CN112630748B - Laser pulse time interval processing method and laser radar detection system - Google Patents
Laser pulse time interval processing method and laser radar detection system Download PDFInfo
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- CN112630748B CN112630748B CN202011480699.8A CN202011480699A CN112630748B CN 112630748 B CN112630748 B CN 112630748B CN 202011480699 A CN202011480699 A CN 202011480699A CN 112630748 B CN112630748 B CN 112630748B
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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
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
A laser pulse time interval processing method and a laser radar detection system can eliminate the problem of random jitter of a laser pulse ranging starting signal caused by unfixed response time of a laser through the obtained accurate laser driving signal sending time, and can calculate the flight time of laser pulses from the sending of the laser pulses to an object to be detected, so that the accurate distance data of the object to be detected is finally obtained. The time-sharing measurement of the laser emission pulse and the laser echo pulse can be realized through the light splitting function of the optical window of the two-dimensional MOEMS scanning mirror assembly, so that the accurate laser pulse flight time is calculated; in addition, because the detection system uses the unit APD detector, the radar detection system has the advantages of small volume, light weight and low cost.
Description
Technical Field
The invention relates to the technical field of laser radar ranging, in particular to a laser pulse time interval processing method and a laser radar detection system.
Background
As known, with the rapid development of intelligent unmanned technology, the laser radar technology as unmanned equipment 'eye' is also rapidly developed, the core component of the laser radar is an optical detection structure, the system component, complexity and performance of the structure determine the volume, quality and cost of the whole laser radar, the pulse ranging laser radar system disclosed at present mostly adopts an area array detector and a line array detector as a core detection structure, and the performance of the detection structure can meet the basic detection requirement, but due to the combination of a plurality of detectors, the system component of the optical detection structure is complex, so that the whole volume of the laser radar is affected;
a few unit detectors are adopted as a core structure, and although the laser radar adopting the unit detectors has unique advantages in terms of volume, quality and cost, when the laser pulse time interval calculation is carried out, the traditional mode is to directly adopt a driving signal of a laser as an initial reference signal for the laser pulse time interval calculation, and because the response time of the laser is not fixed, the random jitter phenomenon of the initial reference signal exists, the single pulse distance measurement precision of the laser radar is greatly influenced, and if the problem needs to be solved, the single distance is repeatedly measured to improve the measurement precision, but the real-time requirement of an intelligent unmanned system is difficult to meet; therefore, in view of the foregoing, there is a need in the market for a laser radar optical detection system that has a small size, a light weight, a low cost, and a high detection performance, and that can improve the accuracy of single pulse distance measurement.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses a laser pulse time interval processing method and a laser radar detection system.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
a laser pulse time interval processing method comprises the following steps:
step 1: performing pulse shaping on laser emitted by a laser radar laser source through a transmitting optical device, and performing collimation to form quasi-parallel laser pulses;
step 2: the quasi-parallel laser pulse is reflected to the optical window of the two-dimensional MOEMS scanning mirror assembly through the first reflecting mirror, and the optical window has a beam splitting function, so that a small part of quasi-parallel laser pulse is reflected to the mirror surface of the second reflecting mirror through the optical window, and a large part of quasi-parallel laser pulse is transmitted through the optical window of the two-dimensional MOEMS scanning mirror assembly and then is emitted to the mirror surface of the scanning micro mirror;
step 3: the second reflector directly reflects the corresponding quasi-parallel laser pulse to the light receiving end of the unit APD detector, the unit APD detector converts the quasi-parallel laser pulse into a corresponding electric signal, the electric signal is amplified by the transimpedance amplifying circuit to obtain a laser pulse emission signal, the obtained laser pulse emission signal is output to the processor, the processor performs AND operation processing on the signal and the laser driving signal, and the calculated signal is used as an initial reference signal of pulse ranging;
step 4: the scanning micro mirror reflects the corresponding quasi-parallel laser pulse to the measured object, the quasi-parallel laser pulse is diffusely reflected on the surface of the measured object, part of the reflected laser beam is received by the receiving optical device, then the part of laser beam is focused and imaged on the APD detector, the unit APD detector converts the laser beam into the corresponding electric signal, the electric signal is amplified by the transimpedance amplifying circuit to obtain a laser pulse echo signal, and the laser pulse echo signal is used as a stopping reference signal for pulse ranging and is output to the processor;
step 5: the processor can accurately calculate the distance of the measured object according to the initial reference signal, the stop reference signal and the light speed of the pulse ranging; and taking the stop reference signal of pulse ranging as a preparation signal of laser radar for next laser pulse emission.
The laser radar detection system used in the method comprises a transmitting optical device, a first reflecting mirror, a two-dimensional MOEMS scanning mirror assembly, a second reflecting mirror, a receiving optical device, a unit APD detector, a transimpedance amplifying circuit and a processor; the light-in end of the transmitting optical device is correspondingly connected with the laser of the laser radar, and the light-out end of the transmitting optical device is corresponding to the mirror surface of the first reflecting mirror;
the two-dimensional MOEMS scanning mirror assembly is positioned on the right side of the transmitting optical device, a second reflecting mirror is arranged above the two-dimensional MOEMS scanning mirror assembly, the two-dimensional MOEMS scanning mirror assembly is used for receiving reflected light of the first reflecting mirror, a light window of the two-dimensional MOEMS scanning mirror assembly can reflect a small part of received laser to a mirror surface of the second reflecting mirror, and a scanning micro-mirror in the two-dimensional MOEMS scanning mirror assembly can reflect the received laser to a measured object;
the receiving optical device is positioned on the right side of the two-dimensional MOEMS scanning mirror assembly, a measured object is arranged above the receiving optical device, a unit APD detector is arranged below the receiving optical device, the unit APD detector can receive reflected light of the second reflecting mirror, and a signal output end of the unit APD detector is correspondingly and electrically connected with the processor through a transimpedance amplifying circuit;
preferably, the two-dimensional MOEMS scanning mirror assembly is of a right trapezoid structure, wherein a hypotenuse is set as an optical window, a scanning micro mirror is arranged in the assembly, and the scanning micro mirror is arranged on the inner bottom surface corresponding to the optical window;
preferably, the optical window is plated with an antireflection film corresponding to the wavelength of the laser light source;
preferably, a longitudinal distance between a center of the first reflecting mirror and a center of an optical window of the two-dimensional MOEMS scanning mirror assembly is set to be H1, a lateral distance between the center of the first reflecting mirror and the center of the optical window of the two-dimensional MOEMS scanning mirror assembly is set to be L1, and an inclination angle θ1 of the first reflecting mirror relative to the reference axis x is:
preferably, the corresponding included angle between the optical window and the inner bottom surface of the two-dimensional MOEMS scanning mirror assembly is phi 1, and the working angle range of the scanning micro mirror is phi 2, so that phi 1, phi 2 and theta 1 are required to be satisfied:
Preferably, the inclination angle θ2 of the second mirror with respect to the reference axis x needs to satisfy:
preferably, the longitudinal distance between the center of the second reflecting mirror and the center of the optical window is H2, the lateral distance is L2, and the requirements of H2 and L2 are satisfied:
preferably, the longitudinal distance between the APD detector and the receiving optical device is set to H3, where H3 needs to satisfy:
preferably, the relative lateral distance L3 between the center of the optical window and the center of the receiving optical device, L3, is required to satisfy:
due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the laser pulse time interval processing method disclosed by the invention, the problem that the laser pulse flight time identification starting signal randomly jumps due to unfixed response time of the laser can be solved by obtaining the accurate laser driving signal sending time, the flight time of the laser pulse from the sending to the measured object can be calculated, and the accurate distance data of the measured object can be finally obtained.
In addition, the laser radar detection system enables laser emission pulse and laser echo pulse to reach the APD detector in different time through the light splitting function of the optical window of the two-dimensional MOEMS scanning mirror assembly, so that the unit APD detector can perform time-sharing measurement on the laser emission pulse and the laser echo pulse, and further the processor obtains an accurate pulse ranging initial reference signal according to a driving signal fed back by the laser and the laser pulse emission signal measured by the unit APD detector, and finally the aim of eliminating random jitter of the initial reference signal caused by unfixed response time of the laser is achieved; in addition, because the detection system uses the unit APD detector, the radar detection system has the advantages of small volume, light weight and low cost.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic diagram of structural parameters of the present invention.
In the figure: 1. an emission optic; 2. a first mirror; 3. a two-dimensional MOEMS scanning mirror assembly; 3.1, a light window; 3.2, scanning the micromirror; 4. a second mirror; 5. receiving an optical device; 6. a unit APD detector; 7. a transimpedance amplification circuit; 8. a processor; 9. an object to be measured.
Detailed Description
The invention will be explained in more detail by the following examples, the purpose of which is to protect all technical improvements within the scope of the invention.
A laser pulse time interval processing method described with reference to fig. 1-2 comprises the following steps:
step 1: the laser emitted by the laser radar laser source is subjected to pulse shaping through the emission optical device 1, and is collimated into quasi-parallel laser pulses, so that the situation that the laser beam does not diverge after being subjected to specular reflection can be ensured through the quasi-parallel laser pulses, and the measuring distance of the laser radar is ensured;
step 2: the quasi-parallel laser pulse is reflected to the optical window 3.1 of the two-dimensional MOEMS scanning mirror assembly 3 through the first reflecting mirror 2, the optical window 3.1 has a beam splitting function, so that a small part of the quasi-parallel laser pulse is reflected to the mirror surface of the second reflecting mirror 4 through the optical window 3.1, and a large part of the quasi-parallel laser pulse is transmitted through the optical window 3.1 of the two-dimensional MOEMS scanning mirror assembly 3 and then is emitted to the mirror surface of the scanning micro mirror 3.2;
step 3: the second reflecting mirror 4 directly reflects the corresponding quasi-parallel laser pulse to the light receiving end of the unit APD detector 6, the unit APD detector 6 converts the quasi-parallel laser pulse into a corresponding electric signal, the electric signal is amplified by the transimpedance amplifying circuit 7 to obtain a laser pulse emission signal, the laser pulse emission signal is output to the processor 8, the processor performs AND operation processing on the obtained laser pulse emission signal and a laser driving signal, and the calculated signal is used as an initial reference signal of pulse ranging;
step 4: the scanning micro mirror 3.2 reflects corresponding quasi-parallel laser pulses onto the measured object 9, the quasi-parallel laser pulses are diffusely reflected on the surface of the measured object 9, part of reflected laser beams are received by the receiving optical device 5, then the part of laser beams are focused and imaged on the APD detector, the unit APD detector 6 converts the laser beams into corresponding electric signals, the electric signals are amplified by the transimpedance amplifying circuit 7 to obtain laser pulse echo signals, and the laser pulse echo signals are output to the processor 8 as stop reference signals for pulse ranging;
step 5: the processor 8 can accurately calculate the distance of the measured object 9 according to the initial reference signal, the stop reference signal and the light speed of the pulse ranging; and taking the stop reference signal of pulse ranging as a preparation signal of laser radar for next laser pulse emission,
the laser radar detection system used in the method comprises a transmitting optical device 1, a first reflecting mirror 2, a two-dimensional MOEMS scanning mirror assembly 3, a second reflecting mirror 4, a receiving optical device 5, a unit APD detector 6, a transimpedance amplifying circuit 7 and a processor 8; the light-in end of the transmitting optical device 1 is correspondingly connected with a laser of the laser radar, and the light-out end of the transmitting optical device 1 is corresponding to the mirror surface of the first reflecting mirror 2;
the two-dimensional MOEMS scanning mirror assembly 3 is positioned on the right side of the emission optical device 1, a second reflecting mirror 4 is arranged above the two-dimensional MOEMS scanning mirror assembly 3, the two-dimensional MOEMS scanning mirror assembly 3 is used for receiving reflected light of the first reflecting mirror 2, an optical window 3.1 of the two-dimensional MOEMS scanning mirror assembly 3 can reflect a small part of received laser to a mirror surface of the second reflecting mirror 4, in particular, the optical window 3.1 is plated with an antireflection film corresponding to the wavelength of a laser source, a scanning micro mirror 3.2 in the two-dimensional MOEMS scanning mirror assembly 3 can reflect the received laser to a measured object 9, in addition, the two-dimensional MOEMS scanning mirror assembly 3 is of a right trapezoid structure, a hypotenuse is set to be the optical window 3.1, the scanning micro mirror 3.2 is arranged in the two-dimensional MOEMS scanning mirror assembly, the scanning micro mirror 3.2 is arranged on the inner bottom surface corresponding to the optical window 3.1, and the optical window 3.1 has a certain inclination angle relative to the scanning micro mirror 3.2, so that the laser beam reflected by the optical window 3.1 and the scanning micro mirror 3.2 can reflect the received laser beam to the measured object 9 respectively;
the receiving optical device 5 is positioned on the right side of the two-dimensional MOEMS scanning mirror assembly 3, an object 9 to be measured is arranged above the receiving optical device 5, a unit APD detector 6 is arranged below the receiving optical device 5, the unit APD detector 6 can receive the reflected light of the second reflecting mirror 4, and the signal output end of the unit APD detector 6 is correspondingly and electrically connected with the processor 8 through a transimpedance amplifying circuit 7;
in addition, numerical values such as the distance, the angle and the like of each component in the laser radar detection system need to be reasonably designed, and the specific design of each parameter is as follows:
the longitudinal distance between the center of the first reflecting mirror 2 and the center of the optical window 3.1 of the two-dimensional MOEMS scanning mirror assembly 3 is set as H1, the lateral distance between the center of the first reflecting mirror 2 and the center of the optical window 3.1 is set as L1, and the inclination angle θ1 of the first reflecting mirror 2 relative to the reference axis x is as follows:
the angle range of theta 1 is restrained by H1 and L1, so that the laser beam reflected by the first reflecting mirror 2 can fall in the middle of the optical window of the two-dimensional MOEMS scanning mirror assembly 3;
the corresponding included angle between the optical window 3.1 and the inner bottom surface of the two-dimensional MOEMS scanning mirror assembly 3 is phi 1, the working angle range of the scanning micro mirror 3.2 is phi 2, and then phi 1, phi 2 and theta 1 are required to be satisfied:
By defining the relation between the three angles, the light window 3.1 and the scanning micro mirror 3.2 can both receive the reflected light output by the first reflecting mirror 2, and the light window 3.1 and the scanning micro mirror 3.2 reflect the reflected light to different places;
the inclination angle θ2 of the second mirror 4 with respect to the reference axis x needs to satisfy:
by defining the angular range of θ2, it can be ensured that the second mirror 4 receives the reflected light output by the optical window 3.1 and then directly reflects the laser beam to the APD detector 6;
the longitudinal distance between the center of the second reflecting mirror 4 and the center of the optical window 3.1 is H2, the lateral distance is L2, and the requirements of H2 and L2 are satisfied:
the length of L2 is limited by the relation between H2 and theta 2 so as to ensure that the position relation between the two-dimensional MOEMS scanning mirror assembly 3 and the reflecting mirror 4 meets the transmission path requirement set by the laser beam;
the longitudinal distance between the front surface of the APD detector 6 and the rear end of the receiving optical device 5 is set to be H3, where H3 needs to satisfy:
in the formula, D is the receiving aperture of the receiving optical device 5, and the receiving optical device 5 does not block the laser beam reflected by the reflecting mirror 4 by limiting H3. The method comprises the steps of carrying out a first treatment on the surface of the
The relative lateral distance L3 between the center of the light window 3.1 and the center of the receiving optics 5, L3, has to be such that:
the calculation steps can be integrated, so that the position and angle relation of each component of the detection system can be obtained, the APD detector 6 can perform time-sharing measurement on laser emission pulses and laser echo pulses, the processor can accurately calculate the flight time of laser, and finally accurate distance data of an object to be detected can be obtained. The invention is not described in detail in the prior art.
Claims (10)
1. A laser pulse time interval processing method is characterized in that:
step 1: performing pulse shaping on laser emitted by a laser radar laser source through a transmitting optical device (1), and performing collimation to form quasi-parallel laser pulses;
step 2: the quasi-parallel laser pulse is reflected to the optical window (3.1) of the two-dimensional MOEMS scanning mirror assembly (3) through the first reflecting mirror (2), and a small part of the quasi-parallel laser pulse is reflected to the mirror surface of the second reflecting mirror (4) through the optical window (3.1), and a large part of the quasi-parallel laser pulse is transmitted through the optical window (3.1) of the two-dimensional MOEMS scanning mirror assembly (3) and then is emitted to the mirror surface of the scanning micro mirror (3.2);
step 3: the second reflecting mirror (4) directly reflects corresponding quasi-parallel laser pulses to the light receiving end of the unit APD detector (6), the unit APD detector (6) converts the corresponding quasi-parallel laser pulses into corresponding electric signals, the electric signals are amplified by the transimpedance amplifying circuit (7) to obtain laser pulse emission signals, the obtained laser pulse emission signals are output to the processor (8), the processor (8) carries out AND operation processing on the signals and the laser driving signals, and the operated signals are used as initial reference signals for pulse ranging;
step 4: the scanning micro mirror (3.2) reflects corresponding quasi-parallel laser pulses to the measured object (9), the quasi-parallel laser pulses are diffusely reflected on the surface of the measured object (9), part of reflected laser beams are received by the receiving optical device (5), then the part of laser beams are focused and imaged on the APD detector, the unit APD detector (6) converts the laser beams into corresponding electric signals, the electric signals are amplified by the transimpedance amplifying circuit (7) to obtain laser pulse echo signals, and the laser pulse echo signals are output to the processor (8) as stop reference signals for pulse ranging;
step 5: the processor (8) can accurately calculate the distance of the measured object (9) according to the initial reference signal, the stop reference signal and the light speed of the pulse ranging; and taking the stop reference signal of pulse ranging as a preparation signal of laser radar for next laser pulse emission.
2. The laser pulse time interval processing method as claimed in claim 1, wherein the laser radar detection system is characterized in that: the device comprises a transmitting optical device (1), a first reflecting mirror (2), a two-dimensional MOEMS scanning mirror assembly (3), a second reflecting mirror (4), a receiving optical device (5), a unit APD detector (6), a transimpedance amplifying circuit (7) and a processor (8); the light-in end of the transmitting optical device (1) is correspondingly connected with a laser of the laser radar, and the light-out end of the transmitting optical device (1) is corresponding to the mirror surface of the first reflecting mirror (2);
the two-dimensional MOEMS scanning mirror assembly (3) is positioned on the right side of the transmitting optical device (1), a second reflecting mirror (4) is arranged above the two-dimensional MOEMS scanning mirror assembly (3), the two-dimensional MOEMS scanning mirror assembly (3) is used for receiving reflected light of the first reflecting mirror (2), a light window (3.1) of the two-dimensional MOEMS scanning mirror assembly (3) can reflect a small part of received laser to a mirror surface of the second reflecting mirror (4), and a scanning micro mirror (3.2) in the two-dimensional MOEMS scanning mirror assembly (3) can reflect the received laser to a measured object (9);
the receiving optical device (5) is positioned on the right side of the two-dimensional MOEMS scanning mirror assembly (3), an object (9) to be measured is arranged above the receiving optical device (5), the unit APD detector (6) is arranged below the receiving optical device (5), the unit APD detector (6) can receive reflected light of the second reflecting mirror (4), and the signal output end of the unit APD detector (6) is correspondingly and electrically connected with the processor (8) through the transimpedance amplifying circuit.
3. The laser pulse time interval processing method as claimed in claim 2, wherein: the two-dimensional MOEMS scanning mirror assembly (3) is of a right trapezoid structure, wherein a hypotenuse is arranged to be a light window (3.1), a scanning micro mirror (3.2) is arranged in the assembly, and the scanning micro mirror (3.2) is arranged on the inner bottom surface corresponding to the light window (3.1).
4. The laser pulse time interval processing method as claimed in claim 2, wherein: the light window (3.1) is plated with an antireflection film corresponding to the wavelength of the laser light source.
5. The laser pulse time interval processing method as claimed in claim 2, wherein: the longitudinal distance between the center of the first reflecting mirror (2) and the center of the optical window (3.1) of the two-dimensional MOEMS scanning mirror assembly (3) is set to be H1, the transverse distance between the center of the first reflecting mirror and the center of the optical window is set to be L1, and the inclination angle theta 1 of the first reflecting mirror (2) relative to the reference axis x is as follows:
6. the laser pulse time interval processing method as claimed in claim 5, wherein: the corresponding included angle between the optical window (3.1) and the inner bottom surface of the two-dimensional MOEMS scanning mirror assembly (3) is phi 1, the working angle range of the scanning micro mirror (3.2) is phi 2, and then phi 1, phi 2 and theta 1 are required to be satisfied:
7. The laser pulse time interval processing method as claimed in claim 6, wherein: the inclination angle theta 2 of the second reflecting mirror (4) relative to the reference axis x needs to satisfy:
8. the laser pulse time interval processing method as claimed in claim 7, wherein: the longitudinal distance between the center of the second reflecting mirror (4) and the center of the optical window (3.1) is H2, the transverse distance is L2, and the H2 and L2 are required to satisfy:
9. the laser pulse time interval processing method as claimed in claim 8, wherein: the longitudinal distance between the APD detector and the receiving optical device (5) is set to be H3, and H3 needs to satisfy:
wherein D is the receiving aperture of the receiving optical device (5).
10. The laser pulse time interval processing method as claimed in claim 9, wherein: the relative lateral distance L3 between the center of the light window (3.1) and the center of the receiving optical device (5), L3, needs to satisfy:
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