CN112162291A - Laser radar signal processing circuit and laser radar - Google Patents
Laser radar signal processing circuit and laser radar Download PDFInfo
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- CN112162291A CN112162291A CN202011132850.9A CN202011132850A CN112162291A CN 112162291 A CN112162291 A CN 112162291A CN 202011132850 A CN202011132850 A CN 202011132850A CN 112162291 A CN112162291 A CN 112162291A
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
Abstract
The invention is suitable for the technical field of radars, and provides a laser radar signal processing circuit and a laser radar, wherein the laser radar signal processing circuit comprises: the device comprises a signal transmitting module, a signal receiving module, a signal integration module and a post-stage processing module; the signal transmitting module and the signal receiving module are both connected with the signal integration module, and the signal integration module is connected with the post-stage processing module; the signal transmitting module is used for generating and transmitting a laser pulse signal; the signal receiving module is used for receiving an echo pulse signal corresponding to the laser pulse signal; the signal integration module is used for integrating the laser pulse signal and the echo pulse signal into an integrated signal; the post-stage processing module is used for determining the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal according to the integrated signal. The invention can effectively improve the measurement precision of the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal, thereby improving the ranging precision of the pulse type laser radar.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a laser radar signal processing circuit and a laser radar.
Background
The laser radar is a radar system for emitting laser beams to detect characteristic quantities such as the position, the speed and the like of a target, wherein the pulse type laser radar is widely applied to the fields of industry, traffic, robots and the like due to the advantages of simple technical principle, high response speed, simple optical structure and the like.
The pulse type laser radar mainly transmits laser pulse to a target and receives the laser pulse reflected from the target, and the distance measurement is carried out according to the time interval between the laser pulse and the target, so that the measurement precision of the time interval for receiving and transmitting the laser pulse directly influences the distance measurement precision of the pulse type laser radar. However, in the prior art, when the time interval between the transmitting and receiving of the laser pulse is measured, the transmitted laser pulse and the received laser pulse are generally processed by different processing circuits, and different processing circuits generate different delays, which causes the measurement accuracy of the time interval between the transmitting and receiving of the laser pulse to be reduced, thereby reducing the ranging accuracy of the pulse type laser radar.
Disclosure of Invention
In view of this, embodiments of the present invention provide a laser radar signal processing circuit and a laser radar, so as to solve the problem that in the prior art, the time interval between the pulse type laser radar and the laser pulse cannot be accurately measured, and thus the ranging accuracy of the pulse type laser radar is low.
A first aspect of an embodiment of the present invention provides a laser radar signal processing circuit, including:
the device comprises a signal transmitting module, a signal receiving module, a signal integration module and a post-stage processing module;
the signal transmitting module and the signal receiving module are both connected with the signal integration module, and the signal integration module is connected with the post-stage processing module;
the signal transmitting module is used for generating and transmitting a laser pulse signal; the signal receiving module is used for receiving an echo pulse signal corresponding to the laser pulse signal; the signal integration module is used for integrating the laser pulse signal and the echo pulse signal to obtain an integrated signal; the post-stage processing module is used for determining a time interval from the moment of transmitting the laser pulse signal to the moment of receiving the echo pulse signal according to the integrated signal.
Optionally, the signal receiving module includes a signal receiving unit, a signal converting unit and a signal conditioning unit;
the output end of the signal receiving unit is sequentially connected with the signal conversion unit and the signal conditioning unit, and the output end of the signal conditioning unit is connected with the signal integration module.
Optionally, the signal integration module includes a first signal processing unit, a second signal processing unit, a third signal processing unit and an integration unit;
the input end of the first signal processing unit is connected with the signal transmitting module, and the output end of the first signal processing unit is connected with the input end of the integration unit through the second signal processing unit;
the input end of the third signal processing unit is connected with the signal receiving module, and the output end of the third signal processing unit is connected with the input end of the integration unit;
the output end of the integration unit is connected with the post-stage processing module.
Optionally, the first signal processing unit is a resistor or a capacitor for conditioning the laser pulse signal.
Optionally, the second signal processing unit and the third signal processing unit are both blocking capacitors.
Optionally, the post-processing module includes a post-signal processing unit and a timing unit;
the input end of the rear-stage signal processing unit is connected with the signal integration module, and the output end of the rear-stage signal processing unit is connected with the timing unit.
Optionally, the post-stage signal processing unit includes a signal amplifying unit and a signal post-stage processing unit;
the input end of the signal amplification unit is connected with the signal integration module, and the output end of the signal amplification unit is connected with the timing unit through the signal post-stage processing unit.
Optionally, the timing unit includes a plurality of signal input channels and a timing subunit, and the integrated signal is input to the timing subunit through any one of the signal input channels.
Optionally, determining a time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal according to the integration signal includes:
determining the time interval from the moment of transmitting the laser pulse signal to the moment of receiving the echo pulse signal according to the rising edge moment of the integrated signal;
or, the time interval from the moment of transmitting the laser pulse signal to the moment of receiving the echo pulse signal is determined according to the falling edge moment of the integrated signal.
A second aspect of an embodiment of the present invention provides a lidar comprising the lidar signal processing circuit provided by the first aspect of an embodiment of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the laser radar signal processing circuit provided by the invention integrates a laser pulse signal emitted by a laser radar to a target and an echo pulse signal reflected from the target through the signal integration module to obtain an integrated signal, then the integrated signal is processed through the same post-processing module at the same time, so that the laser pulse signal and the echo pulse signal generate the same circuit delay, and meanwhile, the influence of temperature factors on different signal path delays is eliminated through the same circuit after the laser pulse signal and the echo pulse signal are integrated, so that the error caused by different delays of the laser pulse signal and the echo pulse signal in the time interval measurement is avoided. The invention can effectively improve the measurement precision of the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal, thereby improving the ranging precision of the pulse type laser radar.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic diagram of an overall structure of a laser radar signal processing circuit according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a signal receiving module, a signal integrating module, and a post-processing module of a laser radar signal processing circuit according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
A first aspect of an embodiment of the present invention provides a laser radar signal processing circuit, as shown in fig. 1, the laser radar signal processing circuit includes:
the system comprises a signal transmitting module 11, a signal receiving module 12, a signal integrating module 13 and a post-stage processing module 14;
the signal transmitting module 11 and the signal receiving module 12 are both connected with the signal integration module 13, and the signal integration module 13 is connected with the post-stage processing module 14;
the signal transmitting module 11 is used for generating and transmitting a laser pulse signal; the signal receiving module 12 is configured to receive an echo pulse signal corresponding to the laser pulse signal; the signal integration module 13 is configured to integrate the laser pulse signal and the echo pulse signal to obtain an integrated signal; the post-processing module 14 is configured to determine a time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal according to the integration signal.
In the embodiment of the present invention, the signal integration module 13 integrates the laser pulse signal output by the signal transmission module 11 and the echo pulse signal output by the signal reception module 12 to obtain an integrated signal, and then the integrated signal is input to the same post-processing module 13 for processing, so that the laser pulse signal and the echo pulse signal generate the same delay, thereby avoiding an error generated when a time interval is measured due to different delays of the laser pulse signal and the echo pulse signal, and improving the measurement accuracy of the time interval when the laser pulse signal is transmitted and when the echo pulse signal is received.
It should be noted that, in practical applications, a signal generating device may also be provided, and at the same time of transmitting the laser pulse signal, a rectangular pulse signal representing the signal transmission time is generated, and the rectangular pulse signal representing the signal transmission time is integrated with the echo pulse signal to determine the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal, which is not limited in the present invention.
Optionally, referring to fig. 2, as a specific implementation manner of the laser radar signal processing circuit according to the first aspect of the embodiment of the present invention, the signal receiving module 12 includes a signal receiving unit 121, a signal converting unit 122, and a signal conditioning unit 123; the output end of the signal receiving unit 121 is sequentially connected to the signal converting unit 122 and the signal conditioning unit 123, and the output end of the signal conditioning unit 123 is connected to the signal integrating module 13.
In the embodiment of the present invention, the signal receiving module 12 first receives the laser signal reflected from the target through the signal receiving unit 121, then converts the laser signal into an electrical signal through the signal converting unit 122, and finally conditions the electrical signal through the signal conditioning unit 123 to obtain the echo pulse signal with a level value meeting the input condition of the signal integrating module 13, and inputs the echo pulse signal into the signal integrating module 13.
Optionally, referring to fig. 2, as a specific implementation manner of the laser radar signal processing circuit provided in the first aspect of the embodiment of the present invention, the signal integration module 13 includes a first signal processing unit 131, a second signal processing unit 132, a third signal processing unit 133, and an integration unit 134;
the input end of the first signal processing unit 131 is connected to the signal transmitting module 11, and the output end of the first signal processing unit 131 is connected to the input end of the integrating unit 134 through the second signal processing unit 132;
the input end of the third signal processing unit 132 is connected to the signal receiving module 12, and the output end of the third signal processing unit 133 is connected to the input end of the integrating unit 134;
the output of the integration unit 134 is connected to the post-processing module 14.
Optionally, as a specific implementation manner of the laser radar signal processing circuit according to the first aspect of the embodiment of the present invention, the first signal processing unit 131 is a resistor or a capacitor for conditioning the laser pulse signal.
Optionally, as a specific implementation manner of the laser radar signal processing circuit according to the first aspect of the embodiment of the present invention, the second signal processing unit 132 and the third signal processing unit 133 are both dc blocking capacitors.
In the embodiment of the present invention, since the laser pulse signal output by the signal transmitting module 11 is a rectangular pulse signal, since the echo pulse signal outputted from the signal receiving module 12 is a gaussian signal, the signal integrating module 13 firstly converts the laser pulse signal into a gaussian signal through the first signal processing unit 131, and adjusts the level of the laser pulse signal to meet the input conditions of the post-processing unit 14, the second signal processing unit 132 then separates the dc component and the ac component of the laser pulse signal, and outputs the ac amount of the laser pulse signal, the third signal processing unit 133 separates the dc amount and the ac amount of the echo pulse signal, and outputs the ac amount of the echo pulse signal, after dc blocking, the laser pulse signal and the echo pulse signal can be integrated into one integrated signal by the integration unit 134.
It should be noted that the first signal processing unit 131 may be, but is not limited to, a resistor or a capacitor, and the second signal processing unit 132 and the third signal processing unit 133 may be dc blocking capacitors. In fact, the laser pulse signal processed by the second signal processing unit 132 and the echo pulse signal processed by the third signal processing unit 133 may be directly integrated into an integrated signal, that is, the integration unit 134 may be a signal channel for combining the laser pulse signal and the echo pulse signal.
Optionally, the post-processing module 14 includes a post-signal processing unit 141 and a timing unit 142;
the input end of the rear-stage signal processing unit 141 is connected to the signal integration module 13, and the output end of the rear-stage signal processing unit 141 is connected to the timing unit 142.
Optionally, the post-stage signal processing unit 141 includes a signal amplifying unit 1411 and a signal post-stage processing unit 1412;
the input end of the signal amplifying unit 1411 is connected to the signal integrating module 13, and the output end of the signal amplifying unit 1411 is connected to the timing unit 142 through the signal post-processing unit 1412.
In the embodiment of the present invention, after the integrated signal enters the post-processing module 14, the integrated signal is first amplified by the signal amplifying unit 1411, and since the integrated signal is a gaussian signal, it is inconvenient to determine the rising edge time and the falling edge time, therefore, the integrated signal needs to be converted into a rectangular pulse signal by the signal post-processing unit 1412, and the signal post-processing unit 1412 further adjusts the level value of the integrated signal to make it meet the input condition of the timing unit 142, and finally, the timing unit 142 determines the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal according to the rising edge time interval or the falling edge time interval of the integrated signal.
Optionally, the timing unit 142 includes a plurality of signal input channels and a timing subunit, and the integrated signal is input to the timing subunit through any one of the signal input channels.
Optionally, determining a time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal according to the integration signal includes:
determining the time interval from the moment of transmitting the laser pulse signal to the moment of receiving the echo pulse signal according to the rising edge moment of the integrated signal; or, the time interval from the moment of transmitting the laser pulse signal to the moment of receiving the echo pulse signal is determined according to the falling edge moment of the integrated signal.
In the embodiment of the present invention, the timing unit 142 has a plurality of signal input channels and a timing subunit, and the integrated signal can be input to the timing subunit through any one of the signal input channels, so that different integrated signals can be input to the timing subunit through different signal input channels, thereby improving the transmission efficiency of the signal and further improving the working efficiency of the pulse type laser radar. Meanwhile, compared with the conventional method in which the laser pulse signal and the echo pulse signal are respectively input to the timing unit 142 through different signal input channels, the present embodiment integrates the laser pulse signal and the corresponding echo pulse signal into one integrated signal, and can only transmit through one signal input channel, thereby reducing the calculation error caused by signal input to different channels.
A second aspect of the embodiments of the present invention provides a lidar including the lidar signal processing circuit provided in any of the above-described embodiments of the present invention, and having the advantageous effects brought by the lidar signal processing circuit provided in any of the above-described embodiments.
From the above, the laser radar signal processing circuit provided by the invention integrates the laser pulse signal emitted by the laser radar to the target and the echo pulse signal reflected from the target through the signal integration module to obtain an integrated signal, and then inputs the integrated signal to the same post-processing module for processing, so that the laser pulse signal and the echo pulse signal generate the same time delay, and further, the error generated due to the different time delays of the laser pulse signal and the echo pulse signal during the measurement time interval is reduced. The invention can effectively improve the measurement precision of the time interval between the time of transmitting the laser pulse signal and the time of receiving the echo pulse signal, thereby improving the ranging precision of the pulse type laser radar.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A lidar signal processing circuit comprising:
the device comprises a signal transmitting module, a signal receiving module, a signal integration module and a post-stage processing module;
the signal transmitting module and the signal receiving module are both connected with the signal integration module, and the signal integration module is connected with the post-stage processing module;
the signal transmitting module is used for generating and transmitting a laser pulse signal; the signal receiving module is used for receiving an echo pulse signal corresponding to the laser pulse signal; the signal integration module is used for integrating the laser pulse signal and the echo pulse signal to obtain an integrated signal; and the post-stage processing module is used for determining the time interval from the moment of transmitting the laser pulse signal to the moment of receiving the echo pulse signal according to the integrated signal.
2. The lidar signal processing circuit of claim 1, wherein the signal receiving module comprises a signal receiving unit, a signal conversion unit, and a signal conditioning unit;
the output end of the signal receiving unit is sequentially connected with the signal conversion unit and the signal conditioning unit, and the output end of the signal conditioning unit is connected with the signal integration module.
3. The lidar signal processing circuit of claim 1 or 2, wherein the signal integration module comprises:
the device comprises a first signal processing unit, a second signal processing unit, a third signal processing unit and an integration unit;
the input end of the first signal processing unit is connected with the signal transmitting module, and the output end of the first signal processing unit is connected with the input end of the integration unit through the second signal processing unit;
the input end of the third signal processing unit is connected with the signal receiving module, and the output end of the third signal processing unit is connected with the input end of the integration unit;
and the output end of the integration unit is connected with the post-stage processing module.
4. The lidar signal processing circuit of claim 3, wherein the first signal processing unit is a resistor or a capacitor configured to condition the laser pulse signal.
5. The lidar signal processing circuit of claim 3, wherein the second signal processing unit and the third signal processing unit are both dc blocking capacitors.
6. The lidar signal processing circuit of claim 1, wherein the post-processing module comprises a post-signal processing unit and a timing unit;
the input end of the rear-stage signal processing unit is connected with the signal integration module, and the output end of the rear-stage signal processing unit is connected with the timing unit.
7. The lidar signal processing circuit of claim 6, wherein the post-stage signal processing unit comprises a signal amplification unit and a signal post-stage processing unit;
the input end of the signal amplification unit is connected with the signal integration module, and the output end of the signal amplification unit is connected with the timing unit through the signal post-stage processing unit.
8. The lidar signal processing circuit of claim 6, wherein the timing unit comprises a plurality of signal input channels and a timing subunit, the integrated signal being input to the timing subunit through any one of the signal input channels.
9. The lidar signal processing circuit of claim 1, wherein the determining a time interval between a time of transmitting the laser pulse signal and a time of receiving the echo pulse signal from the integration signal comprises:
determining a time interval between the moment of transmitting the laser pulse signal and the moment of receiving the echo pulse signal according to the rising edge moment of the integrated signal;
or determining the time interval from the moment of transmitting the laser pulse signal to the moment of receiving the echo pulse signal according to the falling edge moment of the integrated signal.
10. Lidar signal processing circuit according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011132850.9A CN112162291A (en) | 2020-10-21 | 2020-10-21 | Laser radar signal processing circuit and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011132850.9A CN112162291A (en) | 2020-10-21 | 2020-10-21 | Laser radar signal processing circuit and laser radar |
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| CN202011132850.9A Pending CN112162291A (en) | 2020-10-21 | 2020-10-21 | Laser radar signal processing circuit and laser radar |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782714A (en) * | 2021-01-05 | 2021-05-11 | 广东博智林机器人有限公司 | Pulse signal processing circuit and laser radar |
| CN114859686A (en) * | 2022-04-29 | 2022-08-05 | 河北新华北集成电路有限公司 | Timing device and timing method based on laser radar |
| CN115902835A (en) * | 2021-09-30 | 2023-04-04 | 深圳市速腾聚创科技有限公司 | Radar data receiving and transmitting device, distance measuring method and laser radar |
-
2020
- 2020-10-21 CN CN202011132850.9A patent/CN112162291A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782714A (en) * | 2021-01-05 | 2021-05-11 | 广东博智林机器人有限公司 | Pulse signal processing circuit and laser radar |
| CN115902835A (en) * | 2021-09-30 | 2023-04-04 | 深圳市速腾聚创科技有限公司 | Radar data receiving and transmitting device, distance measuring method and laser radar |
| CN115902835B (en) * | 2021-09-30 | 2024-02-27 | 深圳市速腾聚创科技有限公司 | Radar data receiving and transmitting device, ranging method and laser radar |
| CN114859686A (en) * | 2022-04-29 | 2022-08-05 | 河北新华北集成电路有限公司 | Timing device and timing method based on laser radar |
| CN114859686B (en) * | 2022-04-29 | 2024-02-06 | 河北新华北集成电路有限公司 | Timing device and timing method based on laser radar |
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