CN112612015A - Laser radar system - Google Patents
Laser radar system Download PDFInfo
- Publication number
- CN112612015A CN112612015A CN202011463831.4A CN202011463831A CN112612015A CN 112612015 A CN112612015 A CN 112612015A CN 202011463831 A CN202011463831 A CN 202011463831A CN 112612015 A CN112612015 A CN 112612015A
- Authority
- CN
- China
- Prior art keywords
- signal
- processing
- unit
- circuit unit
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000005286 illumination Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims description 163
- 238000005259 measurement Methods 0.000 claims description 75
- 230000003139 buffering effect Effects 0.000 claims description 55
- 238000005070 sampling Methods 0.000 claims description 54
- 238000000034 method Methods 0.000 claims description 26
- 238000006243 chemical reaction Methods 0.000 claims description 20
- 230000003287 optical effect Effects 0.000 claims description 17
- 230000003321 amplification Effects 0.000 claims description 13
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
-
- 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
- G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present application provides a laser radar system. In the laser radar system, a signal processing center is used for determining dynamic receiving parameters and dynamic transmitting parameters according to a preset measuring distance, a preset measuring amplitude, a preset working temperature and a preset illumination intensity; the emission center is connected with the signal processing center and is used for emitting stress light pulses relative to the dynamic emission parameters; the receiving center is connected with the signal processing center and used for receiving the reflected pulse corresponding to the laser pulse according to the dynamic receiving parameters and transmitting the reflected pulse to the signal processing center; and the signal processing center is also used for generating dynamic point cloud data according to the reflected pulse. Therefore, by implementing the implementation mode, the detection accuracy of the laser radar can be improved, and a series of interferences to detection caused by the environment can be avoided as much as possible.
Description
Technical Field
The application relates to the technical field of radars, in particular to a laser radar system.
Background
At present, with the rapid development of laser technology, the laser radar technology is also developing more and more rapidly. The existing laser radar can acquire more accurate point cloud data, so that a more accurate radar model can be generated. However, in practice, it is found that the current lidar usually generates unavoidable errors due to environmental influences, thereby greatly reducing the accuracy of lidar detection.
Disclosure of Invention
An object of the application is to provide a laser radar system, can improve laser radar's the detection degree of accuracy, avoid the environment as far as to survey a series of interferences that cause.
The embodiment of the application provides a laser radar system, which comprises a transmitting center, a signal processing center and a receiving center, wherein,
the signal processing center is used for determining dynamic receiving parameters and dynamic transmitting parameters according to a preset measuring distance, a preset measuring amplitude, a preset working temperature and a preset illumination intensity;
the emission center is connected with the signal processing center and is used for emitting stress light pulses relative to the dynamic emission parameters;
the receiving center is connected with the signal processing center and used for receiving the reflected pulse corresponding to the laser pulse according to the dynamic receiving parameter and transmitting the reflected pulse to the signal processing center;
the signal processing center is also used for generating dynamic point cloud data according to the reflected pulse.
In the implementation process, the laser radar system can be considered in multiple aspects according to the measuring distance, the measuring amplitude, the working temperature and the illumination intensity, so that the most suitable dynamic receiving parameters and the most suitable dynamic transmitting parameters are determined, the laser radar system can send the most suitable laser pulse, the reflected pulse is obtained under the most suitable condition, more accurate real-time transport elements can be obtained after a plurality of environmental factors are considered, and the detection accuracy of the laser radar is improved.
Further, the emission center includes an emission optical unit and an emission circuit unit, wherein,
the transmitting circuit unit is connected with the signal processing center and used for adjusting circuit parameters according to the dynamic transmitting parameters;
and the transmitting optical unit is connected with the transmitting circuit unit and is used for transmitting laser pulses according to the adjusted circuit parameters.
In the implementation process, the emission center can complete the control and emission of the laser pulse through two parts of structures, so that the effect and the precision of the laser pulse emission are improved.
Further, the signal processing center comprises a measurement and control unit, a TDC circuit unit and a signal processing circuit unit, wherein,
the measurement and control unit is connected with the transmitting center and used for determining dynamic receiving parameters and dynamic transmitting parameters according to a preset measuring distance and a preset measuring amplitude and transmitting the dynamic transmitting parameter values to the transmitting center;
the input end of the signal processing circuit unit is connected with the receiving center and is used for processing and sampling the reflected pulse to obtain a processing result and a sampling result;
the input end of the TDC circuit unit is connected with the output end of the signal processing circuit unit and is used for measuring the time of the reflected pulse to obtain a measurement result;
the measurement and control unit is respectively connected with the output end of the signal processing circuit unit and the output end of the TDC circuit unit and used for generating dynamic point cloud data according to the processing result and calculating the current measurement distance and the current measurement amplitude according to the sampling result and the measurement result.
In the implementation process, the signal processing center can control the emission and the reception of the laser pulse and the reflected pulse in real time, and can also acquire surrounding environment parameters in real time, so that the preset environment parameters can be dynamically adjusted in real time, and the dynamic detection effect of the laser radar system is improved.
Further, the measurement and control unit comprises an FPGA main control chip, wherein,
the FPGA main control chip is used for generating dynamic point cloud data according to the processing result;
the FPGA main control chip is further used for obtaining the current working temperature and the current illumination intensity, calculating the current measurement distance and the current measurement amplitude according to the sampling result and the measurement result, and setting the current measurement distance, the current measurement amplitude, the current working temperature and the current illumination intensity as the preset measurement distance, the preset measurement amplitude, the preset working temperature and the preset illumination intensity.
In the implementation process, the measurement and control unit can also acquire the current working temperature and the current illumination intensity, so that the laser radar system can acquire more comprehensive environmental parameters, and the detection precision of the laser radar system is improved.
Further, the signal processing circuit unit comprises a radio frequency pulse signal converter, a signal sampling unit and a signal processing unit, wherein,
the radio frequency pulse signal converter comprises an unbalanced input end and a balanced output end comprising a first output pin and a second output pin;
the receiving center is connected with the unbalanced input end and is used for transmitting the reflected pulse;
the signal sampling unit is connected with the first output pin and is used for sampling the reflection pulse to obtain a sampling result;
the signal processing unit is connected with the second output pin and used for processing the reflection pulse to obtain a processing result.
In the implementation process, the signal processing circuit unit can realize transmission and distribution of reflected pulses through the radio frequency pulse signal converter, and complete sampling and processing of signals through the signal sampling unit and the signal processing unit to obtain sampling results and processing results, thereby being beneficial to further improving detection precision of the laser radar system.
Further, the signal sampling unit comprises a first signal amplifying and buffering circuit, a pulse signal peak value detecting circuit unit and a pulse signal peak value sampling circuit unit, wherein
The first signal amplifying and buffering circuit is connected with a first output pin of the radio frequency pulse signal converter 22-1 and is used for processing the reflected pulse to obtain a first processing signal;
the pulse signal peak value detection circuit unit is connected with the first signal amplification and buffer circuit and is used for carrying out peak value detection on the first processing signal to obtain a detection sub-result;
the pulse signal peak value sampling circuit unit is connected with the pulse signal peak value detection circuit unit and is used for carrying out peak value sampling on the first processing signal to obtain a sampling sub-result;
and the measurement and control unit is connected with the peak value sampling circuit unit and used for receiving a sampling result generated according to the detection sub-result and the sampling sub-result.
In the implementation process, the signal sampling unit may determine the sampling result through peak detection and peak sampling.
Further, the signal processing unit comprises a second signal amplifying and buffering circuit, a high-speed differential amplifier circuit unit, a third signal amplifying and buffering circuit, a radio frequency power divider, a fourth signal amplifying and buffering circuit, a fifth signal amplifying and buffering circuit, a first delay circuit unit, a first high-speed comparator unit, a sixth signal amplifying and buffering circuit, a second high-speed comparator unit, a second delay circuit unit, a differential AND gate logic circuit unit and a differential pulse signal divider circuit unit, wherein,
the second signal amplifying and buffering circuit is connected with a second output pin of the radio frequency pulse signal converter 22-1 and is used for processing the reflected pulse to obtain a second processing signal;
the high-speed differential amplifier circuit unit is connected with the signal amplification and buffer circuit and is used for processing the second processing signal to obtain a third processing signal;
the third signal amplifying and buffering circuit is connected with a positive polarity output pin of the high-speed differential amplifier circuit unit and is used for processing the third processing signal to obtain a fourth processing signal;
the radio frequency power divider is connected with the third signal amplifying and buffering circuit and is used for transmitting the fourth processing signal;
the fourth signal amplifying and buffering circuit is connected with the radio frequency power distributor and is used for processing the fourth processing signal to obtain a fifth processing signal;
the fifth signal amplifying and buffering circuit is connected with the radio frequency power distributor and is used for processing the fourth processing signal to obtain a sixth processing signal;
the first delay circuit unit is connected with the fifth signal amplifying and buffering circuit and is used for carrying out delay processing on the sixth processing signal to obtain a seventh processing signal;
the input end of the first high-speed comparator unit is respectively connected with the fourth signal amplification and buffer circuit and the first delay circuit unit, and is used for performing comparison processing according to the fifth processing signal and the seventh processing signal to obtain a first comparison signal;
the sixth signal amplifying and buffering circuit is connected with the negative output pin of the high-speed differential amplifier circuit unit and is used for processing the third processing signal to obtain an eighth processing signal;
the second high-speed comparator unit is connected with the sixth signal amplifying and buffering circuit and is used for comparing the eighth processed signal with a preset processed signal to obtain a second comparison signal;
the second delay circuit unit is connected with the second high-speed comparator unit and is used for carrying out delay processing on the second comparison signal to obtain a ninth processing signal;
the differential AND gate logic circuit unit is respectively connected with the second delay circuit unit and the output end of the high-speed comparator unit and is used for carrying out logic processing on the first comparison signal and the ninth processing signal to obtain a tenth processing signal;
the differential pulse signal distributor circuit unit is connected with the differential AND logic circuit unit and is used for transmitting the tenth processing signal;
the measurement and control unit is connected with the differential pulse signal distributor circuit unit and used for receiving a processing result generated according to the tenth processing signal;
the TDC circuit unit is respectively connected with the differential pulse signal distributor circuit unit and the measurement and control unit and is used for measuring time of the tenth processing signal to obtain a measurement result.
In the implementation process, the signal processing unit can process the reflected pulse for multiple times through the internal structure, and finally, a more accurate measurement result corresponding to the reflected pulse can be obtained.
Further, the reception center includes a reception photoelectric conversion unit and a reception processing unit, wherein,
the photoelectric conversion unit is used for receiving a reflection pulse corresponding to the laser pulse according to the dynamic receiving parameter;
and the receiving and processing unit is connected with the photoelectric conversion unit and is used for processing the reflected pulse.
In the implementation process, the receiving center can acquire more accurate reflected pulses through the receiving photoelectric conversion unit and the receiving processing unit.
Further, the receiving photoelectric conversion unit includes an optical module and an APD circuit unit, wherein,
the optical module is used for receiving the reflected pulse corresponding to the laser pulse according to the dynamic receiving parameter;
and the APD circuit unit is connected with the optical module and is used for performing photoelectric conversion on the reflected pulse.
In the implementation process, the receiving photoelectric conversion unit can more effectively complete the photoelectric conversion of the reflected pulse.
Further, the receiving processing unit includes a first amplifying unit and a second amplifying unit connected to each other, wherein the receiving processing unit is configured to process the reflected pulse through the first amplifying unit and the second amplifying unit.
In the implementation process, the receiving processing unit can process the reflected pulse more effectively.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another laser radar system provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a signal processing circuit unit according to an embodiment of the present application.
Icon: 100-a centre of emission; 110-an emitting optical unit; 120-a transmit circuit unit; 200-a signal processing center; 210-a measurement and control unit; 220-TDC circuit unit; 230-a signal processing circuit unit; 1-a radio frequency pulse signal converter; 231-a signal sampling unit; 2-a first signal amplifying and buffering circuit; 5-a pulse signal peak detection circuit unit; 8-a pulse signal peak value sampling circuit unit; 232-a signal processing unit; 3-a second signal amplifying and buffering circuit; 4-a high-speed differential amplifier circuit unit; 6-a third signal amplifying and buffering circuit; 9-a radio frequency power divider; 11-a fourth signal amplifying and buffering circuit; 12-a fifth signal amplifying and buffering circuit; 15-a first delay circuit unit; 16-a first high speed comparator unit; 7-a sixth signal amplifying and buffering circuit; 10-a second high speed comparator unit; 17-a second delay circuit unit; 13-differential and gate logic circuit unit; 14-differential pulse signal distributor circuit unit; 300-a receiving center; 310-a receiving photoelectric conversion unit; 311-an optical module; 312-an APD circuit cell; 320-a reception processing unit; 321-a first amplifying unit; 322-second amplification unit.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present disclosure. As shown in fig. 1, the lidar system includes a transmission center 100, a signal processing center 200, and a reception center 300, wherein,
the signal processing center 200 is configured to determine a dynamic receiving parameter and a dynamic transmitting parameter according to a preset measurement distance, a preset measurement amplitude, a preset working temperature, and a preset illumination intensity;
the emission center 100 is connected with the signal processing center 200 and is used for emitting stress light pulses relative to the dynamic emission parameters;
the receiving center 300 is connected to the signal processing center 200, and configured to receive a reflected pulse corresponding to the laser pulse according to the dynamic receiving parameter, and transmit the reflected pulse to the signal processing center 200;
the signal processing center 200 is further configured to generate dynamic point cloud data according to the reflected pulse.
In this embodiment, the laser pulse is a narrow pulse laser signal.
In the present embodiment, the receiving center 300 is used to convert the received reflected pulse flushing signal into a narrow pulse voltage signal.
Referring to fig. 2, fig. 2 is a schematic structural diagram of another lidar system according to an embodiment of the present disclosure. As shown in fig. 2, wherein the emission center 100 includes an emission optical unit 110 and an emission circuit unit 120, wherein,
the transmitting circuit unit 120 is connected to the signal processing center 200, and is configured to adjust circuit parameters according to the dynamic transmitting parameters;
the transmitting optical unit 110 is connected to the transmitting circuit unit 120, and is configured to transmit laser pulses according to the adjusted circuit parameters.
As an optional implementation manner, the signal processing center 200 includes a measurement and control unit 210, a TDC circuit unit 220, and a signal processing circuit unit 230, wherein,
the measurement and control unit 210 is connected to the transmission center 100, and configured to determine a dynamic receiving parameter and a dynamic transmitting parameter according to a preset measurement distance and a preset measurement amplitude, and transmit the dynamic transmitting parameter value to the transmission center;
the input end of the signal processing circuit unit 230 is connected to the receiving center 300, and is configured to process and sample the reflected pulse to obtain a processing result and a sampling result;
the input end of the TDC circuit unit 220 is connected to the output end of the signal processing circuit unit 230, and is configured to perform time measurement on the reflected pulse to obtain a measurement result;
the measurement and control unit 210 is respectively connected to the output terminal of the signal processing circuit unit 230 and the output terminal of the TDC circuit unit 220, and is configured to generate dynamic point cloud data according to the processing result, and calculate a current measurement distance and a current measurement amplitude according to the sampling result and the measurement result.
As an optional implementation manner, the measurement and control unit 210 includes an FPGA main control chip, wherein,
the FPGA main control chip is used for generating dynamic point cloud data according to the processing result;
the FPGA main control chip is further used for obtaining the current working temperature and the current illumination intensity, calculating the current measurement distance and the current measurement amplitude according to the sampling result and the measurement result, and setting the current measurement distance, the current measurement amplitude, the current working temperature and the current illumination intensity as the preset measurement distance, the preset measurement amplitude, the preset working temperature and the preset illumination intensity.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a signal processing circuit unit according to an embodiment of the present disclosure. As shown in fig. 3, wherein the signal processing circuit unit 230 includes a radio frequency pulse signal converter 1, a signal sampling unit 231, and a signal processing unit 232, wherein,
the radio frequency pulse signal converter 1 comprises an unbalanced input end and a balanced output end comprising a first output pin and a second output pin;
the receiving center 300 is connected to the unbalanced input terminal for transmitting the reflected pulse;
the signal sampling unit 231 is connected to the first output pin, and is configured to sample the reflected pulse to obtain a sampling result;
the signal processing unit 232 is connected to the second output pin, and is configured to process the reflected pulse to obtain a processing result.
As an alternative embodiment, the signal sampling unit 231 includes a first signal amplifying and buffering circuit 2, a pulse signal peak value detecting circuit unit 5 and a pulse signal peak value sampling circuit unit 8, wherein
The first signal amplifying and buffering circuit 2 is connected with a first output pin of the radio frequency pulse signal converter 22-1 and is used for processing the reflected pulse to obtain a first processing signal;
the pulse signal peak detection circuit unit 5 is connected with the first signal amplification and buffer circuit 2, and is configured to perform peak detection on the first processed signal to obtain a detection sub-result;
the pulse signal peak value sampling circuit unit 8 is connected with the pulse signal peak value detection circuit unit 5, and is configured to perform peak value sampling on the first processing signal to obtain a sampling sub-result;
the measurement and control unit 210 is connected to the peak sampling circuit unit 8, and is configured to receive a sampling result generated according to the detection sub-result and the sampling sub-result.
As an alternative implementation, the signal processing unit 232 includes a second signal amplifying and buffering circuit 3, a high-speed differential amplifier circuit unit 4, a third signal amplifying and buffering circuit 6, a radio frequency power divider 9, a fourth signal amplifying and buffering circuit 11, a fifth signal amplifying and buffering circuit 12, a first delay circuit unit 15, a first high-speed comparator unit 16, a sixth signal amplifying and buffering circuit 7, a second high-speed comparator unit 10, a second delay circuit unit 17, a differential and gate logic circuit unit 13, and a differential pulse signal divider circuit unit 14, wherein,
the second signal amplifying and buffering circuit 3 is connected with a second output pin of the radio frequency pulse signal converter 22-1 and is used for processing the reflected pulse to obtain a second processing signal;
the high-speed differential amplifier circuit unit 4 is connected with the signal amplification and buffer circuit 3 and is used for processing the second processed signal to obtain a third processed signal;
the third signal amplifying and buffering circuit 6 is connected to the positive output pin of the high-speed differential amplifier circuit unit 4, and is configured to process the third processed signal to obtain a fourth processed signal;
the radio frequency power divider 9 is connected to the third signal amplifying and buffering circuit 6, and is configured to transmit the fourth processing signal;
the fourth signal amplifying and buffering circuit 11 is connected to the radio frequency power divider 9, and is configured to process the fourth processed signal to obtain a fifth processed signal;
the fifth signal amplifying and buffering circuit 12 is connected to the rf power divider 9, and is configured to process the fourth processed signal to obtain a sixth processed signal;
the first delay circuit unit 15 is connected to the fifth signal amplifying and buffering circuit 12, and is configured to perform delay processing on the sixth processed signal to obtain a seventh processed signal;
the input end of the first high-speed comparator unit 16 is respectively connected to the fourth signal amplifying and buffering circuit 11 and the first delay circuit unit 15, and is configured to perform comparison processing according to the fifth processed signal and the seventh processed signal to obtain a first comparison signal;
the sixth signal amplifying and buffering circuit 7 is connected to the negative output pin of the high-speed differential amplifier circuit unit 4, and is configured to process the third processed signal to obtain an eighth processed signal;
the second high-speed comparator unit 10 is connected to the sixth signal amplifying and buffering circuit 7, and configured to compare the eighth processed signal with a preset processed signal to obtain a second comparison signal;
the second delay circuit unit 17 is connected to the second high-speed comparator unit 10, and is configured to perform delay processing on the second comparison signal to obtain a ninth processed signal;
the differential and gate logic circuit unit 13 is respectively connected to the second delay circuit unit 17 and the output end of the high-speed comparator unit 16, and is configured to perform logic processing on the first comparison signal and the ninth processing signal to obtain a tenth processing signal;
the differential pulse signal distributor circuit unit 14 is connected to the differential and gate logic circuit unit 13, and is configured to transmit the tenth processing signal;
the measurement and control unit 210 is connected to the differential pulse signal distributor circuit unit 14, and is configured to receive a processing result generated according to the tenth processing signal;
the TDC circuit unit 220 is respectively connected to the differential pulse signal distributor circuit unit 14 and the measurement and control unit 210, and is configured to perform time measurement on the tenth processing signal to obtain a measurement result.
In this embodiment, the signal amplitudes of the positive and negative polarity input pins of the high-speed comparator in the high-speed comparator unit 16 are both 1: 1.
by implementing this embodiment, the amplitude of the input pulse signal of the second high-speed comparator unit 10 in the signal processing circuit unit 230 can be made strictly controlled only by the receiving center 300. Meanwhile, a measurement error caused by the signal amplitude or interference noise superimposed in the signal can be improved accordingly by the structures of the reception center 300 and the signal processing circuit unit 230.
By implementing the embodiment, the measurement stability of the single-point measurement data and the point cloud measurement data can be improved; the applicability to environmental factor changes can be improved; the stability of the measured data in a complex scene environment is improved; therefore, the restoration of the laser radar environment perception model is favorably improved, and the stability and the accuracy of the restoration of the laser radar environment perception model are favorably improved.
In this embodiment, the signal processing circuit unit 230 using pure hardware can effectively reduce the operation amount of the main control FPGA system, and indirectly reduce the power consumption of the system, thereby providing control logic resources for other measurement control algorithms.
As an alternative embodiment, the receiving center 300 includes a receiving photoelectric conversion unit 310 and a receiving processing unit 320, wherein,
the photoelectric conversion unit 310 is configured to receive a reflected pulse corresponding to the laser pulse according to the dynamic receiving parameter;
the receiving processing unit 320 is connected to the photoelectric conversion unit 310, and is configured to process the reflected pulse.
In this embodiment, the reflected pulse may be transmitted from the photoelectric conversion unit 310 to the measurement and control unit 210.
In this embodiment, the receiving and processing unit 320 may transmit the processed reflected pulse to the measurement and control unit 210.
In this embodiment, the measurement and control unit 210 may monitor the processing process and the processing effect of the reflected pulse when receiving the reflected pulse and the processed reflected pulse, so as to ensure the effect of the whole lidar system.
As an alternative embodiment, the receiving photoelectric conversion unit 310 includes an optical module 311 and an APD circuit unit 312, wherein,
the optical module 311 is configured to receive a reflected pulse corresponding to the laser pulse according to the dynamic receiving parameter;
the APD circuit unit 312 is connected to the optical module 311, and is configured to perform photoelectric conversion on the reflected pulse.
As an optional implementation manner, the receiving processing unit 320 includes a first amplifying unit 321 and a second amplifying unit 322 connected to each other, where the receiving processing unit 320 is configured to process the reflected pulse through the first amplifying unit 321 and the second amplifying unit 322.
As an alternative implementation, the first amplifying unit 321 includes a transimpedance amplifier and a digital variable gain amplifier and their peripheral circuits, and the second amplifying unit 322 includes a fixed gain amplifier and its peripheral circuits.
In this embodiment, the FPGA main control chip of the measurement and control module 1 may use XC7K325T chip of XILINX; the model of the SI-APD avalanche photodetector can be AD 500-9; the model of the core chip of the radio frequency pulse signal converter 1 can be TP-101 of MACOM; the model of the core chip of the signal amplifying and buffering circuit 2 and 3 can be lmh 6702; the type of the core chip of the high-speed differential amplifier unit 4 can be selected from ADA 4938; the model of the core chips of the signal amplifying and buffering circuits 6 and 7 can be selected from BUF 602; the model of the core chip of the surface-mounted radio frequency power distributor 9 can be MAPD-008957-CT 0012; the model of the core chips of the high-speed comparator units 10 and 16 can be lmh 7322; the model of the core chip of the signal amplifying and buffering circuit 11, 12 can be OPA 695; the model of the core chip of the differential AND logic circuit unit 13 can be selected from MC100LVEL 05-D.
In all the above embodiments, the terms "large" and "small" are relative terms, and the terms "more" and "less" are relative terms, and the terms "upper" and "lower" are relative terms, so that the description of these relative terms is not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A lidar system comprising a transmission center, a signal processing center, and a reception center, wherein,
the signal processing center is used for determining dynamic receiving parameters and dynamic transmitting parameters according to a preset measuring distance, a preset measuring amplitude, a preset working temperature and a preset illumination intensity;
the emission center is connected with the signal processing center and is used for emitting stress light pulses relative to the dynamic emission parameters;
the receiving center is connected with the signal processing center and used for receiving the reflected pulse corresponding to the laser pulse according to the dynamic receiving parameter and transmitting the reflected pulse to the signal processing center;
the signal processing center is also used for generating dynamic point cloud data according to the reflected pulse.
2. Lidar system according to claim 1, wherein the transmission center comprises a transmission optical unit and a transmission circuit unit, wherein,
the transmitting circuit unit is connected with the signal processing center and used for adjusting circuit parameters according to the dynamic transmitting parameters;
and the transmitting optical unit is connected with the transmitting circuit unit and is used for transmitting laser pulses according to the adjusted circuit parameters.
3. The lidar system of claim 1, wherein the signal processing center comprises a measurement and control unit, a TDC circuit unit, and a signal processing circuit unit, wherein,
the measurement and control unit is connected with the transmitting center and used for determining dynamic receiving parameters and dynamic transmitting parameters according to a preset measuring distance and a preset measuring amplitude and transmitting the dynamic transmitting parameter values to the transmitting center;
the input end of the signal processing circuit unit is connected with the receiving center and is used for processing and sampling the reflected pulse to obtain a processing result and a sampling result;
the input end of the TDC circuit unit is connected with the output end of the signal processing circuit unit and is used for measuring the time of the reflected pulse to obtain a measurement result;
the measurement and control unit is respectively connected with the output end of the signal processing circuit unit and the output end of the TDC circuit unit and used for generating dynamic point cloud data according to the processing result and calculating the current measurement distance and the current measurement amplitude according to the sampling result and the measurement result.
4. The lidar system of claim 3, wherein the measurement and control unit comprises an FPGA master control chip, wherein,
the FPGA main control chip is used for generating dynamic point cloud data according to the processing result;
the FPGA main control chip is further used for obtaining the current working temperature and the current illumination intensity, calculating the current measurement distance and the current measurement amplitude according to the sampling result and the measurement result, and setting the current measurement distance, the current measurement amplitude, the current working temperature and the current illumination intensity as the preset measurement distance, the preset measurement amplitude, the preset working temperature and the preset illumination intensity.
5. The lidar system of claim 3, wherein the signal processing circuit unit comprises a radio frequency pulse signal converter, a signal sampling unit, and a signal processing unit, wherein,
the radio frequency pulse signal converter comprises an unbalanced input end and a balanced output end comprising a first output pin and a second output pin;
the receiving center is connected with the unbalanced input end and is used for transmitting the reflected pulse;
the signal sampling unit is connected with the first output pin and is used for sampling the reflection pulse to obtain a sampling result;
the signal processing unit is connected with the second output pin and used for processing the reflection pulse to obtain a processing result.
6. The lidar system of claim 5, wherein the signal sampling unit comprises a first signal amplifying and buffering circuit, a pulse signal peak detection circuit unit, and a pulse signal peak sampling circuit unit, wherein
The first signal amplifying and buffering circuit is connected with a first output pin of the radio frequency pulse signal converter 22-1 and is used for processing the reflected pulse to obtain a first processing signal;
the pulse signal peak value detection circuit unit is connected with the first signal amplification and buffer circuit and is used for carrying out peak value detection on the first processing signal to obtain a detection sub-result;
the pulse signal peak value sampling circuit unit is connected with the pulse signal peak value detection circuit unit and is used for carrying out peak value sampling on the first processing signal to obtain a sampling sub-result;
and the measurement and control unit is connected with the peak value sampling circuit unit and used for receiving a sampling result generated according to the detection sub-result and the sampling sub-result.
7. The lidar system of claim 5, wherein the signal processing unit comprises a second signal amplifying and buffering circuit, a high-speed differential amplifier circuit unit, a third signal amplifying and buffering circuit, a radio frequency power divider, a fourth signal amplifying and buffering circuit, a fifth signal amplifying and buffering circuit, a first delay circuit unit, a first high-speed comparator unit, a sixth signal amplifying and buffering circuit, a second high-speed comparator unit, a second delay circuit unit, a differential AND gate logic circuit unit, and a differential pulse signal divider circuit unit, wherein,
the second signal amplifying and buffering circuit is connected with a second output pin of the radio frequency pulse signal converter 22-1 and is used for processing the reflected pulse to obtain a second processing signal;
the high-speed differential amplifier circuit unit is connected with the signal amplification and buffer circuit and is used for processing the second processing signal to obtain a third processing signal;
the third signal amplifying and buffering circuit is connected with a positive polarity output pin of the high-speed differential amplifier circuit unit and is used for processing the third processing signal to obtain a fourth processing signal;
the radio frequency power divider is connected with the third signal amplifying and buffering circuit and is used for transmitting the fourth processing signal;
the fourth signal amplifying and buffering circuit is connected with the radio frequency power distributor and is used for processing the fourth processing signal to obtain a fifth processing signal;
the fifth signal amplifying and buffering circuit is connected with the radio frequency power distributor and is used for processing the fourth processing signal to obtain a sixth processing signal;
the first delay circuit unit is connected with the fifth signal amplifying and buffering circuit and is used for carrying out delay processing on the sixth processing signal to obtain a seventh processing signal;
the input end of the first high-speed comparator unit is respectively connected with the fourth signal amplification and buffer circuit and the first delay circuit unit, and is used for performing comparison processing according to the fifth processing signal and the seventh processing signal to obtain a first comparison signal;
the sixth signal amplifying and buffering circuit is connected with the negative output pin of the high-speed differential amplifier circuit unit and is used for processing the third processing signal to obtain an eighth processing signal;
the second high-speed comparator unit is connected with the sixth signal amplifying and buffering circuit and is used for comparing the eighth processed signal with a preset processed signal to obtain a second comparison signal;
the second delay circuit unit is connected with the second high-speed comparator unit and is used for carrying out delay processing on the second comparison signal to obtain a ninth processing signal;
the differential AND gate logic circuit unit is respectively connected with the second delay circuit unit and the output end of the high-speed comparator unit and is used for carrying out logic processing on the first comparison signal and the ninth processing signal to obtain a tenth processing signal;
the differential pulse signal distributor circuit unit is connected with the differential AND logic circuit unit and is used for transmitting the tenth processing signal;
the measurement and control unit is connected with the differential pulse signal distributor circuit unit and used for receiving a processing result generated according to the tenth processing signal;
the TDC circuit unit is respectively connected with the differential pulse signal distributor circuit unit and the measurement and control unit and is used for measuring time of the tenth processing signal to obtain a measurement result.
8. The lidar system of claim 1, wherein the receive center includes a receive photoelectric conversion unit and a receive processing unit, wherein,
the photoelectric conversion unit is used for receiving a reflection pulse corresponding to the laser pulse according to the dynamic receiving parameter;
and the receiving and processing unit is connected with the photoelectric conversion unit and is used for processing the reflected pulse.
9. The lidar system of claim 8, wherein the receiving photoelectric conversion unit comprises an optical module and an APD circuit unit, wherein,
the optical module is used for receiving the reflected pulse corresponding to the laser pulse according to the dynamic receiving parameter;
and the APD circuit unit is connected with the optical module and is used for performing photoelectric conversion on the reflected pulse.
10. The lidar system according to claim 8, wherein the reception processing unit comprises a first amplification unit and a second amplification unit connected to each other, wherein the reception processing unit is configured to process the reflected pulse through the first amplification unit and the second amplification unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011463831.4A CN112612015A (en) | 2020-12-08 | 2020-12-08 | Laser radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011463831.4A CN112612015A (en) | 2020-12-08 | 2020-12-08 | Laser radar system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112612015A true CN112612015A (en) | 2021-04-06 |
Family
ID=75233694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011463831.4A Withdrawn CN112612015A (en) | 2020-12-08 | 2020-12-08 | Laser radar system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112612015A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114637016A (en) * | 2022-05-11 | 2022-06-17 | 西安晟昕科技发展有限公司 | Laser radar signal transmitting and processing method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180081061A1 (en) * | 2016-09-22 | 2018-03-22 | Apple Inc. | Adaptive transmission power control for a LIDAR |
| US20180113216A1 (en) * | 2016-10-25 | 2018-04-26 | Innoviz Technologies Ltd. | Methods Circuits Devices Assemblies Systems and Functionally Associated Machine Executable Code for Active Optical Scanning of a Scene |
| CN108415028A (en) * | 2018-03-16 | 2018-08-17 | 深圳市砝石激光雷达有限公司 | The encrypted laser ranging system of pulse parameter and method |
| US20180284229A1 (en) * | 2017-03-29 | 2018-10-04 | SZ DJI Technology Co., Ltd. | Light detecting and ranging (lidar) signal processing circuitry |
| CN108919282A (en) * | 2018-05-17 | 2018-11-30 | 北京航空航天大学 | A kind of laser radar signal moment identification system |
| JP2019109187A (en) * | 2017-12-20 | 2019-07-04 | パイオニア株式会社 | Control device |
| WO2020000755A1 (en) * | 2018-06-27 | 2020-01-02 | Hesai Photonics Technology Co., Ltd. | Adaptive coding for lidar systems |
| CN110687516A (en) * | 2018-07-06 | 2020-01-14 | 江苏慧光电子科技有限公司 | Control method, device and system for light beam scanning and corresponding medium |
| US20200088844A1 (en) * | 2018-09-18 | 2020-03-19 | Velodyne Lidar, Inc. | Systems and methods for improving detection of a return signal in a light ranging and detection system with pulse encoding |
-
2020
- 2020-12-08 CN CN202011463831.4A patent/CN112612015A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180081061A1 (en) * | 2016-09-22 | 2018-03-22 | Apple Inc. | Adaptive transmission power control for a LIDAR |
| US20180113216A1 (en) * | 2016-10-25 | 2018-04-26 | Innoviz Technologies Ltd. | Methods Circuits Devices Assemblies Systems and Functionally Associated Machine Executable Code for Active Optical Scanning of a Scene |
| US20180284229A1 (en) * | 2017-03-29 | 2018-10-04 | SZ DJI Technology Co., Ltd. | Light detecting and ranging (lidar) signal processing circuitry |
| JP2019109187A (en) * | 2017-12-20 | 2019-07-04 | パイオニア株式会社 | Control device |
| CN108415028A (en) * | 2018-03-16 | 2018-08-17 | 深圳市砝石激光雷达有限公司 | The encrypted laser ranging system of pulse parameter and method |
| CN108919282A (en) * | 2018-05-17 | 2018-11-30 | 北京航空航天大学 | A kind of laser radar signal moment identification system |
| WO2020000755A1 (en) * | 2018-06-27 | 2020-01-02 | Hesai Photonics Technology Co., Ltd. | Adaptive coding for lidar systems |
| CN110687516A (en) * | 2018-07-06 | 2020-01-14 | 江苏慧光电子科技有限公司 | Control method, device and system for light beam scanning and corresponding medium |
| US20200088844A1 (en) * | 2018-09-18 | 2020-03-19 | Velodyne Lidar, Inc. | Systems and methods for improving detection of a return signal in a light ranging and detection system with pulse encoding |
Non-Patent Citations (3)
| Title |
|---|
| MAINI, A. K.等: "FPGA-based signal processor for detection and interpretation of pulsed laser radiation", DEFENCE SCIENCE JOURNAL, vol. 57, no. 4, pages 609 - 615 * |
| 蒋猛: "无人驾驶车测距激光雷达系统设计", 工程科技Ⅱ辑, no. 08, pages 035 - 153 * |
| 雷志勇;李永昌;刘星;雷鸣;: "一种用FPGA提高激光测距精度的改进方法", 西安工业大学学报, no. 05, pages 361 - 366 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114637016A (en) * | 2022-05-11 | 2022-06-17 | 西安晟昕科技发展有限公司 | Laser radar signal transmitting and processing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11592553B2 (en) | Distance measurement system and method using lidar waveform matching | |
| CN202182717U (en) | Laser ranging device based on time-to-digital converter (TDC) technology | |
| CN108919282A (en) | A kind of laser radar signal moment identification system | |
| Palojarvi et al. | A 250-MHz BiCMOS receiver channel with leading edge timing discriminator for a pulsed time-of-flight laser rangefinder | |
| CN204989471U (en) | Multiple target pulsed laser distancer | |
| CN103698770A (en) | Multi-channel laser echo time measurement system based on FPGA (Field Programmable Gate Array) chip | |
| CN112114324B (en) | Distance measurement method, device, terminal equipment and storage medium | |
| CN107861112A (en) | A kind of LDMS of total regulation | |
| CN113156412B (en) | Electromagnetic interference detection method and system of laser radar | |
| CN114637021B (en) | Sub-centimeter-level full-waveform laser radar ranging method and device | |
| CN110988901B (en) | TDC (time-to-digital converter) combined phase laser ranging method and system | |
| CN109581401B (en) | Distance detection sensor and working method thereof | |
| CN112612015A (en) | Laser radar system | |
| CN112162291A (en) | Laser radar signal processing circuit and laser radar | |
| CN209117877U (en) | A kind of multi-channel high-accuracy laser time of flight measuring system | |
| CN109633610B (en) | Error correction method for transistor type receiving circuit of pulse laser ranging system | |
| CN105891701B (en) | A kind of score filtering wave by prolonging time device delay performance test method and its test device | |
| CN104777471B (en) | A kind of pulse laser short range dynamic gain control circuit | |
| CN110873864B (en) | Linear array laser radar range profile simulation device and method | |
| CN116256767A (en) | Laser radar flight time measurement method and system | |
| CN116930984A (en) | Measuring circuit and measuring device | |
| CN115980715A (en) | TDC linearity compensation method based on white noise histogram | |
| CN111273260B (en) | Method for improving distance measurement precision of transistor type receiving circuit of pulse laser ranging system | |
| CN114706058A (en) | Laser receiving system and laser ranging system | |
| CN212433402U (en) | Laser echo distance measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210406 |
|
| WW01 | Invention patent application withdrawn after publication |