control to these low Repetition Frequency Laser devices
System.
Provided by the present invention for the coded laser light R-T unit of laser radar, it is provided with Gao Zhongying laser above-mentioned,
During the Gao Zhongying laser emits laser pulse, by the pulse for changing some or certain several low Repetition Frequency Laser devices
Triggered time can obtain the detectable signal of different pulse trains, then by compiling the detectable signal and echo-signal
The encoded radio of acquisition is matched after code, echo-signal is decoded again in the case of two kinds of encoded radios are identical, thus
The one-to-one correspondence for guaranteeing detectable signal and echo-signal avoids the echo-signal to mistake from interpreting, to effectively improve this
The accuracy of laser radar system detection result.
Further, by the way that the detectable signal coding module for being exclusively used in encoding detectable signal is respectively set, and
It is exclusively used in the echo-signal coding module encoded to echo-signal, the probability of coding error can be further decreased.
Further, in an encoding process, by by the encoded radio of the encoded radio of laser acquisition signal and echo-signal
Digit is arranged to the treatment effeciency of identical, both to can be improved matching process, by the way that the digit of encoded radio to be set greater than
The laser for emitting different pulse trains using the same Gao Zhongying laser may be implemented in the number for the low Repetition Frequency Laser device opened
Pulse, the detectable signal for facilitating user selection signal difference big and easy to identify.
Further, the code period of coding unit is identical as the pulse period of low Repetition Frequency Laser device, in this way to low heavy
After the pulse period of frequency laser is adjusted, code period can also be correspondingly adjusted, to facilitate subsequent matched
Journey.
Detailed description of the invention
It is of the invention for the Gao Zhongying laser of laser radar and for laser radar to describe with reference to the accompanying drawings
Coded laser light R-T unit, in attached drawing:
Fig. 1 is the schematic diagram of Gao Zhongying laser provided in an embodiment of the present invention, and the first of bundling device is shown
Connection type；
Fig. 2 is the schematic diagram of Gao Zhongying laser provided in an embodiment of the present invention, and second of bundling device is shown
Connection type；
Fig. 3 is each low Repetition Frequency Laser device in Gao Zhongying laser provided in an embodiment of the present invention within two triggering periods
Emit the time diagram of laser pulse respectively；
Fig. 4 is showing for the laser pulse that Gao Zhongying laser provided in an embodiment of the present invention exports within two triggering periods
It is intended to；
Fig. 5 is the schematic diagram of coded laser light R-T unit provided in an embodiment of the present invention；
Fig. 6, which is that detectable signal is corresponding with echo-signal in coded laser light R-T unit provided in an embodiment of the present invention, to close
The situation for only opening a low Repetition Frequency Laser device is shown in system；
Fig. 7 is that coded laser light R-T unit provided in an embodiment of the present invention emits within a triggering period and receive first
The laser pulse of each low Repetition Frequency Laser device when kind detectable signal；
Fig. 8 is that the coded laser light R-T unit in Fig. 7 emits and receive the first detectable signal within a triggering period
When corresponding encoded radio；
Fig. 9 is that coded laser light R-T unit provided in an embodiment of the present invention emits within a triggering period and receive second
The laser pulse of each low Repetition Frequency Laser device when kind detectable signal；
Figure 10 is that the coded laser light R-T unit in Fig. 9 emits within a triggering period and receive second of detectable signal
When corresponding encoded radio；
Reference signs list:
1, Gao Zhongying laser；10, laser group；101, the first low Repetition Frequency Laser device；102, the second low Repetition Frequency Laser device；
103, the low Repetition Frequency Laser device of third；104, the 4th low Repetition Frequency Laser device；11, bundling device；110, level-one bundling device；1110, first
Bundling device；1101, the second bundling device；111, second level bundling device；2, coded laser light R-T unit；20, signal transmitter unit；200,
Detectable signal pulse；21, coding unit；22, processing unit；23, signal receiving unit；230, echo-signal pulse；3, target.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.Although following
Embodiment be illustrated by taking semiconductor laser as an example, but this be not it is restrictive, technical solution of the present invention is also
Suitable for other kinds of laser, such as optical fiber laser, the type of laser should not constituted to protection of the invention
The limitation of range.
In some instances, the working principle for laser well known to those skilled in the art and composition, reception echo
The working principle and composition of the receiver of signal, and the working principle of coding and decoding are not described in detail, in order to highlight
Purport of the invention.
It should be noted that in the description of the present invention, term " first ", " second ", " third ", " the 4th " are only used for retouching
Purpose is stated, relative importance is not understood to indicate or imply.In the description of the present invention, unless otherwise specific regulation and
It limits, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to detachable
Connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, centre can also be passed through
Medium is indirectly connected, and can be the connection inside two elements.To those skilled in the art, it can manage as the case may be
Solve the concrete meaning of above-mentioned term in the present invention.
It concentrates below and some concepts occurred in the present invention is explained: in Gao Zhongying laser and low Repetition Frequency Laser device
" repetition ", refer to the exomonental repetition rate of laser, i.e. the Gao Zhongying laser abbreviation that is high repetition laser,
Low Repetition Frequency Laser device is the abbreviation of low-repetition-frequency laser；Pulse period refers to that each low Repetition Frequency Laser device continuously emits two
Time interval between laser pulse；The triggering period refers to the low Repetition Frequency Laser of first transmitting laser pulse in Gao Zhongying laser
Device emits the time interval of laser pulse twice, and in the time interval, the low Repetition Frequency Laser device of all unlatchings emits once
Laser pulse；Code period refers to the time span for carrying out first encoding to detectable signal and obtaining encoded radio；Single-point radar system
System, which refers to, only has a laser emitting source in the radar system；Multiple spot radar system, which refers to, has multiple laser to send out in the radar system
Penetrate source.
Also it should be strongly noted that about Gao Zhongying laser and low Repetition Frequency Laser device, there is no specific in industry
Repetition rate numerical limits are exactly Gao Zhongying there is no being clearly more than how many repetition rates, also not clearly lower than how many
Repetition rate be exactly low repetition, therefore, the present invention in, be between " Gao Zhongying " and " low repetition " in contrast, due to
Invention outputs that repetition rate is double to swash after beam processing by close the laser pulse of multiple common lasers transmittings
Light pulse, compared with original each common lasers, the repetition rate of laser of the invention is improved, because of referred to herein as Gao Chong
Frequency laser, common lasers are correspondingly known as low Repetition Frequency Laser device；About pulse train, in the present invention, pulse-width
It being not considered, different pulse train refers mainly in the sequence, and pulse number and/or interpulse period length are different, wherein
One pulse train refers to the pulse arrangements situation in a triggering period.
Detection resolution to solve the problems, such as existing laser radar that background technique is pointed out is low, and the embodiment of the present invention mentions
A kind of Gao Zhongying laser is supplied, which includes multiple low Repetition Frequency Laser devices, bundling device and control module.It is each
Low Repetition Frequency Laser device is connect with control module, and under the control of control module, each low Repetition Frequency Laser device can be independently of one another
Emit laser pulse.With Gao Zhongying all the way after the multipath laser pulse conjunction beam that bundling device is used to emit multiple low Repetition Frequency Laser devices
Pulsed laser output, one of them low Repetition Frequency Laser device emit laser pulse all the way.Control module is for controlling each low repetition
The pulse-triggered time of laser, and the timing of each low Repetition Frequency Laser device transmitting laser pulse of control, work can also be controlled
The switch state of single low Repetition Frequency Laser device during making, to make at least two low Repetition Frequency Laser devices within a triggering period
With setting time interval transmitted in sequence laser pulse.
Gao Zhongying laser provided by the invention, by carrying out the multipath laser pulse of multiple low Repetition Frequency Laser device outputs
It closes after beam is handled with pulsed laser output all the way, i.e., multiple laser emitting sources is closed into one laser emitting source of formation after beam, and lead to
It crosses and controls pulse-triggered time of each low Repetition Frequency Laser device to increase the Gao Zhongying laser in the arteries and veins of unit time internal trigger
Number is rushed, so that the repetition rate of the laser pulse of the laser emitting source is improved, when using the Gao Zhongying laser as Laser emission
After source is applied to single-point laser radar system, in the imaging process of the single-point laser radar system, due to improving laser hair
The pulse recurrence frequency for penetrating source can obtain that is, within the unit time equivalent to increase the quantity of sensing point in the unit time
More echoes from target, to realize the same of the multiple performances such as laser radar system scanning resolution, imaging frame rate
Step is promoted, and greatly improves the richness of the laser radar system detection information.
About the connection of low Repetition Frequency Laser device and control module, a control can be individually connected for single low Repetition Frequency Laser device
Molding block, or multiple low Repetition Frequency Laser device concentrations are connected in a control module.
About bundling device, there are many types of bundling device, such as space bundling device, optical-fiber bundling device.In the present embodiment, close
Beam device uses optical-fiber bundling device.Optical-fiber bundling device is the optical fibre device prepared on the basis of fused biconical taper fiber optic bundle, it be by
A branch of optical fiber peels off coat, is then arranged together in a certain way, and heating is allowed to melt in high temperature, while to Xiang Fanfang
To stretching optical fiber beam, optical fiber heating region is melted into melting cone fiber beam.Laser conduction process in the present embodiment passes through light
Fibre is realized.Bundling device forms Gao Zhongying laser arteries and veins all the way after the multipath laser pulse of multiple low Repetition Frequency Laser device transmittings is closed beam
Punching, and by optical fiber output, so that the Gao Zhongying laser is can be used as a laser emitting source and exists.
The Gao Zhongying laser for laser radar of the invention is described in detail referring to Fig. 1-Fig. 4.Fig. 1 is
The first connection type of bundling device is shown in the schematic diagram of Gao Zhongying laser provided in an embodiment of the present invention；Fig. 2 is
Second of connection type of bundling device is shown in the schematic diagram of Gao Zhongying laser provided in an embodiment of the present invention；Fig. 3 is
Each low Repetition Frequency Laser device emits laser within two triggering periods respectively in Gao Zhongying laser provided in an embodiment of the present invention
The time diagram of pulse；Fig. 4 swashs for what Gao Zhongying laser provided in an embodiment of the present invention exported within two triggering periods
The schematic diagram of light pulse.
Specifically, referring to Fig.1, Gao Zhongying laser 1 provided in this embodiment includes 4 low Repetition Frequency Laser devices, a conjunction
Beam device 11 and a control module (not shown).
Specifically, 4 low Repetition Frequency Laser devices are connect with control module respectively, which can be to each low Repetition Frequency Laser
The pulse-triggered time of device is individually controlled, specifically can fluorescent lifetime for the first time to each low Repetition Frequency Laser device, sequence of light,
The luminous time interval etc. of pulse period length, each low Repetition Frequency Laser device is controlled.Under the control of the control module, respectively
A low Repetition Frequency Laser device can emit laser pulse independently of one another, not influence mutually between each low Repetition Frequency Laser device.Close beam
Device 11 uses optical-fiber bundling device, and each single laser pulse is defeated with laser pulse all the way after optical-fiber bundling device carries out closing beam processing
Out, so that the Gao Zhongying laser 1 can be used as single laser emitting source come using.
Alternatively, close beam technology difficulty to reduce, and facilitate it is subsequent laser pulse sequence is modulated, can be with
Low Repetition Frequency Laser device is divided into multiple groups, each group carries out conjunction beam using multiple level-one bundling devices 110, then uses a second level again
Bundling device 111 to level-one bundling device 110 treated close Shu Jiguang carry out further close beam processing.Referring to shown in Fig. 2, low repetition
Laser has 4, constitutes a laser group 10, specifically includes the first low Repetition Frequency Laser device 101, the second low Repetition Frequency Laser device
102, the low Repetition Frequency Laser device 103 of third and the 4th low Repetition Frequency Laser device 104 are low heavy by the first low Repetition Frequency Laser device 101 and second
Frequency laser 102 carries out closing beam processing by the first bundling device 1110 in level-one bundling device 110, by the low Repetition Frequency Laser device of third
103 and the 4th low Repetition Frequency Laser device 104 carry out closing beam processing by the second bundling device 1101 in level-one bundling device 110, then
It is carried out by the conjunction Shu Jiguang for closing Shu Jiguang and the second bundling device 1101 that second level bundling device 111 exports the first bundling device 1110
Pass through optical fiber output after closing beam processing again, the Gao Zhongying laser 1 is made finally only to export Gao Zhongying laser all the way.
Referring to Fig. 3 and Fig. 4, the first low Repetition Frequency Laser device 101, the second low Repetition Frequency Laser device 102, the low Repetition Frequency Laser device of third
103 and the 4th low Repetition Frequency Laser device 104 pulse period having the same, the pulse period of each low Repetition Frequency Laser device is T, in figure
Show the pulse train of 2 pulse periods.Referring to Fig. 4, the triggering period of Gao Zhongying laser 1 and single low Repetition Frequency Laser device
Pulse period it is identical, be also T, within the period that length is T, by controlling each low Repetition Frequency Laser device between setting time
Every Δ t transmitted in sequence laser pulse, the purpose of the double growth of repetition rate can be realized.Such as Fig. 4, first triggering period
Interior, after the first low Repetition Frequency Laser device 101 triggers laser pulse for the first time, the time of the second low 102 lag Δ t of Repetition Frequency Laser device is for the first time
Laser pulse is triggered, the low Repetition Frequency Laser device 103 of third touches for the first time relative to the time of the second low 102 lag Δ t of Repetition Frequency Laser device
Send out laser pulse, the 4th low Repetition Frequency Laser device 104 similarly, in this way, at the same time in length, i.e. in a pulse period T,
Gao Zhongying laser 1 of the invention, which is realized, only triggers a laser pulse promotion to 4 laser pulses of triggering, arteries and veins by original
Rushing repetition rate has become 4 times of pulse recurrence frequency of single low Repetition Frequency Laser device, and repetition rate has obtained significantly being promoted.
Further, setting time interval is determined by following formula:
Wherein, Δ t indicates the setting time interval of two low Repetition Frequency Laser device transmitted in sequence laser pulses；T indicates one
Trigger the period；N indicates the number of low Repetition Frequency Laser device.About triggering period, as seen from Figure 4, the Gao Zhongying laser 1
Pulse period has actually had changed into T/4, and in order to distinguish with the pulse period of single low Repetition Frequency Laser device, the present invention is logical
The triggering period is spent 1 period of Gao Zhongying laser to be described, under usual situation, the triggering period of Gao Zhongying laser 1 with
The pulse period of single low Repetition Frequency Laser device is identical.
To improve the detection resolution of laser radar system and expanding investigative range, multiple spot radar system can be used, is
Solve the problems, such as that signal interference easily occurs for existing multiple spot radar system, the embodiment of the present invention also provides a kind of for laser radar
Coded laser light R-T unit, coded laser light R-T unit provided by the invention is specifically retouched referring to Fig. 5-Figure 10
It states, Fig. 5 is the schematic diagram of coded laser light R-T unit provided in an embodiment of the present invention；Fig. 6 is volume provided in an embodiment of the present invention
The corresponding relationship of detectable signal and echo-signal in code laser transmitting-receiving device, is shown only one low Repetition Frequency Laser device of unlatching
Situation；Fig. 7 is that coded laser light R-T unit provided in an embodiment of the present invention emits within a triggering period and receive first
The laser pulse of each low Repetition Frequency Laser device when kind detectable signal；Fig. 8 is that the coded laser light R-T unit in Fig. 7 is triggered at one
Emit and receive corresponding encoded radio when the first detectable signal in period；Fig. 9 is coded laser light provided in an embodiment of the present invention
R-T unit triggers the laser pulse of each low Repetition Frequency Laser device when emitting in the period and receiving second of detectable signal at one；
Figure 10 is that the coded laser light R-T unit in Fig. 9 emits within a triggering period and receives corresponding when second of detectable signal
Encoded radio.
With reference first to Fig. 5, coded laser light R-T unit 2 provided in an embodiment of the present invention includes: signal transmitter unit 20, letter
Number receiving unit 23, coding unit 21 and processing unit 22, signal transmitter unit 20 are connect with coding unit 21, and signal receives single
Member 23 is connect with coding unit 21, and coding unit 21 is connect with processing unit 22.
Signal transmitter unit 20 is used for 3 emission detection signal of target, in the present embodiment, before signal transmitter unit 20 includes
Two Gao Zhongying lasers 1 for stating embodiment offer, are respectively defined as the first Gao Zhongying laser and the second Gao Zhongying laser,
Two Gao Zhongying laser can emit laser acquisition signal to target 3 simultaneously.
Signal receiving unit 23 is for receiving the echo-signal reflected by target 3.Signal receiving unit 23 may include two
A receiving submodule is respectively used to receive the echo letter of the echo-signal of the first Gao Zhongying laser and the second Gao Zhongying laser
Number.Referring to shown in Fig. 6, the impulse amplitude of detectable signal pulse 200 is higher than the impulse amplitude of echo-signal pulse 230, and signal connects
Time lag of echo-signal pulse 230 that unit 23 receives is received in detectable signal pulse 200, echo-signal pulse 230
Pulse width is less than the pulse width of detectable signal pulse 200.It is understood that such situation is only exemplary, for
Different detection targets 3, since the motion state of target 3, material etc. factor are not necessarily identical, detectable signal and echo-signal
Also it can have a certain difference.
Coding unit 21 is for respectively encoding laser acquisition signal and echo-signal.Specifically, since detection is believed
Having time is poor number between echo-signal, therefore can be realized simultaneously with one and same coding module to the coding of detectable signal and right
The coding of echo-signal.Preferably, which includes detectable signal coding module and echo-signal coding module, detection
For encoding to detectable signal, echo-signal coding module is used to encode echo-signal Signal coding module, this
Sample is in charge of detectable signal coding using different coding modules and echo-signal encodes, and can be effectively reduced the general of coding error
Rate.Further, the code period of coding unit 21 is identical as the triggering period of Gao Zhongying laser 1, so that code period energy
It is adjusted correspondingly with the variation of the pulse period of low Repetition Frequency Laser device.
The process encoded in the embodiment of the present invention is described in detail referring to Fig. 7-Figure 10.
Referring to Fig. 7, Fig. 7 is the feelings that first Gao Zhongying laser emits the first detectable signal in signal transmitter unit 20
Shape.There are 4 low Repetition Frequency Laser devices to open in the Gao Zhongying laser.Within a triggering period, 4 time intervals are triggered altogether
The identical laser pulse of length, if the triggering cycle T is divided into 8 sections, the time span in each section is T/8, then
Corresponding coding rule has the segment of laser pulse to be encoded to 1, no laser pulse referring to Fig. 8 using binary coding rule
Segment be encoded to 0, then within the triggering period, the encoded radio of the first detectable signal is 11110000, the position of encoded radio
Number is 8.
The cataloged procedure of echo-signal is described below.With continued reference to Fig. 8, within a triggering period, detection letter
Number reach target 3 after reflected by target 3, form echo-signal as shown in Figure 8, i.e. the lesser pulse of impulse amplitude in Fig. 8
Sequence.It should be noted that detectable signal and echo-signal are shown on a time shaft Fig. 8 by comparison for convenience.From
As can be seen that the encoded radio after echo-signal coding is 11110000 in figure, the digit of encoded radio is 8.
It is the feelings that second Gao Zhongying laser emits second of detectable signal in signal transmitter unit 20 referring to Fig. 9, Fig. 9
Shape.Also 4 low Repetition Frequency Laser devices open in the Gao Zhongying laser.Within a triggering period, 4 laser arteries and veins are triggered altogether
It rushes, the time interval length between fraction of laser light pulse is different.The triggering period is divided into 8 sections, each section
Length is T/8, corresponding coding rule referring to Fig.1 0, identical as the binary coding rule used in Fig. 8, there is laser pulse
Segment is encoded to 1, and the segment of no laser pulse is encoded to 0, then within the triggering period, the encoded radio of detectable signal is
11010100, the digit of encoded radio is 8, and correspondingly, the encoded radio of echo-signal is 11010100, and the digit of encoded radio is 8
Position.As it can be seen that encoded radio is not identical under two different triggering modes.
It is understood that Fig. 7-Figure 10 applies also for the low Repetition Frequency Laser device of other quantity, for example 6,8,12
Deng in this in the case of quantity, the digit of encoded radio can be performed in accordance with increase, and Fig. 7 can be understood as in use process
Only open wherein 4 low Repetition Frequency Laser devices.
After receiving echo-signal, need 22 to judge whether received echo-signal is to correspondence through the processing unit
Laser emitting source correct feedback.Referring to Fig. 5, processing unit 22 is connect with coding unit 21, for comparing laser acquisition letter
Number encoded radio and echo-signal encoded radio, and it is identical in the encoded radio of laser acquisition signal and the encoded radio of echo-signal
Echo-signal is decoded under situation.Specifically, detectable signal coding module and echo-signal coding module are respectively and at this
It manages unit 22 to connect, within a triggering period, processing unit 22 is in the encoded radio and echo-signal for getting detectable signal
After encoded radio, two encoded radios are matched, in the case where successful match, processing is decoded to corresponding echo-signal,
To obtain the information relevant to target 3 of echo-signal carrying.For example, signal receiving unit 23 has received encoded radio point simultaneously
Not Wei 11110000 and 11010100 echo-signal, during matched with the encoded radio of detectable signal, if matching not at
Function is not decoded the echo-signal of the coding then, only in the encoded radio of detectable signal and the encoded radio of echo-signal one
Just echo-signal is decoded in the case where cause, to avoid signal interference, to improve the accuracy of detection result.
In some preferred embodiments, the digit of the encoded radio of the encoded radio and echo-signal of laser acquisition signal is identical
And it is greater than the number for the low Repetition Frequency Laser device opened.Referring to Fig. 8 and Figure 10, the number of the low Repetition Frequency Laser device of unlatching is 4, is swashed
The digit of the encoded radio of the encoded radio and echo-signal of light detecting signal is 8.Under usual situation, low Repetition Frequency Laser device is complete
Open state, as long as guaranteeing that having code value in the encoded radio in a triggering period is 0 situation, in order to encode with others
Value distinguishes.
It will be appreciated by persons skilled in the art that can also only be arranged one in a coded laser light R-T unit 2
Gao Zhongying laser 1 constructs multiple spot radar system by the way that multiple coded laser light R-T units 2 are arranged in a radar system
System.
Finally, the automobile includes laser radar system above-mentioned, and the laser radar is at least the present invention also provides a kind of automobile
Including coded laser light R-T unit 2 described in an any of the above-described technical solution, i.e., the automobile is at least provided with a Gao Chong
Frequency laser 1 improves the detection resolution of the radar system, and improves the accuracy of detection result.Laser radar is used in vapour
To the detection process of the barrier in each orientation of automobile in vehicle automatic Pilot.
It will be appreciated by persons skilled in the art that the number of above-mentioned low Repetition Frequency Laser device, the number of bundling device 11, and
The number etc. of the Gao Zhongying laser 1 configured in laser radar is exemplary, and the specific quantity that configures can according to need
It is selected, the quantity of each device should not constitute the limitation to protection scope of the present invention.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (10)
1. a kind of Gao Zhongying laser for laser radar, which is characterized in that the Gao Zhongying laser includes:
Multiple low Repetition Frequency Laser devices, each low Repetition Frequency Laser device can emit laser pulse independently of one another；
Bundling device is swashed after the multipath laser pulse of the multiple low Repetition Frequency Laser device transmitting can be closed to beam with Gao Zhongying all the way
Light pulse output；
Control module is connect with the multiple low Repetition Frequency Laser device respectively, for controlling the pulse of each low Repetition Frequency Laser device
Triggered time, to make at least two low Repetition Frequency Laser devices with setting time interval transmitted in sequence within a triggering period
Laser pulse,
Wherein, a triggering period refers to the low Repetition Frequency Laser device transmitting of first transmitting laser pulse in the Gao Zhongying laser
The time interval of laser pulse twice, in the time interval, the low Repetition Frequency Laser device of all unlatchings emit a laser
Pulse.
2. Gao Zhongying laser according to claim 1, which is characterized in that the multiple low Repetition Frequency Laser device has identical
Pulse period, the triggering period is identical as the pulse period.
3. Gao Zhongying laser according to claim 2, which is characterized in that the setting time interval passes through following formula
It determines:
Wherein, Δ t indicates the setting time interval of two low Repetition Frequency Laser device transmitted in sequence laser pulses；T indicates a triggering
Period；N indicates the number of the low Repetition Frequency Laser device.
4. Gao Zhongying laser according to any one of claim 1-3, which is characterized in that the bundling device is optical fiber conjunction
Beam device.
5. Gao Zhongying laser according to claim 4, which is characterized in that the bundling device be it is multiple, including level-one close
Beam device and second level bundling device, the level-one bundling device are used to carry out multipath laser pulse primary conjunction beam processing and therefore form conjunction
Beam laser pulse, the second level bundling device be used for the conjunction beam laser pulse or the conjunction beam laser pulse at least swash all the way
Light pulse carries out after secondary conjunction beam is handled with Gao Zhongying pulsed laser output all the way.
6. a kind of coded laser light R-T unit for laser radar, which is characterized in that the coded laser light R-T unit includes:
Signal transmitter unit comprising Gao Zhongying laser of any of claims 1-5, the Gao Zhongying laser
For to objective emission laser acquisition signal；
Signal receiving unit is used to receive the echo-signal reflected by the target；
Coding unit is connect with the signal transmitter unit and the signal receiving unit, for visiting respectively to the laser
It surveys signal and the echo-signal is encoded；
Processing unit is connect with the coding unit, for comparing the encoded radio of laser acquisition signal and the volume of echo-signal
Code value, and to the echo in the case of encoded radio of the laser acquisition signal is identical with the encoded radio of the echo-signal
Signal is decoded.
7. coded laser light R-T unit according to claim 6, which is characterized in that the coding unit includes detectable signal
Coding module and echo-signal coding module, the detectable signal coding module is for encoding the detectable signal, institute
Echo-signal coding module is stated for encoding to the echo-signal.
8. coded laser light R-T unit according to claim 6, which is characterized in that the encoded radio of the laser acquisition signal
Number that is identical with the digit of the encoded radio of the echo-signal and being greater than the low Repetition Frequency Laser device opened.
9. coded laser light R-T unit a method according to any one of claims 6-8, which is characterized in that the coding unit
Code period is identical as the pulse period of the low Repetition Frequency Laser device.
10. a kind of automobile, including laser radar, which is characterized in that the laser radar includes at least in a claim 6-9
Described in any item coded laser light R-T units.
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| CN201910590587.9A CN110488250A (en) | 2019-07-02 | 2019-07-02 | Gao Zhongying laser, coded laser light R-T unit and automobile for laser radar |
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| CN201910590587.9A CN110488250A (en) | 2019-07-02 | 2019-07-02 | Gao Zhongying laser, coded laser light R-T unit and automobile for laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021134774A1 (en) * | 2020-01-03 | 2021-07-08 | 深圳市速腾聚创科技有限公司 | Laser radar and automobile therewith |
| CN113406603A (en) * | 2021-08-19 | 2021-09-17 | 武汉镭晟科技有限公司 | Laser module for coherent laser radar |
| CN113567999A (en) * | 2020-04-09 | 2021-10-29 | 华为技术有限公司 | Laser device, laser radar system and control method thereof |
| CN113985447A (en) * | 2021-12-30 | 2022-01-28 | 青岛镭测创芯科技有限公司 | Coherent wind measurement laser radar and measurement method |
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2019
- 2019-07-02 CN CN201910590587.9A patent/CN110488250A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021134774A1 (en) * | 2020-01-03 | 2021-07-08 | 深圳市速腾聚创科技有限公司 | Laser radar and automobile therewith |
| US11885913B2 (en) | 2020-01-03 | 2024-01-30 | Suteng Innovation Technology Co., Ltd. | LiDAR and automobile |
| CN113567999A (en) * | 2020-04-09 | 2021-10-29 | 华为技术有限公司 | Laser device, laser radar system and control method thereof |
| CN113406603A (en) * | 2021-08-19 | 2021-09-17 | 武汉镭晟科技有限公司 | Laser module for coherent laser radar |
| CN113985447A (en) * | 2021-12-30 | 2022-01-28 | 青岛镭测创芯科技有限公司 | Coherent wind measurement laser radar and measurement method |
| CN113985447B (en) * | 2021-12-30 | 2022-04-08 | 青岛镭测创芯科技有限公司 | Coherent wind measurement laser radar and measurement method |
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