CN111596308B - Laser receiving system, laser radar system and robot equipment - Google Patents

Laser receiving system, laser radar system and robot equipment Download PDF

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Publication number
CN111596308B
CN111596308B CN202010476394.3A CN202010476394A CN111596308B CN 111596308 B CN111596308 B CN 111596308B CN 202010476394 A CN202010476394 A CN 202010476394A CN 111596308 B CN111596308 B CN 111596308B
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laser
circuit
signal
signals
photoelectric receiving
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CN111596308A (en
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冉银春
李通
唐旋来
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Shanghai Keenlon Intelligent Technology Co Ltd
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Shanghai Keenlon Intelligent Technology Co Ltd
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • 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
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/493—Extracting wanted echo signals
    • 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
    • G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a laser receiving system, a laser radar system and a robot device, wherein the laser receiving system comprises: the device comprises a photoelectric receiving array, a channel conversion circuit, a laser channel trigger circuit, at least one I/V conversion circuit and a signal processing circuit corresponding to the I/V conversion circuit; the photoelectric receiving array comprises a plurality of photoelectric receiving units and can convert laser signals into electric signals; the output ends of the plurality of photoelectric receiving units are connected to be used as one output end of the photoelectric receiving array; the I/V conversion circuit is connected with the output end of the photoelectric receiving array and converts the electric signal from a current signal to a voltage signal; the signal processing circuit amplifies and shapes the voltage signal; the laser channel trigger circuit acquires a laser trigger signal corresponding to the multi-beam laser signal; and the channel conversion circuit identifies the photoelectric receiving unit corresponding to the voltage signal according to the laser trigger signal. The scheme provided by the invention can solve the problems of higher cost and lower integration level of the conventional multi-channel laser receiving system.

Description

Laser receiving system, laser radar system and robot equipment
Technical Field
The invention relates to the technical field of photoelectric detection, in particular to a laser receiving system, a laser radar system and robot equipment.
Background
With the development of laser technology, the laser detection technology is widely applied in the fields of laser ranging, laser radar, laser communication and the like. The laser transmitter emits laser, and the laser receiver receives the laser, so that the laser detection process is completed.
The prior laser receiving system is applied to the market more and is a single-channel laser receiving system, namely only comprises one laser receiving channel, the laser receiving system can only receive a single laser signal reflected by a target, the detection visual field of the laser receiving system is greatly limited, the target laser cannot be easily detected in the measuring process, the single laser receiving channel is not beneficial to system installation and adjustment, the angle range of the laser receiving channel is limited, the installation and adjustment process is complex, and the laser detection efficiency is low.
With the further development of the technology, a multi-channel laser receiving system is also available in the market at present, and the multi-channel laser receiving system is formed by simply combining and integrating single-channel laser receiving systems, so that the cost and the volume are large, and the integration level is low.
Disclosure of Invention
The embodiment of the invention provides a laser receiving system, a laser radar system and robot equipment, and aims to solve the problems of high cost and low integration level of the conventional multi-channel laser receiving system.
In a first aspect, an embodiment of the present invention provides a laser receiving system, which can receive a multi-beam laser signal, and includes: the device comprises a photoelectric receiving array, a channel conversion circuit, a laser channel trigger circuit, a controller, at least one I/V conversion circuit and at least one signal processing circuit which is arranged corresponding to the I/V conversion circuit;
the photoelectric receiving array comprises a plurality of photoelectric receiving units which are arranged in an array and used for receiving the multi-beam laser signals in a one-to-one correspondence mode; the photoelectric receiving unit is used for converting the laser signal into an electric signal; the output ends of at least two photoelectric receiving units are connected to be used as one output end of the photoelectric receiving array;
the I/V conversion circuit is connected with the output end of the photoelectric receiving array and is used for converting the electric signals output by the corresponding output end from current signals into voltage signals; the signal processing circuit is connected with the corresponding I/V conversion circuit and is used for amplifying and shaping the voltage signal;
the laser channel trigger circuit is used for acquiring laser trigger signals corresponding to the multi-beam laser signals one by one; the channel switching circuit is respectively connected with the signal processing circuit, the laser channel trigger circuit and the controller, and is used for identifying the photoelectric receiving unit corresponding to the voltage signal according to the laser trigger signal and transmitting the voltage signal to an echo receiving end of the controller.
In a second aspect, an embodiment of the present invention further provides a laser radar system, including the laser radar system provided in any embodiment of the present invention, further including:
the laser emitting system comprises laser emitting units which are arranged in one-to-one correspondence with photoelectric receiving units of the laser receiving system.
In a third aspect, an embodiment of the present invention further provides a robot device including the laser radar system provided in any embodiment of the present invention.
In the present invention, the laser receiving system includes a photoelectric receiving array capable of receiving a multi-beam laser signal, and specifically, the photoelectric receiving array includes a plurality of photoelectric receiving units arranged in an array, and the photoelectric receiving units are arranged in one-to-one correspondence with the multi-beam laser signal, and each photoelectric receiving array is capable of receiving a corresponding laser signal. The laser receiving system also comprises at least one I/V conversion circuit and signal processing circuits which are arranged in one-to-one correspondence with the I/V conversion circuits, the output ends of the plurality of photoelectric receiving units are connected and can be used as one output end of the photoelectric receiving array, each output end corresponds to one I/V conversion circuit, therefore, the electric signals output by the output ends are converted into voltage signals from current signals, and the voltage signals are amplified and shaped by the signal processing circuits. The plurality of photoelectric receiving units correspond to one I/V conversion circuit, or all the photoelectric receiving units correspond to only one I/V conversion circuit, so that the corresponding I/V conversion circuit does not need to be arranged for each photoelectric receiving unit, the arrangement quantity of the I/V conversion circuit and the signal processing circuit is greatly reduced, the cost of the laser receiving system is reduced, and the laser receiving system is convenient to integrate more photoelectric receiving units.
In addition, the laser receiving system is also provided with a channel conversion circuit, a laser channel trigger circuit and a controller, wherein the laser channel trigger circuit can acquire laser trigger signals corresponding to the multi-beam laser signals one by one, so that the channel conversion circuit identifies voltage signals output by the signal processing circuit according to the laser trigger signals, identifies the photoelectric receiving units corresponding to the voltage signals, and transmits the identified voltage signals to the controller.
Drawings
Fig. 1 is a schematic structural diagram of a laser receiving system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another laser receiving system provided in the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a comparative example of a laser receiving system provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a photo-receiving array according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a channel switching circuit according to an embodiment of the present invention;
FIG. 6 is a timing diagram illustrating the operation of a channel switching circuit according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another laser receiving system provided in the embodiment of the present invention;
fig. 8 is a schematic structural diagram of a shaping circuit according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of another laser receiving system provided in the embodiment of the present invention;
fig. 10 is a schematic structural diagram of another laser receiving system provided by the embodiment of the invention;
fig. 11 is a schematic structural diagram of a robot apparatus according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of another robot apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a laser receiving system which can receive multi-beam laser signals and comprises: the device comprises a photoelectric receiving array, a channel conversion circuit, a laser channel trigger circuit, a controller, at least one I/V conversion circuit and at least one signal processing circuit which is arranged corresponding to the I/V conversion circuit;
the photoelectric receiving array comprises a plurality of photoelectric receiving units which are arranged in an array and used for receiving multi-beam laser signals in a one-to-one correspondence mode; the photoelectric receiving unit is used for converting the laser signal into an electric signal; the output ends of at least two photoelectric receiving units are connected to be used as one output end of the photoelectric receiving array;
the I/V conversion circuit is connected with the output end of the photoelectric receiving array and is used for converting the electric signals output by the corresponding output end from current signals into voltage signals; the signal processing circuit is connected with the corresponding I/V conversion circuit and is used for amplifying and shaping the voltage signal;
the laser channel trigger circuit is used for acquiring laser trigger signals corresponding to the multi-beam laser signals one by one; the channel switching circuit is respectively connected with the signal processing circuit, the laser channel trigger circuit and the controller and is used for identifying the photoelectric receiving unit corresponding to the voltage signal according to the laser trigger signal and transmitting the voltage signal to the echo receiving end of the controller.
In an embodiment of the present invention, the laser receiving system includes a photoelectric receiving array capable of receiving a multi-beam laser signal, and specifically, the photoelectric receiving array includes a plurality of photoelectric receiving units arranged in an array, and the photoelectric receiving units are arranged in one-to-one correspondence with the multi-beam laser signal, and each photoelectric receiving array is capable of receiving a corresponding laser signal. The laser receiving system also comprises at least one I/V conversion circuit and signal processing circuits which are arranged in one-to-one correspondence with the I/V conversion circuits, the output ends of the plurality of photoelectric receiving units are connected and can be used as one output end of the photoelectric receiving array, each output end corresponds to one I/V conversion circuit, therefore, the electric signals output by the output ends are converted into voltage signals from current signals, and the voltage signals are amplified and shaped by the signal processing circuits. The plurality of photoelectric receiving units correspond to one I/V conversion circuit, or all the photoelectric receiving units correspond to only one I/V conversion circuit, so that the corresponding I/V conversion circuit does not need to be arranged for each photoelectric receiving unit, the arrangement quantity of the I/V conversion circuit and the signal processing circuit is greatly reduced, the cost of the laser receiving system is reduced, and the laser receiving system is convenient to integrate more photoelectric receiving units. In addition, the laser receiving system is also provided with a channel conversion circuit, a laser channel trigger circuit and a controller, wherein the laser channel trigger circuit can acquire laser trigger signals corresponding to the multi-beam laser signals one by one, so that the channel conversion circuit identifies voltage signals output by the signal processing circuit according to the laser trigger signals, identifies the photoelectric receiving units corresponding to the voltage signals, and transmits the identified voltage signals to the controller.
The above is the core idea of the present invention, and the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a laser receiving system according to an embodiment of the present invention, and as shown in fig. 1, the laser receiving system includes a photo-electric receiving array 11, at least one I/V conversion circuit 12, at least one signal processing circuit 13 disposed corresponding to the I/V conversion circuit 12, a channel conversion circuit 14, a laser channel trigger circuit 15, and a controller 16.
The photo-electric receiving array 11 includes a plurality of photo-electric receiving units 111 arranged in an array, and is capable of receiving a multi-beam laser signal, specifically, the photo-electric receiving units 111 are capable of receiving a laser signal at a predetermined angle, and the photo-electric receiving units 111 are configured to receive a corresponding beam of laser signal. It should be noted that the multi-beam laser signals can be respectively emitted by the plurality of laser emitting units 21, and the laser emitting units 21 correspond to the multi-beam laser signals one to one. The laser emitting unit 21 is used for emitting a laser signal, and the photoelectric receiving unit 111 is used for converting the laser signal into an electrical signal. The plurality of photoelectric receiving units 111 arranged in an array can respectively acquire laser signals emitted by the laser emitting units 21 arranged in different directions and different angles, acquire specific forms and direction information of a target object, and realize a three-dimensional detection technology.
Wherein, the output ends of at least two photo-receiving units 111 are connected to serve as one output end of the photo-receiving array 11. The I/V conversion circuits 12 are disposed in one-to-one correspondence with the output ends of the photo-reception array 11, and are configured to convert the electrical signals output by the corresponding output ends of the photo-reception array 11 from current signals to voltage signals. The signal processing circuits 13 are provided in one-to-one correspondence with the I/V conversion circuits 12, and are configured to amplify and shape the voltage signals output by the corresponding I/V conversion circuits 12. As can be seen from fig. 1, the number of the I/V conversion circuits 12 is far smaller than the number of the photoelectric receiving units 111, and similarly, the number of the signal processing circuits 13 is far smaller than the number of the photoelectric receiving units 111, a plurality of the photoelectric receiving units 111 share one I/V conversion circuit 12 and one signal processing circuit 13, and all of the plurality of laser emitting units 21 sequentially emit laser signals, so that the plurality of the photoelectric receiving units 111 can share one I/V conversion circuit 12, thereby implementing time division multiplexing of the I/V conversion circuits 12, saving the manufacturing cost of the laser receiving system, effectively reducing the integration size of the laser receiving system, and improving the integration level of the laser receiving system. Meanwhile, the output ends of the photoelectric receiving units 111 are connected in parallel, so that the weak signal detection capability is enhanced, and the detection precision of laser signals is improved.
Fig. 2 is a schematic structural diagram of another laser receiving system provided in the embodiment of the present invention, and optionally, the laser receiving system may include an I/V conversion circuit 12 and a signal processing circuit 13; the output terminals of all the photo-reception units 111 are connected as the output terminals of the photo-reception array 11, and are connected to the signal processing circuit 13.
The laser receiving system of the present embodiment can only be provided with one I/V conversion circuit 12 and one signal processing circuit 13, and the output ends of all the photoelectric receiving units 111 are connected as the only one output end of the photoelectric receiving array 11, so that the integration level of the laser receiving system is increased to the greatest extent, and the manufacturing cost is reduced. In a comparative example of the present example, each of the photo-receiving units 111 corresponds to one I/V conversion circuit 12, as shown in fig. 3, fig. 3 is a schematic structural diagram of a comparative example of the laser receiving system provided in the embodiment of the present invention, in the comparative example, the I/V conversion circuits 12 'are arranged in one-to-one correspondence with the photo-receiving units 111', and the I/V conversion circuits 12 'only convert the electrical signals output by the output terminals of the corresponding photo-receiving units 111', and similarly, the signal processing circuits 13 'are arranged in one-to-one correspondence with the photo-receiving units 111'. The laser receiving system of the embodiment of the invention effectively solves the problems in the comparison example, has simplified circuit and strong practicability, and can integrate more photoelectric receiving units 111 with the same volume, thereby enhancing the detection capability of the laser receiving system.
Further, with continued reference to fig. 1, the channel switching circuit 14, the laser channel trigger circuit 15, and the controller 16 of the laser receiving system can separate a plurality of laser signals sequentially received by the respective photoelectric receiving units 111. Wherein, the laser channel trigger circuit 15 is connected with all the laser emission units 21, when the laser emission units 21 emit laser signals, a trigger signal corresponding to the laser signal is sent to the laser channel trigger circuit 15, the channel conversion circuit 14 is respectively connected to the laser channel trigger circuit 15 and the signal processing circuit 13, and can identify the voltage signal output by the signal processing circuit 13 according to the trigger signal, obtain the photoelectric receiving unit 111 corresponding to the voltage signal, for example, obtain the receiving number of the corresponding photoelectric receiving unit 111, so that the operation number of the laser transmitter unit 21 can be confirmed, the channel switching circuit 14 is connected to the echo receiving terminal of the controller 16, the recognized voltage signal is transmitted to the controller 16, therefore, the laser signals of the current angle and the current direction are distinguished, the specific form of the object is obtained, and the practicability of obtaining the laser signals is guaranteed.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a photoreceiving array according to an embodiment of the present invention, and in a specific example of this embodiment, the photoreceiving array 11 may include at least three linearly arranged photoreceiving units 111; every two adjacent photoelectric receiving units 111 are spaced by a preset distance d; the field angle of the linearly arranged photoelectric receiving units 111 in the linear arrangement direction corresponds to the preset distance d.
As shown in fig. 4, the optical receiving array 11 may be linear, and every two adjacent photoelectric receiving units 111 are spaced by a preset distance d, so that the plurality of photoelectric receiving units 111 can acquire the laser signal returned by a larger view angle θ, and the optical receiving array has the characteristics of wide view and high sensitivity, and avoids the problem that the optical receiving array 11 cannot acquire the laser signal emitted by the laser emitting unit. Alternatively, as shown in fig. 4, a viewing angle θ of the linearly arranged photoelectric receiving units 111 in the linearly arranged direction corresponds to the preset distance d, and preferably, the viewing angle θ is greater than or equal to 30 degrees. Optionally, in this example, the laser emitting units are arranged in the same manner as the photoelectric receiving unit 111, so that it is ensured that the energy obtained by the corresponding photoelectric receiving unit 111 is the largest at the same time, and the photoelectric receiving unit 111 is convenient to accurately obtain the laser signal emitted by the corresponding laser emitting unit. And the outputs of the plurality of photoelectric receiving units 111 are connected in parallel, increasing the sensitivity of reception. In other embodiments, the photo-receiving array may include a matrix-type arrangement of photo-receiving units; the matrix type photoelectric receiving array can form a wider visual field and further improve the sensitivity of laser detection.
Alternatively, the photoelectric receiving unit may be a photodiode; the anode of the photodiode is used as the output end of the photoelectric receiving unit; the cathode of the photodiode is used as the input end of the photoelectric receiving unit. The photoelectric receiving unit is a photoelectric diode, the anode of the photoelectric diode is the output end of the photoelectric receiving unit, the cathode of the photoelectric diode is the input end of the photoelectric receiving unit, and the anodes of at least two photoelectric diodes are mutually connected to be used as one output end of the electric receiving unit and are connected to the input end of the corresponding I/V conversion circuit.
Alternatively, the photo-receiving array may employ a plurality of pieces of surface mount packaged photodiodes, for example, a plurality of pieces of SMD packaged photodiodes packaged by 3 photodiodes. Alternatively, the photodiode may be at least one of: avalanche diodes, silicon photovoltaics, and single photon photoreceivers. The photodiode is preferably an avalanche photodiode, which has the characteristics of ultra-low noise, high speed, high mutual impedance gain, and the like, and is a relatively stable photo-receiving unit.
Further, with continuing reference to fig. 4, optionally, the laser receiving system may further include: an optical system 17; the optical system 17 is disposed near the photo-reception array 11, and is configured to focus the laser signal reflected by the laser emission unit 21 to the object onto the photo-reception array 11.
The optical system 17 is disposed at the front end of the photoelectric receiving array 11, receives a laser signal diffusely reflected from an object, and focuses the laser signal to the photoelectric receiving array 11. The optical system 17 mainly includes an optical collimating lens and an optical filter, the optical collimating lens adopts a plano-convex lens to converge the laser signal, and the optical collimating lens is used for receiving the multi-beam laser signal reflected by the object or the target, and the optical filter adopts a narrow-band filter with the central wavelength of the laser signal as a narrow-band filter to filter light interference from other external wave bands.
In the optical collimating lens in this embodiment, a single plano-convex lens is used as a core lens for optical collimating reception, the diameter of the lens is 12mm to 40mm, the specific size is related to the number of the photoelectric receiving units 111 and the angular arrangement of the photoelectric receiving array 11, and for example, the receiving field angle θ of the photoelectric receiving array 11 can be about 30 degrees. The optical filter can perform optical filtering on a plurality of reflected signals from the optical collimating lens, eliminate stray light sources and other waveband component light sources, and better inhibit receiving noise.
Optionally, with continuing reference to fig. 1 and 2, the plurality of laser emitting units 21 are configured to sequentially emit laser signals in the same period; the laser channel trigger circuit 15 is specifically configured to sequentially obtain laser trigger signals generated by the laser emitting unit 21 in the same period; the channel switching circuit 14 is specifically configured to separate a plurality of voltage signals output by the signal processing circuit 13 according to the laser trigger signal, so as to position the photoelectric receiving unit 111 corresponding to the voltage signals; the controller 16 is specifically configured to obtain the position of the laser emitting unit 21 corresponding to the positioned photoelectric receiving unit 111.
The laser emitting units 21 each generate a corresponding laser signal under the trigger of its corresponding laser trigger signal. The laser emitting units 21 sequentially emit laser signals under the trigger of the laser trigger signals in the same period. The laser channel trigger circuit 15 sequentially acquires laser trigger signals generated by the laser emitting unit 21 in the same period, and sequentially sends a plurality of laser trigger signals in the same period to the channel conversion circuit 14, the channel conversion circuit 14 is respectively connected with the laser channel trigger circuit 15 and the signal processing circuit 13, and can identify a current voltage signal according to the current voltage signal and a laser trigger signal corresponding to the current voltage signal in the same period, and acquire the photoelectric receiving unit 111 corresponding to the voltage signal, and the controller 16 acquires the identified voltage signal through the echo receiving end, and identifies the position of the laser emitting unit 21 corresponding to the photoelectric receiving unit 111 according to the voltage signal, so as to analyze the direction, the angle and the specific details of an object or a target.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a channel converting circuit according to an embodiment of the present invention, and optionally, the channel converting circuit 14 may include a logic gate circuit 141; the controller 16 may further include a logic control interface connected to the first input terminal IN1 of the logic gate circuit 141, for outputting identification pulse signals corresponding to the voltage signals one to one; the signal processing circuit 13 sequentially outputs a plurality of voltage signals to the second input terminal IN2 of the logic gate circuit 141, and the laser channel trigger circuit 15 sequentially outputs a plurality of laser trigger signals to the third input terminal IN3 of the logic gate circuit 141; the logic gate circuit 141 is configured to perform a logic operation on a plurality of beams of voltage signals, a plurality of beams of laser trigger signals, and a plurality of beams of identification pulse signals that are sequentially input, and identify a voltage signal corresponding to a multi-beam laser; and outputs a voltage signal to the echo receiving end of the controller 16 through an output terminal OUT 1.
The laser channel trigger circuit 15 can sequentially obtain a plurality of laser trigger signals in one period, and preprocess each laser trigger signal, and optionally, the laser channel trigger circuit 15 may include: a signal processing unit; the signal processing unit is connected to the channel switching circuit 14, and is configured to amplify and shape the laser trigger signal, and send the laser trigger signal to the channel switching circuit 14.
The channel switching circuit 14 may include a plurality of super high speed logic gate circuits 141 as a control core, the number of the logic gate circuits 141 is the same as that of the photo receiving units, and the logic gate circuits 141 are three-terminal input and single-terminal output. Specifically, the third input terminal IN3 of each logic gate circuit 141 is connected to the laser channel trigger circuit 15, and is capable of sequentially acquiring a plurality of laser trigger signals Ti, the second input terminal IN2 is connected to the signal processing circuit 13, and is capable of sequentially acquiring the voltage signals Ui converted from the laser signals, the first input terminal IN1 is connected to the logic control interface of the controller 16, each logic gate circuit 141 is capable of acquiring one identification pulse signal PWMi output by the controller 16, each identification pulse signal PWMi corresponds to one voltage signal Ui (photo-electric receiving unit), and i is capable of referring to the ith laser signal IN one cycle, that is, the number of the ith excitation light emitting unit. For the ith laser signal, the laser trigger signal Ti and the voltage signal Ui are also in one-to-one correspondence. The laser trigger signal Ti and the identification pulse signal PWMi can assist identification and separation of a plurality of voltage signals Ui, the voltage signal of each photoelectric receiving unit is output from a unique corresponding logic gate circuit 141 respectively, separation of the plurality of voltage signals Ui is achieved, each logic gate circuit 141 can acquire the number of the photoelectric receiving unit 111 corresponding to the voltage signal Ui and respectively transmit the identified voltage signal Ui to the controller 16, and the controller 16 analyzes the direction and angle of the laser signal to calculate the state of an object or a target.
IN addition, the channel switching circuit 14 may only include an ultra-high speed logic gate circuit 141, the third input terminal IN3 of the logic gate circuit 141 is connected to the laser channel trigger circuit 15 and may sequentially obtain a plurality of laser trigger signals Ti, the second input terminal IN2 is connected to the signal processing circuit 13 and may sequentially obtain the voltage signal Ui converted from the laser signals, the first input terminal IN1 is connected to the logic control interface of the controller 16 and may sequentially obtain the identification pulse signals PWMi corresponding to the voltage signal Ui one to one, and a single channel switching circuit 14 may sequentially identify and sequentially output a plurality of voltage signals according to the plurality of laser trigger signals and the plurality of identification pulse signals, thereby further reducing the space occupied by the channel switching circuit 14 and improving the integration of the laser receiving system.
Referring to fig. 6, fig. 6 is a schematic diagram illustrating an operation timing sequence of a channel switching circuit according to an embodiment of the present invention, and optionally, the duration of the voltage signal Ui and the duration of the laser trigger signal Ti all fall within the duration of the active level of the corresponding identification pulse signal PWMi. The process of identifying the laser signal of the ith laser emitting unit by the logic gate circuit 141 is shown in fig. 6. As shown in fig. 6, the duration of the active level of the identification pulse signal PWMi covers the duration of the corresponding laser trigger signal Ti and the duration of the voltage signal Ui, and the logic gate circuit outputs the identified voltage signal Ui as an echo signal TTLi to the controller via the output terminal. Namely, the laser emission unit corresponding to the voltage signal Ui is identified by using the fact that the duration time of the laser trigger signal Ti, the duration time of the voltage signal Ui and the identification pulse signal PWMi are coincident or the time difference is smaller than a certain threshold value.
Referring to fig. 7, fig. 7 is a schematic structural diagram of another laser receiving system according to an embodiment of the present invention. Alternatively, the signal processing circuit 13 may include: an amplifying circuit 131 and a shaping circuit 132; the amplifying circuit 131 is connected to the I/V conversion circuit 12, and is configured to amplify the voltage signal; the shaping circuit 132 is connected to the amplifying circuit 131, and is configured to shape the amplified voltage signal. All signals received by the photoelectric receiving unit 111 are weak current signals, and after the I/V conversion circuit 12 converts the current signals into voltage signals, signal gain amplification can be performed through the amplifying circuit 131, and the amplification factor of the amplifying circuit 131 can be adjusted according to user requirements in this embodiment. The shaping circuit 132 can filter the amplified voltage signal and eliminate spurious signals, thereby facilitating subsequent signal identification and signal analysis.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a shaping circuit according to an embodiment of the present invention. Optionally, the shaping circuit 132 may include a filter circuit 132a, a constant ratio discrimination circuit 132c, a threshold comparison circuit 132b, and a digital logic circuit 132 d; the filter circuit 132a is connected to the amplifier circuit 131, and is used for eliminating spurious signals of the voltage signal; the threshold comparison circuit 132b is connected to the filter circuit 132a, and is configured to compare the voltage signal with a preset voltage signal, and is configured to eliminate spurious signals and high-frequency spurious signals; the constant ratio identification circuit 132c is connected with the filter circuit 132a and is used for carrying out constant ratio on the voltage signal so as to eliminate the jitter of the voltage signal; the digital logic circuit 132d is connected to the constant ratio identification circuit 132c and the threshold comparison circuit 132b, and is configured to perform logical and operation on the voltage signal output by the threshold comparison circuit 132b and the voltage signal output by the constant ratio identification circuit 132c to obtain an operated voltage signal; the digital logic circuit 132d is connected to the channel switching circuit 14, and is configured to output the computed voltage signal to the channel switching circuit 14.
In this embodiment, the filter circuit 132a is designed as a digital filter circuit, and the controller controls the band-pass frequency thereof, so as to effectively eliminate the clutter signals from the amplifying circuit 131. The preset threshold of the threshold comparison circuit 132b can be set by the controller, and the voltage signal output by the filter circuit 132a is input to the threshold comparison circuit 132b for voltage comparison, so as to effectively eliminate the spurious signals and part of the high-frequency spurious signals. The constant ratio discrimination circuit 132c can perform constant ratio on the voltage signal output from the filter circuit 132a to stabilize fluctuation of the laser signal from the front end. For example, after the laser signal emitted by the laser emitting unit is reflected by an object, the energy of the laser signal is affected by the atmosphere, the color of the object, the energy of a light spot, and the like, so that the amplitude of the received laser signal is different, if the voltage signal converted from the laser signal is large in fluctuation after only passing through the threshold comparison circuit 132b, the pulse timing is directly affected, and the timing and ranging accuracy is reduced, whereas the constant ratio identification circuit 132c adopts the constant ratio timing principle, so that the waveform stability of the voltage signal is improved, the error caused by echo jitter is eliminated, and the ranging accuracy is improved.
The constant ratio identification circuit 132c is connected in parallel with the threshold comparison circuit 132b, and then connected to the input terminal of the digital logic circuit 132d, the digital logic circuit 132d can perform logical and operation on the voltage signals from the constant ratio identification circuit 132c and the threshold comparison circuit 132b, so as to further improve the stability of the output voltage signal, and the voltage signal output by the digital logic circuit 132d is used for the user to collect and time.
Referring to fig. 9, fig. 9 is a schematic structural diagram of another laser receiving system according to an embodiment of the present invention. Optionally, the laser receiving system may further include: a system compensation circuit 18; the system compensation circuit 18 includes a bias circuit 181; the bias circuit 181 is electrically connected to the photo-receiving array 11 for providing a power bias to the input terminal of the photo-receiving unit 111. Optionally, the system compensation circuit 18 may further include: a temperature monitoring circuit 182; the temperature monitoring circuit 182 is used for acquiring temperature information of the photoelectric receiving array 11; the controller 16 is connected to the bias circuit 181 and the temperature monitoring circuit 182, respectively, for adjusting the power supply bias voltage output by the bias circuit 181 according to the temperature information of the photo receiving array 11.
The system compensation circuit 18 may include a bias circuit 181, and an input terminal of the photo-reception unit 111 is connected to an output terminal of the bias circuit 181 for obtaining a power supply bias. If the photo receiver unit is a photodiode, the output of the bias circuit 181 is connected to the cathode of the photodiode to provide a power bias. In addition, the system compensation circuit 18 may further include a temperature monitoring circuit 182, the temperature monitoring circuit 182 collects a system temperature on the photo receiving array 11, the temperature monitoring circuit 182 is close to the photo receiving array 11, obtains temperature information of the photo receiving array 11 in real time, converts the temperature information into a voltage signal, and sends the voltage signal to the controller 16, the controller 16 is connected to the bias circuit 181 and the temperature monitoring circuit 182, respectively, so that a user can adjust a power supply bias of the bias circuit 181 according to a requirement, specifically, the controller 16 can output a bias modulation signal to the bias circuit 181, adjust the bias circuit 181 to output a power supply bias of the compensation photo receiving array 11 through a PWM duty cycle of the bias modulation signal, and thereby control a stable gain of the photo receiving unit 111. The temperature monitoring circuit 182 prevents the photo receiving array 11 from working under an overheat condition or an under-voltage condition, protects the photo receiving array 11, and is beneficial to maintaining the stability of receiving laser signals.
Alternatively, the input terminals of the plurality of photo-receiving cells 111 are connected to each other as the input terminal of the photo-receiving array 11 and connected to the bias circuit 181. The plurality of photoelectric receiving units 111 share the bias circuit 181, which is beneficial to receiving multi-wave-velocity laser signals, realizing three-dimensional space detection, and effectively obtaining the detailed structure of a target or an object. Alternatively, the input terminals of all the photo-receiving cells 111 are connected as the input terminals of the photo-receiving array 11 to the bias circuit 181.
Referring to fig. 10, fig. 10 is a schematic structural diagram of another laser receiving system according to an embodiment of the present invention. Alternatively, the bias circuit 181 may include multiple bias power supply units 181a, and each bias power supply unit 181a may be connected to an input terminal of at least one of the photoreceiving units 111, and configured to provide a power supply bias voltage for at least one of the photoreceiving units 111.
As shown in fig. 10, the bias circuit 181 may include multiple bias power supply units 181a, and each bias power supply unit 181a can be independently controlled, and the output power supply bias range can be programmable and adjustable. Optionally, the bias circuit 181 outputs an adjustable high voltage range of 30V to 250V, and the maximum current is 20mA, for example, the bias circuit 181 may include 4 bias power supply units 181a, an input terminal of each bias power supply unit 181a in the bias circuit 181 is connected to a bias modulation signal output terminal of the controller 16, and each bias power supply unit 181a may be driven to output an adjustable high voltage power supply under the control of the controller 16. As described in the above example, the bias circuit 181 includes four independent bias power supply units 181a, an input of each bias power supply unit 181a is driven by a bias modulation signal output end of the controller 16, and meanwhile, each bias power supply unit 181a feeds back a current power supply bias to the controller 16 in real time, and a collection port of the controller 16 collects the power supply bias in real time, so as to implement a function of closed-loop feedback, and control stability of output high voltage of each bias power supply unit 181a by using this feature.
In this embodiment, the multiple bias power supply units 181a can effectively prevent the bias circuit 181 from being unable to drive a large number of the photoreceiving units 111, and each bias power supply unit 181a is configured in this embodiment to provide a power supply bias for at least one of the photoreceiving units 111, so as to prevent the photoreceiving unit 111 from being powered insufficiently and receiving a weak laser signal. As shown in fig. 11, the two photo-receiving units 111 are driven by one bias power supply unit 181a in fig. 11 for illustration. In addition, a switching device may be disposed between the photo-reception unit 111 and the bias power supply unit 181a, so that the number or number of the photo-reception units 111 connected to the bias power supply unit 181a may be adjusted. If one of the bias power supply units 181a is damaged, the photo-receiving unit 111 driven by the bias power supply unit 181a is connected to the other bias power supply units 181a, thereby enhancing the reliability of the entire bias circuit 181. In addition, the multi-path bias power supply unit 181a increases the number of times of the integratable photodetection unit 111, effectively increases the detection field of view of the photodetection array 11, and increases the detection accuracy.
It should be noted that the laser receiving unit of the present embodiment may be applied to scenes such as laser ranging, laser radar, optical fiber communication, and three-dimensional projection, and the present embodiment does not limit the specific application scene.
The embodiment of the invention also provides a laser radar system which comprises the laser receiving system and the laser emitting system, wherein the laser receiving system and the laser emitting system are provided by any embodiment of the invention, and the laser emitting system comprises a laser emitting unit.
The laser emitting unit emits modulated laser signals, the modulated laser signals are reflected to the corresponding photoelectric receiving unit after encountering an object, and the controller converts the time difference, the phase difference or the energy difference between the laser emitting unit and the laser reflecting unit to obtain the distance between the object and the laser radar system and the shape of the object or an obstacle. The laser receiving system comprises an optical receiving array, can receive multi-beam laser signals, the photoelectric receiving units and the laser transmitting units are arranged in a one-to-one correspondence mode, the photoelectric receiving units receive the laser signals transmitted by the corresponding laser transmitting units, and preset distances are formed between every two adjacent laser receiving units in the photoelectric receiving array, so that a small view field angle is formed between every two adjacent photoelectric receiving units, three-dimensional space detection can be achieved under the condition of horizontal scanning, the photoelectric receiving array forms a large view field angle, and the laser signals returned by a large view field range can be obtained. The multi-beam laser of this scheme is arranged for the line, rotates laser radar back, can obtain the signal of environment global. The laser radar system can be applied to navigation and obstacle avoidance of an automatic guided transport vehicle, height determination and surveying and mapping of an unmanned aircraft, security monitoring, unmanned auxiliary driving of an automobile, robot service navigation and the like. These applications require the lidar system of this embodiment to reflect the environment ahead and the state of the object in three dimensions or in more detail, in real time and at high speed. Along with the complicated development of the object, the single-beam laser ranging cannot show the comprehensiveness of the object, and the laser radar system provided by the implementation describes the form of the object in a three-dimensional space, so that the accuracy of object detection is improved, and the use experience of a user is improved.
In addition, a channel switching circuit is arranged in the laser receiving system, and laser trigger signals which are sequentially sent out according to a plurality of laser signals can be used for separating the laser signals, so that the directions, angles and the like of the laser signals are distinguished, the confusion of the laser signals is avoided, the three-dimensional graph of the object is accurately drawn, and the details of the object are more accurately obtained.
The embodiment of the invention also provides the robot equipment. Fig. 11 is a schematic structural diagram of a robot apparatus according to an embodiment of the present invention, and as shown in fig. 11, the robot apparatus according to an embodiment of the present invention includes a laser radar system 3 according to any embodiment of the present invention. The robot device may be a meal delivery robot as shown in fig. 11, a banking service robot, a blind person navigation robot, an educational robot, an industrial robot, or the like, which is not particularly limited in this embodiment. The robot device of the embodiment includes the laser radar system 3 provided in any embodiment of the present invention, includes all technical features of the laser radar system 3, and also has all technical effects of the laser radar system 3.
On the basis of the above embodiment, with continued reference to fig. 12, the laser radar system 3 may be provided in a robot apparatus; as shown in fig. 12, fig. 12 is a schematic structural diagram of another robot apparatus provided in the embodiment of the present invention, and the laser radar system 3 may rotate along a set plane, so that the photoelectric receiving array of the laser radar system forms the scanning cylinder 4.
Laser radar system 3 can set up in the robot housing department of slotting, thereby send laser signal easily in order to survey around the object, above-mentioned laser radar system 3 includes photoelectric reception array and laser emission unit array, thereby when laser radar system 3 rotates along setting for the plane, photoelectric reception array can form scanning cylinder 4, thereby scanning area has been increased, be convenient for acquire the detail of object form, avoid the condition to the robot equipment barrier, if laser radar system 3 only contains single photoelectric reception unit and single laser emission unit, then laser radar system 3 can only measure the object form of a circumference after setting for the plane rotation, and can not in time acquire the form of complicated object, produce the collision easily, harm the personal and property safety. Optionally, the setting plane may be a horizontal plane, which is convenient for the robot to perform object detection during the moving process, and in addition, other setting planes, such as a vertical plane, may be selected according to the user requirement, which is not limited in this embodiment.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (15)

1. A laser receiver system for receiving a multi-beam laser signal, comprising: the device comprises a photoelectric receiving array, a channel conversion circuit, a laser channel trigger circuit, a controller, at least one I/V conversion circuit and at least one signal processing circuit which is arranged corresponding to the I/V conversion circuit;
the photoelectric receiving array comprises a plurality of photoelectric receiving units which are arranged in an array and used for receiving the multi-beam laser signals in a one-to-one correspondence mode; the photoelectric receiving unit is used for converting the laser signal into an electric signal; the output ends of at least two photoelectric receiving units are connected to be used as one output end of the photoelectric receiving array;
the I/V conversion circuit is connected with the output end of the photoelectric receiving array and is used for converting the electric signals output by the corresponding output end from current signals into voltage signals; the signal processing circuit is connected with the corresponding I/V conversion circuit and is used for amplifying and shaping the voltage signal;
the laser channel trigger circuit is used for acquiring laser trigger signals corresponding to the multi-beam laser signals one by one; the channel switching circuit is respectively connected with the signal processing circuit, the laser channel trigger circuit and the controller, and is used for identifying the photoelectric receiving unit corresponding to the voltage signal according to the laser trigger signal and transmitting the voltage signal to an echo receiving end of the controller.
2. The laser receiving system of claim 1, wherein a plurality of laser emitting units are configured to sequentially emit the laser signals in a same period;
the laser channel trigger circuit is specifically used for sequentially acquiring laser trigger signals generated by the laser emission unit in the same period; the channel switching circuit is specifically configured to separate multiple voltage signals output by the signal processing circuit according to the laser trigger signal, so as to position the photoelectric receiving unit corresponding to the voltage signals; the controller is specifically configured to obtain a position of the laser emitting unit corresponding to the positioned photoelectric receiving unit.
3. The laser receiving system according to claim 1, wherein the channel switching circuit includes a logic gate circuit;
the controller also comprises a logic control interface which is connected with the first input end of the logic gate circuit and is used for outputting identification pulse signals corresponding to the voltage signals one to one; the signal processing circuit sequentially outputs a plurality of beams of voltage signals to a second input end of the logic gate circuit, and the laser channel trigger circuit sequentially outputs a plurality of beams of laser trigger signals to a third input end of the logic gate circuit;
the logic gate circuit is used for carrying out logic operation on a plurality of beams of the voltage signals, a plurality of beams of the laser trigger signals and a plurality of beams of the identification pulse signals which are input in sequence, and identifying the voltage signals corresponding to the multi-beam laser; and outputting the voltage signal to an echo receiving end of the controller through an output end.
4. The laser light receiving system according to claim 3,
the duration of the voltage signal and the duration of the laser trigger signal both fall within the duration of the active level corresponding to the identification pulse signal.
5. The laser receiving system of claim 1, wherein the laser channel trigger circuit comprises: a signal processing unit;
the signal processing unit is connected with the channel conversion circuit and used for amplifying and shaping the laser trigger signal and sending the laser trigger signal to the channel conversion circuit.
6. The laser receiving system according to claim 1, wherein the laser receiving system includes an I/V conversion circuit and a signal processing circuit;
and the output ends of all the photoelectric receiving units are connected as the output ends of the photoelectric receiving array and are connected with the signal processing circuit.
7. The laser receiving system according to claim 1, wherein the signal processing circuit comprises: an amplifying circuit and a shaping circuit;
the amplifying circuit is connected with the I/V conversion circuit and is used for amplifying the voltage signal; the shaping circuit is connected with the amplifying circuit and is used for shaping the amplified voltage signal;
the shaping circuit comprises a filter circuit, a constant ratio identification circuit, a threshold comparison circuit and a digital logic circuit;
the filter circuit is connected with the amplifying circuit and is used for eliminating stray signals of the voltage signals;
the threshold comparison circuit is connected with the filter circuit, is used for comparing the voltage signal with a preset voltage signal and is used for eliminating stray signals and high-frequency parasitic signals;
the constant ratio identification circuit is connected with the filter circuit and is used for carrying out constant ratio timing processing on the voltage signal so as to eliminate the jitter of the voltage signal;
the digital logic circuit is respectively connected with the constant ratio identification circuit and the threshold comparison circuit and is used for carrying out logic and operation on the voltage signal output by the threshold comparison circuit and the voltage signal output by the constant ratio identification circuit to obtain an operated voltage signal; the digital logic circuit is connected with the channel conversion circuit and used for outputting the voltage signal after operation to the channel conversion circuit.
8. The laser receiving system according to claim 1, further comprising: a system compensation circuit; the system compensation circuit includes a bias circuit;
the bias circuit is electrically connected with the photoelectric receiving array and used for providing power supply bias voltage for the input end of the photoelectric receiving unit;
the system compensation circuit further comprises: a temperature monitoring circuit;
the temperature monitoring circuit is used for acquiring temperature information of the photoelectric receiving array;
the controller is respectively connected with the bias circuit and the temperature monitoring circuit and is used for adjusting the power supply bias voltage output by the bias circuit according to the temperature information of the photoelectric receiving array.
9. The laser light receiving system according to claim 8,
the input ends of the plurality of photoelectric receiving units are connected with each other to serve as the input end of the photoelectric receiving array and connected with the bias circuit.
10. The laser light receiving system according to claim 8,
the bias circuit comprises a plurality of paths of bias power supply units, and each path of bias power supply unit can be connected with the input end of at least one photoelectric receiving unit and is used for providing power supply bias for the at least one photoelectric receiving unit.
11. The laser receiving system according to claim 1, wherein the photo-receiving array comprises at least three linearly arranged photo-receiving units; every two adjacent photoelectric receiving units are spaced by a preset distance;
and the view field angle of the photoelectric receiving units arranged in a linear type in the linear type arrangement direction corresponds to the preset distance.
12. The laser light receiving system according to claim 1, wherein the photoelectric receiving array includes the photoelectric receiving units in a matrix arrangement; every two adjacent photoelectric receiving units are spaced by a preset distance;
the field angle of the photoelectric receiving units arranged in a matrix type in any one side length direction of the matrix type corresponds to the preset distance.
13. The laser receiving system according to claim 1, further comprising: an optical system; the optical system is arranged close to the photoelectric receiving array and used for focusing the laser signal emitted to the object by the laser emitting unit to the photoelectric receiving array.
14. A lidar system including the laser receiving system according to any one of claims 1 to 13, further comprising:
the laser emitting system comprises laser emitting units which are arranged in one-to-one correspondence with photoelectric receiving units of the laser receiving system.
15. A robotic device comprising the lidar system of claim 14.
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